sofa::core::State< TDataTypes > Class Template Reference

#include <State.h>

Component storing position and velocity vectors. More...

Inheritance diagram for sofa::core::State< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::core::State< TDataTypes >

Component storing position and velocity vectors.

This class define the interface of components used as source and destination of regular (non mechanical) mapping. It is then specialized as MechanicalState (storing other mechanical data) or MappedModel (if no mechanical data is used, such as for VisualModel).

The given DataTypes class should define the following internal types:

• Real 

  : scalar values (float or double).

• Coord 

  : position values.

• Deriv 

  : derivative values (velocity).

• VecReal 

  : container of scalar values with the same API as sofa::type::vector.

• VecCoord 

  : container of Coord values with the same API as sofa::type::vector.

• VecDeriv 

  : container of Deriv values with the same API as sofa::type::vector.

• MatrixDeriv 

  : vector of Jacobians (sparse constraint matrices).

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(State, TDataTypes), BaseState)
sofa::type::TBoundingBox< Real >	computeBBox () const
	Compute the bounding box independently from the visibility parameters. More...
void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
New vectors access API based on VecId
virtual Data< VecCoord > *	write (VecCoordId v)=0
virtual const Data< VecCoord > *	read (ConstVecCoordId v) const =0
virtual Data< VecDeriv > *	write (VecDerivId v)=0
virtual const Data< VecDeriv > *	read (ConstVecDerivId v) const =0
virtual Data< MatrixDeriv > *	write (MatrixDerivId v)=0
virtual const Data< MatrixDeriv > *	read (ConstMatrixDerivId v) const =0
BaseData vectors access API based on VecId
objectmodel::BaseData *	baseWrite (VecId v) override
const objectmodel::BaseData *	baseRead (ConstVecId v) const override
Public Member Functions inherited from sofa::core::BaseState
	SOFA_ABSTRACT_CLASS (BaseState, objectmodel::BaseObject)
virtual Size	getSize () const =0
	Current size of all stored vectors. More...
virtual void	resize (Size vsize)=0
	Resize all stored vector. More...
bool	insertInNode (objectmodel::BaseNode *node) override
bool	removeInNode (objectmodel::BaseNode *node) override
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...
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)
Base *	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...
SReal	getTime () const
	Current time. More...
const BaseContext *	getContext () const
BaseContext *	getContext ()
const BaseObject *	getMaster () const
BaseObject *	getMaster ()
const VecSlaves &	getSlaves () const
BaseObject *	getSlave (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	init ()
	Initialization method called at graph creation and modification, during top-down traversal. 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 BaseClass *	getClass () const
void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
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...
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 final
	Get the template type names (if any) used to instantiate this object. More...
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
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
const sofa::core::objectmodel::TagSet &	getTags () 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=" ")
BaseData *	findData (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...
BaseLink *	findLink (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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. 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 VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...
const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...
const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...
const MapLink &	getLinkAliases () 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)

