SOFA API  99934cbc
Open source framework for multi-physics simuation
sofa::core::MultiMapping< TIn, TOut > Class Template Referenceabstract

#include <MultiMapping.h>

Specialized interface to describe many to many mapping. All the input must have the same type, and all the output must have the same type. See also class Multi2Mapping. More...

Inheritance diagram for sofa::core::MultiMapping< TIn, TOut >:

Detailed Description

template<class TIn, class TOut>
class sofa::core::MultiMapping< TIn, TOut >

Specialized interface to describe many to many mapping. All the input must have the same type, and all the output must have the same type. See also class Multi2Mapping.

Public Attributes

Data< boolf_applyRestPosition
 
- Public Attributes inherited from sofa::core::BaseMapping
Data< boolf_mapForces
 Are forces mapped ? More...
 
Data< boolf_mapConstraints
 Are constraints mapped ? More...
 
Data< boolf_mapMasses
 Are masses mapped ? More...
 
Data< boolf_mapMatrices
 Are matrix explicit mapped? More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

LinkFromModels fromModels
 
LinkToModels toModels
 
helper::vector< helper::StateMask * > maskFrom
 keep pointers on the masks More...
 
helper::vector< helper::StateMask * > maskTo
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 

Public Member Functions

 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(MultiMapping, TIn, TOut), BaseMapping)
 
void addInputModel (BaseState *model, const std::string &path="")
 
void addOutputModel (BaseState *model, const std::string &path="")
 
const VecFromModelsgetFromModels ()
 Return the reference to fromModels. More...
 
const VecToModelsgetToModels ()
 Return reference to toModels. More...
 
helper::vector< BaseState * > getFrom () override
 Return a container of input models statically casted as BaseObject*. More...
 
helper::vector< BaseState * > getTo () override
 Return container of output model statically casted as BaseObject*. More...
 
virtual helper::vector< behavior::BaseMechanicalState * > getMechFrom () override
 Get the source (upper) model. More...
 
virtual helper::vector< behavior::BaseMechanicalState * > getMechTo () override
 Get the destination (lower, mapped) model. More...
 
void apply (const MechanicalParams *mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos) override
 
virtual void apply (const MechanicalParams *mparams, const helper::vector< OutDataVecCoord * > &dataVecOutPos, const helper::vector< const InDataVecCoord * > &dataVecInPos)=0
 
void applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override
 
virtual void applyJ (const MechanicalParams *mparams, const helper::vector< OutDataVecDeriv * > &dataVecOutVel, const helper::vector< const InDataVecDeriv * > &dataVecInVel)=0
 
void applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) override
 
virtual void applyJT (const MechanicalParams *mparams, const helper::vector< InDataVecDeriv * > &dataVecOutForce, const helper::vector< const OutDataVecDeriv * > &dataVecInForce)=0
 
void applyJT (const ConstraintParams *cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst) override
 ApplyJT (Constraint)///. More...
 
virtual void applyJT (const ConstraintParams *, const helper::vector< InDataMatrixDeriv * > &, const helper::vector< const OutDataMatrixDeriv * > &)
 This method must be reimplemented by all mappings if they need to support constraints. More...
 
void computeAccFromMapping (const MechanicalParams *mparams, MultiVecDerivId outAcc, ConstMultiVecDerivId inVel, ConstMultiVecDerivId inAcc) override
 computeAccFromMapping More...
 
virtual void computeAccFromMapping (const MechanicalParams *, const helper::vector< OutDataVecDeriv * > &, const helper::vector< const InDataVecDeriv * > &, const helper::vector< const InDataVecDeriv * > &)
 This method must be reimplemented by all mappings if they need to support composite accelerations. More...
 
void init () override
 
void disable () override
 
- Public Member Functions inherited from sofa::core::BaseMapping
 SOFA_ABSTRACT_CLASS (BaseMapping, objectmodel::BaseObject)
 
virtual bool setFrom (BaseState *from)
 If the type is compatible set the input model and return true, otherwise do nothing and return false. More...
 
virtual bool setTo (BaseState *to)
 If the type is compatible set the output model and return true, otherwise do nothing and return false. More...
 
virtual bool isMechanical () const
 Return true if this mapping should be used as a mechanical mapping. More...
 
virtual bool sameTopology () const
 
virtual const sofa::defaulttype::BaseMatrixgetJ (const MechanicalParams *)
 
virtual const sofa::defaulttype::BaseMatrixgetJ ()
 
virtual sofa::defaulttype::BaseMatrixcreateMappedMatrix (const behavior::BaseMechanicalState *state1, const behavior::BaseMechanicalState *state2, func_createMappedMatrix)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual void applyDJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce)=0
 Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings. More...
 
virtual bool areForcesMapped () const
 
virtual bool areConstraintsMapped () const
 
virtual bool areMassesMapped () const
 
virtual bool areMatricesMapped () const
 
virtual void setForcesMapped (bool b)
 
virtual void setConstraintsMapped (bool b)
 
virtual void setMassesMapped (bool b)
 
virtual void setMatricesMapped (bool b)
 
virtual void setNonMechanical ()
 
virtual const helper::vector< sofa::defaulttype::BaseMatrix * > * getJs ()
 
virtual void updateK (const MechanicalParams *, ConstMultiVecDerivId)
 
virtual const defaulttype::BaseMatrixgetK ()
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
bool IsInheritingFromBase ()
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Static Public Member Functions

template<class T >
static std::string shortName (const T *ptr=nullptr, objectmodel::BaseObjectDescription *arg=nullptr)
 
template<class T >
static bool canCreate (T *&obj, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
template<class T >
static T::SPtr create (T *, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 MultiMapping ()
 Constructor. More...
 
 ~MultiMapping () override
 Destructor. More...
 
void getVecInCoord (const MultiVecCoordId id, helper::vector< InDataVecCoord * > &v) const
 
void getConstVecInCoord (const ConstMultiVecCoordId id, helper::vector< const InDataVecCoord * > &v) const
 
void getVecInDeriv (const MultiVecDerivId id, helper::vector< InDataVecDeriv * > &v) const
 
void getConstVecInDeriv (const ConstMultiVecDerivId id, helper::vector< const InDataVecDeriv * > &v) const
 
void getMatInDeriv (const MultiMatrixDerivId id, helper::vector< InDataMatrixDeriv * > &v) const
 
void getConstMatInDeriv (const ConstMultiMatrixDerivId id, helper::vector< const InDataMatrixDeriv * > &v) const
 
void getVecOutCoord (const MultiVecCoordId id, helper::vector< OutDataVecCoord * > &v) const
 
void getConstVecOutCoord (const ConstMultiVecCoordId id, helper::vector< const OutDataVecCoord * > &v) const
 
void getVecOutDeriv (const MultiVecDerivId id, helper::vector< OutDataVecDeriv * > &v) const
 
void getConstVecOutDeriv (const ConstMultiVecDerivId id, helper::vector< const OutDataVecDeriv * > &v) const
 
void getMatOutDeriv (const MultiMatrixDerivId id, helper::vector< OutDataMatrixDeriv * > &v) const
 
void getConstMatOutDeriv (const ConstMultiMatrixDerivId id, helper::vector< const OutDataMatrixDeriv * > &v) const
 
void updateForceMask () override
 
- Protected Member Functions inherited from sofa::core::BaseMapping
 BaseMapping ()
 Constructor. More...
 
 ~BaseMapping () override
 Destructor. More...
 
bool testMechanicalState (BaseState *state)
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Attribute details

template<class TIn , class TOut >
Data<bool> sofa::core::MultiMapping< TIn, TOut >::f_applyRestPosition
template<class TIn , class TOut >
LinkFromModels sofa::core::MultiMapping< TIn, TOut >::fromModels
protected
template<class TIn , class TOut >
helper::vector<helper::StateMask*> sofa::core::MultiMapping< TIn, TOut >::maskFrom
protected

keep pointers on the masks

template<class TIn , class TOut >
helper::vector<helper::StateMask*> sofa::core::MultiMapping< TIn, TOut >::maskTo
protected
template<class TIn , class TOut >
LinkToModels sofa::core::MultiMapping< TIn, TOut >::toModels
protected

Constructor details

template<class In , class Out >
sofa::core::MultiMapping< In, Out >::MultiMapping ( )
protected

Constructor.

template<class TIn , class TOut >
sofa::core::MultiMapping< TIn, TOut >::~MultiMapping ( )
inlineoverrideprotected

Destructor.