Accessors
Types and functions to ease data access
typedef helper::ReadAccessor< Data< Real > >	ReadReal
typedef helper::WriteAccessor< Data< Real > >	WriteReal
typedef helper::ReadAccessor< Data< VecReal > >	ReadVecReal
typedef helper::WriteAccessor< Data< VecReal > >	WriteVecReal
typedef helper::ReadAccessor< Data< Coord > >	ReadCoord
typedef helper::WriteAccessor< Data< Coord > >	WriteCoord
typedef helper::WriteOnlyAccessor< Data< Coord > >	WriteOnlyCoord
typedef helper::ReadAccessor< Data< VecCoord > >	ReadVecCoord
typedef helper::WriteAccessor< Data< VecCoord > >	WriteVecCoord
typedef helper::WriteOnlyAccessor< Data< VecCoord > >	WriteOnlyVecCoord
typedef helper::ReadAccessor< Data< Deriv > >	ReadDeriv
typedef helper::WriteAccessor< Data< Deriv > >	WriteDeriv
typedef helper::WriteOnlyAccessor< Data< Deriv > >	WriteOnlyDeriv
typedef helper::ReadAccessor< Data< VecDeriv > >	ReadVecDeriv
typedef helper::WriteAccessor< Data< VecDeriv > >	WriteVecDeriv
typedef helper::WriteOnlyAccessor< Data< VecDeriv > >	WriteOnlyVecDeriv
AccumulationVecId< TDataTypes, V_DERIV, V_READ >	accumulatedForces
	Stores all the VecDerivId corresponding to a force. They can then be accumulated. More...
ReadVecCoord	readPositions () const
WriteVecCoord	writePositions ()
WriteOnlyVecCoord	writeOnlyPositions ()
ReadVecCoord	readRestPositions () const
WriteVecCoord	writeRestPositions ()
WriteOnlyVecCoord	writeOnlyRestPositions ()
ReadVecDeriv	readVelocities () const
WriteVecDeriv	writeVelocities ()
WriteOnlyVecDeriv	writeOnlyVelocities ()
ReadVecDeriv	readForces () const
WriteVecDeriv	writeForces ()
WriteOnlyVecDeriv	writeOnlyForces ()
ReadVecDeriv	readDx () const
WriteVecDeriv	writeDx ()
WriteOnlyVecDeriv	writeOnlyDx ()
ReadVecDeriv	readNormals () const
const AccumulationVecId< TDataTypes, V_DERIV, V_READ > &	readTotalForces () const
	Returns a proxy objects offering simplified access to elements of the cumulative sum of all force containers. More...
void	addToTotalForces (core::ConstVecDerivId forceId) override
	The provided VecDerivId will contribute to the sum of all force containers. More...
void	removeFromTotalForces (core::ConstVecDerivId forceId) override
	State ()
	~State () override

Additional Inherited Members
Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...
Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes
Data< int >	d_messageLogCount
Data< std::string >	name
	Name of the object. More...
Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...
Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...
Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...
Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state More...
std::string	m_definitionSourceFileName {""}
int	m_definitionSourceFilePos {-1}
std::string	m_instanciationSourceFileName {""}
int	m_instanciationSourceFilePos {-1}
Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context
LinkSlaves	l_slaves
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master
Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_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...
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 BaseClass *	GetClass ()
template<class T >
static std::string	shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
Protected Member Functions inherited from sofa::core::BaseState
	BaseState ()
	~BaseState () override
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

accumulatedForces

template<class TDataTypes >

AccumulationVecId<TDataTypes, V_DERIV, V_READ> sofa::core::State< TDataTypes >::accumulatedForces

Stores all the VecDerivId corresponding to a force. They can then be accumulated.

Constructor details

State()

template<class TDataTypes >

sofa::core::State< TDataTypes >::State

protected

~State()

template<class TDataTypes >

sofa::core::State< TDataTypes >::~State ( )

inlineoverrideprotected

Function details

addToTotalForces()

template<class TDataTypes >

void sofa::core::State< TDataTypes >::addToTotalForces ( core::ConstVecDerivId  forceId )

overridevirtual

The provided VecDerivId will contribute to the sum of all force containers.

Reimplemented from sofa::core::BaseState.

baseRead()

template<class DataTypes >

const objectmodel::BaseData * sofa::core::State< DataTypes >::baseRead ( ConstVecId  v ) const

overridevirtual

Implements sofa::core::BaseState.

baseWrite()

template<class DataTypes >

objectmodel::BaseData * sofa::core::State< DataTypes >::baseWrite ( VecId  v )

overridevirtual

Implements sofa::core::BaseState.

computeBBox() [1/2]

template<class DataTypes >

auto sofa::core::State< DataTypes >::computeBBox

Compute the bounding box independently from the visibility parameters.

computeBBox() [2/2]

template<class DataTypes >

void sofa::core::State< DataTypes >::computeBBox ( const core::ExecParams *  , bool  = false  )

overridevirtual

Bounding Box computation method. Default to empty method.