Function details

template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::addInputModel ( BaseState model,
const std::string &  path = "" 
)
template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::addOutputModel ( BaseState model,
const std::string &  path = "" 
)
template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::apply ( const MechanicalParams mparams,
MultiVecCoordId  outPos,
ConstMultiVecCoordId  inPos 
)
overridevirtual

Apply /// Apply the mapping to position vectors.

If the Mapping can be represented as a matrix $ J $, this method computes $ out = J in $

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::apply ( const MechanicalParams mparams,
const helper::vector< OutDataVecCoord * > &  dataVecOutPos,
const helper::vector< const InDataVecCoord * > &  dataVecInPos 
)
pure virtual

This method must be reimplemented by all mappings. InPos and OutPos by default contains VecIds of type V_COORD. The size of InPos vector is the same as the number of fromModels. The size of OutPos vector is the same as the number of OutModels.

Implemented in sofa::component::mapping::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::SubsetMultiMapping< TIn, TOut >, sofa::component::mapping::CenterOfMassMultiMapping< TIn, TOut >, and sofa::component::mapping::IdentityMultiMapping< TIn, TOut >.

template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::applyJ ( const MechanicalParams mparams,
MultiVecDerivId  outVel,
ConstMultiVecDerivId  inVel 
)
overridevirtual

ApplyJ /// Apply the mapping to derived (velocity, displacement) vectors. $ out = J in $ where $ J $ is the tangent operator (the linear approximation) of the mapping

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJ ( const MechanicalParams mparams,
const helper::vector< OutDataVecDeriv * > &  dataVecOutVel,
const helper::vector< const InDataVecDeriv * > &  dataVecInVel 
)
pure virtual

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

Implemented in sofa::component::mapping::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::SubsetMultiMapping< TIn, TOut >, sofa::component::mapping::CenterOfMassMultiMapping< TIn, TOut >, and sofa::component::mapping::IdentityMultiMapping< TIn, TOut >.

template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::applyJT ( const MechanicalParams mparams,
MultiVecDerivId  inForce,
ConstMultiVecDerivId  outForce 
)
overridevirtual

ApplyJT (Force)/// Apply the reverse mapping to force vectors. $ out += J^t in $ where $ J $ is the tangent operator (the linear approximation) of the mapping

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJT ( const MechanicalParams mparams,
const helper::vector< InDataVecDeriv * > &  dataVecOutForce,
const helper::vector< const OutDataVecDeriv * > &  dataVecInForce 
)
pure virtual

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

Implemented in sofa::component::mapping::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::SubsetMultiMapping< TIn, TOut >, sofa::component::mapping::CenterOfMassMultiMapping< TIn, TOut >, and sofa::component::mapping::IdentityMultiMapping< TIn, TOut >.

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::applyJT ( const ConstraintParams cparams,
MultiMatrixDerivId  inConst,
ConstMultiMatrixDerivId  outConst 
)
inlineoverridevirtual

ApplyJT (Constraint)///.

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJT ( const ConstraintParams ,
const helper::vector< InDataMatrixDeriv * > &  ,
const helper::vector< const OutDataMatrixDeriv * > &   
)
inlinevirtual
template<class TIn , class TOut >
template<class T >
static bool sofa::core::MultiMapping< TIn, TOut >::canCreate ( T *&  obj,
core::objectmodel::BaseContext context,
core::objectmodel::BaseObjectDescription arg 
)
inlinestatic

Pre-construction check method called by ObjectFactory.

This implementation read the object1 and object2 attributes and check if they are compatible with the input and output models types of this mapping.

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::computeAccFromMapping ( const MechanicalParams mparams,
MultiVecDerivId  outAcc,
ConstMultiVecDerivId  inVel,
ConstMultiVecDerivId  inAcc 
)
inlineoverridevirtual

computeAccFromMapping

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::computeAccFromMapping ( const MechanicalParams ,
const helper::vector< OutDataVecDeriv * > &  ,
const helper::vector< const InDataVecDeriv * > &  ,
const helper::vector< const InDataVecDeriv * > &   
)
inlinevirtual

This method must be reimplemented by all mappings if they need to support composite accelerations.

template<class TIn , class TOut >
template<class T >
static T::SPtr sofa::core::MultiMapping< TIn, TOut >::create ( T *  ,
core::objectmodel::BaseContext context,
core::objectmodel::BaseObjectDescription arg 
)
inlinestatic

Construction method called by ObjectFactory.

This implementation read the input and output attributes to find the input and output models of this mapping.

template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::disable ( )
overridevirtual

Disable the mapping to get the original coordinates of the mapped model.

It is for instance used in RigidMapping to get the local coordinates of the object.

Implements sofa::core::BaseMapping.

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstMatInDeriv ( const ConstMultiMatrixDerivId  id,
helper::vector< const InDataMatrixDeriv * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstMatOutDeriv ( const ConstMultiMatrixDerivId  id,
helper::vector< const OutDataMatrixDeriv * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstVecInCoord ( const ConstMultiVecCoordId  id,
helper::vector< const InDataVecCoord * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstVecInDeriv ( const ConstMultiVecDerivId  id,
helper::vector< const InDataVecDeriv * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstVecOutCoord ( const ConstMultiVecCoordId  id,
helper::vector< const OutDataVecCoord * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getConstVecOutDeriv ( const ConstMultiVecDerivId  id,
helper::vector< const OutDataVecDeriv * > &  v 
) const
inlineprotected
template<class In , class Out >
helper::vector< BaseState * > sofa::core::MultiMapping< In, Out >::getFrom ( )
overridevirtual

Return a container of input models statically casted as BaseObject*.

Implements sofa::core::BaseMapping.

template<class In , class Out >
const MultiMapping< In, Out >::VecFromModels & sofa::core::MultiMapping< In, Out >::getFromModels ( )

Return the reference to fromModels.

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getMatInDeriv ( const MultiMatrixDerivId  id,
helper::vector< InDataMatrixDeriv * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getMatOutDeriv ( const MultiMatrixDerivId  id,
helper::vector< OutDataMatrixDeriv * > &  v 
) const
inlineprotected
template<class In , class Out >
helper::vector< behavior::BaseMechanicalState * > sofa::core::MultiMapping< In, Out >::getMechFrom ( )
overridevirtual

Get the source (upper) model.

Implements sofa::core::BaseMapping.

template<class In , class Out >
helper::vector< behavior::BaseMechanicalState * > sofa::core::MultiMapping< In, Out >::getMechTo ( )
overridevirtual

Get the destination (lower, mapped) model.

Implements sofa::core::BaseMapping.

template<class In , class Out >
helper::vector< BaseState * > sofa::core::MultiMapping< In, Out >::getTo ( )
overridevirtual

Return container of output model statically casted as BaseObject*.

Implements sofa::core::BaseMapping.

template<class In , class Out >
const MultiMapping< In, Out >::VecToModels & sofa::core::MultiMapping< In, Out >::getToModels ( )

Return reference to toModels.

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getVecInCoord ( const MultiVecCoordId  id,
helper::vector< InDataVecCoord * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getVecInDeriv ( const MultiVecDerivId  id,
helper::vector< InDataVecDeriv * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getVecOutCoord ( const MultiVecCoordId  id,
helper::vector< OutDataVecCoord * > &  v 
) const
inlineprotected
template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::getVecOutDeriv ( const MultiVecDerivId  id,
helper::vector< OutDataVecDeriv * > &  v 
) const
inlineprotected
template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::init ( void  )
overridevirtual

TO REMOVE> Apply the mapping to position and velocity vectors.

This method call the internal apply(helper::vector<VecId>& InPos, helper::vector<VecId>& OutPos) and applyJ(helper::vector<VecId>& InDeriv, helper::vector<VecId>& OutDeriv) methods.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class TIn , class TOut >
template<class T >
static std::string sofa::core::MultiMapping< TIn, TOut >::shortName ( const T *  ptr = nullptr,
objectmodel::BaseObjectDescription arg = nullptr 
)
inlinestatic
template<class TIn , class TOut >
sofa::core::MultiMapping< TIn, TOut >::SOFA_ABSTRACT_CLASS ( SOFA_TEMPLATE2(MultiMapping< TIn, TOut >, TIn, TOut)  ,
BaseMapping   
)
template<class In , class Out >
void sofa::core::MultiMapping< In, Out >::updateForceMask ( )
overrideprotectedvirtual

Useful when the mapping is applied only on a subset of parent dofs. It is automatically called by applyJT.

That way, we can optimize Jacobian sparsity. Every Dofs are inserted by default. The mappings using only a subset of dofs should only insert these dofs in the mask.

Implements sofa::core::BaseMapping.