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

Reimplemented in sofa::component::statecontainer::MechanicalObject< T >.

read() [1/3]

template<class TDataTypes >

virtual const Data< MatrixDeriv >* sofa::core::State< TDataTypes >::read ( ConstMatrixDerivId  v ) const

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MappedObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

read() [2/3]

template<class TDataTypes >

virtual const Data< VecCoord >* sofa::core::State< TDataTypes >::read ( ConstVecCoordId  v ) const

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MechanicalObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< T >, and sofa::component::statecontainer::MappedObject< DataTypes >.

read() [3/3]

template<class TDataTypes >

virtual const Data< VecDeriv >* sofa::core::State< TDataTypes >::read ( ConstVecDerivId  v ) const

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MechanicalObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< T >, and sofa::component::statecontainer::MappedObject< DataTypes >.

readDx()

template<class TDataTypes >

ReadVecDeriv sofa::core::State< TDataTypes >::readDx ( ) const

inline

readForces()

template<class TDataTypes >

ReadVecDeriv sofa::core::State< TDataTypes >::readForces ( ) const

inline

readNormals()

template<class TDataTypes >

ReadVecDeriv sofa::core::State< TDataTypes >::readNormals ( ) const

inline

readPositions()

template<class TDataTypes >

ReadVecCoord sofa::core::State< TDataTypes >::readPositions ( ) const

inline

readRestPositions()

template<class TDataTypes >

ReadVecCoord sofa::core::State< TDataTypes >::readRestPositions ( ) const

inline

readTotalForces()

template<class TDataTypes >

const AccumulationVecId<TDataTypes, V_DERIV, V_READ>& sofa::core::State< TDataTypes >::readTotalForces ( ) const

inline

Returns a proxy objects offering simplified access to elements of the cumulative sum of all force containers.

readVelocities()

template<class TDataTypes >

ReadVecDeriv sofa::core::State< TDataTypes >::readVelocities ( ) const

inline

removeFromTotalForces()

template<class TDataTypes >

void sofa::core::State< TDataTypes >::removeFromTotalForces ( core::ConstVecDerivId  forceId )

overridevirtual

Reimplemented from sofa::core::BaseState.

SOFA_CLASS()

template<class TDataTypes >

sofa::core::State< TDataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(State< TDataTypes >, TDataTypes)	,
		BaseState< TDataTypes >
	)

write() [1/3]

template<class TDataTypes >

virtual Data< MatrixDeriv >* sofa::core::State< TDataTypes >::write ( MatrixDerivId  v )

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MappedObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

write() [2/3]

template<class TDataTypes >

virtual Data< VecCoord >* sofa::core::State< TDataTypes >::write ( VecCoordId  v )

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MechanicalObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< T >, and sofa::component::statecontainer::MappedObject< DataTypes >.

write() [3/3]

template<class TDataTypes >

virtual Data< VecDeriv >* sofa::core::State< TDataTypes >::write ( VecDerivId  v )

pure virtual

Implemented in sofa::core::visual::VisualState< DataTypes >, sofa::core::visual::VisualState< defaulttype::Vec3Types >, sofa::component::statecontainer::MechanicalObject< DataTypes >, sofa::component::statecontainer::MechanicalObject< T >, and sofa::component::statecontainer::MappedObject< DataTypes >.

writeDx()

template<class TDataTypes >

WriteVecDeriv sofa::core::State< TDataTypes >::writeDx ( )

inline

writeForces()

template<class TDataTypes >

WriteVecDeriv sofa::core::State< TDataTypes >::writeForces ( )

inline

writeOnlyDx()

template<class TDataTypes >

WriteOnlyVecDeriv sofa::core::State< TDataTypes >::writeOnlyDx ( )

inline

writeOnlyForces()

template<class TDataTypes >

WriteOnlyVecDeriv sofa::core::State< TDataTypes >::writeOnlyForces ( )

inline

writeOnlyPositions()

template<class TDataTypes >

WriteOnlyVecCoord sofa::core::State< TDataTypes >::writeOnlyPositions ( )

inline

writeOnlyRestPositions()

template<class TDataTypes >

WriteOnlyVecCoord sofa::core::State< TDataTypes >::writeOnlyRestPositions ( )

inline

writeOnlyVelocities()

template<class TDataTypes >

WriteOnlyVecDeriv sofa::core::State< TDataTypes >::writeOnlyVelocities ( )

inline

writePositions()

template<class TDataTypes >

WriteVecCoord sofa::core::State< TDataTypes >::writePositions ( )

inline

writeRestPositions()

template<class TDataTypes >

WriteVecCoord sofa::core::State< TDataTypes >::writeRestPositions ( )

inline

writeVelocities()

template<class TDataTypes >

WriteVecDeriv sofa::core::State< TDataTypes >::writeVelocities ( )

inline