SOFA API  59c939c2
Open source framework for multi-physics simuation
sofa::core::behavior::BaseLMConstraint Class Referenceabstract

#include <BaseLMConstraint.h>

Object storing constraints base on Lagrangrian Multipliers. More...

Inheritance diagram for sofa::core::behavior::BaseLMConstraint:

Detailed Description

Object storing constraints base on Lagrangrian Multipliers.

They can be constraint on acceleration, velocity, or position. They can be grouped or individual. The resolution is then done in the OdeSolver.

Protected Attributes

constraintOrder_t constraintOrder
 
Data< std::string > pathObject1
 First Object to constrain. More...
 
Data< std::string > pathObject2
 Second Object to constrain. More...
 
- Protected Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< intgroup
 ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...
 
- 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
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 (BaseLMConstraint, BaseConstraintSet)
 
virtual void writeConstraintEquations (unsigned int &lineNumber, MultiVecId id, ConstraintParams::ConstOrder order)=0
 Called by MechanicalWriteLMConstaint: The Object will compute the constraints present in the current state, and create the ConstraintGroup related. More...
 
virtual void LagrangeMultiplierEvaluation (const SReal *, const SReal *, SReal *, ConstraintGroup *)
 Compute the new Lagrange Multiplier given a block of the compliance matrix W, and the current correction (left hand term) and previous Lagrange Multiplier. More...
 
void getConstraintViolation (const sofa::core::ConstraintParams *, defaulttype::BaseVector *) override
 Get Right Hand Term. More...
 
void getConstraintViolation (defaulttype::BaseVector *v, const core::ConstraintParams::ConstOrder)
 
virtual void getConstraints (std::map< ConstraintParams::ConstOrder, helper::vector< ConstraintGroup * > > &i)
 Get the internal structure: return all the constraint stored by their nature in a map. More...
 
virtual const helper::vector< ConstraintGroup * > & getConstraintsOrder (ConstraintParams::ConstOrder Order) const
 Get all the constraints stored of a given nature. More...
 
template<typename DataStorage >
void getEquationsUsed (const ConstraintGroup *group, DataStorage &used0) const
 Get Left Hand Term for a given constraint group. More...
 
template<typename DataStorage >
void getEquationsUsed (ConstraintParams::ConstOrder Order, DataStorage &used0) const
 Get Left Hand Term for each ConstraintGroup of a given order. More...
 
virtual unsigned int getNumConstraint (ConstraintParams::ConstOrder Order)
 get the number of expressed constraints of a given order More...
 
virtual BaseMechanicalStategetConstrainedMechModel1 () const =0
 get Mechanical State 1 where the constraint will be expressed (can be a Mapped mechanical state) More...
 
virtual BaseMechanicalStategetConstrainedMechModel2 () const =0
 get Mechanical State 2 where the constraint will be expressed (can be a Mapped mechanical state) More...
 
virtual BaseMechanicalStategetSimulatedMechModel1 () const =0
 get Mechanical State 1 where the constraint will be solved More...
 
virtual BaseMechanicalStategetSimulatedMechModel2 () const =0
 get Mechanical State 2 where the constraint will b*e solved More...
 
void updateForceMask () override=0
 
virtual bool isCorrectionComputedWithSimulatedDOF (ConstraintParams::ConstOrder) const
 
void resetConstraint () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintSet
 SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject)
 
virtual void setConstraintId (unsigned cId)
 
virtual void processGeometricalData ()
 
virtual void buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex)=0
 
virtual void getConstraintViolation (const ConstraintParams *, defaulttype::BaseVector *, unsigned int)
 
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...
 
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
 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 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 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 addOutputToCallback (const std::string &name, BaseData *output)
 
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)
 

Protected Member Functions

 BaseLMConstraint ()
 
 ~BaseLMConstraint () override
 
virtual ConstraintGroupaddGroupConstraint (ConstraintParams::ConstOrder Order)
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraintSet
 BaseConstraintSet ()
 
 ~BaseConstraintSet () 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, unsigned int, 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...
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< unsigned intm_constraintIndex
 Constraint index (first index in the right hand term resolution vector) More...
 
unsigned m_cId
 
- 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< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- 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)
 

Attribute details

constraintOrder_t sofa::core::behavior::BaseLMConstraint::constraintOrder
protected
Data<std::string> sofa::core::behavior::BaseLMConstraint::pathObject1
protected

First Object to constrain.

Data<std::string> sofa::core::behavior::BaseLMConstraint::pathObject2
protected

Second Object to constrain.

Constructor details

sofa::core::behavior::BaseLMConstraint::BaseLMConstraint ( )
protected
sofa::core::behavior::BaseLMConstraint::~BaseLMConstraint ( )
inlineoverrideprotected

Function details

ConstraintGroup * sofa::core::behavior::BaseLMConstraint::addGroupConstraint ( ConstraintParams::ConstOrder  Order)
protectedvirtual

Interface to construct a group of constraint: Giving the order of these constraints, it returns a pointer to the structure

See also
ConstraintGroup
virtual BaseMechanicalState* sofa::core::behavior::BaseLMConstraint::getConstrainedMechModel1 ( ) const
pure virtual

get Mechanical State 1 where the constraint will be expressed (can be a Mapped mechanical state)

Implemented in sofa::core::behavior::LMConstraint< DataTypes1, DataTypes2 >, and sofa::core::behavior::LMConstraint< DataTypes, DataTypes >.

virtual BaseMechanicalState* sofa::core::behavior::BaseLMConstraint::getConstrainedMechModel2 ( ) const
pure virtual

get Mechanical State 2 where the constraint will be expressed (can be a Mapped mechanical state)

Implemented in sofa::core::behavior::LMConstraint< DataTypes1, DataTypes2 >, and sofa::core::behavior::LMConstraint< DataTypes, DataTypes >.

virtual void sofa::core::behavior::BaseLMConstraint::getConstraints ( std::map< ConstraintParams::ConstOrder, helper::vector< ConstraintGroup * > > &  i)
inlinevirtual

Get the internal structure: return all the constraint stored by their nature in a map.

virtual const helper::vector< ConstraintGroup* >& sofa::core::behavior::BaseLMConstraint::getConstraintsOrder ( ConstraintParams::ConstOrder  Order) const
inlinevirtual

Get all the constraints stored of a given nature.

void sofa::core::behavior::BaseLMConstraint::getConstraintViolation ( const sofa::core::ConstraintParams cparams,
defaulttype::BaseVector v 
)
overridevirtual

Get Right Hand Term.

Reimplemented from sofa::core::behavior::BaseConstraintSet.

void sofa::core::behavior::BaseLMConstraint::getConstraintViolation ( defaulttype::BaseVector v,
const core::ConstraintParams::ConstOrder  Order 
)
template<typename DataStorage >
void sofa::core::behavior::BaseLMConstraint::getEquationsUsed ( const ConstraintGroup group,
DataStorage &  used0 
) const
inline

Get Left Hand Term for a given constraint group.

template<typename DataStorage >
void sofa::core::behavior::BaseLMConstraint::getEquationsUsed ( ConstraintParams::ConstOrder  Order,
DataStorage &  used0 
) const
inline

Get Left Hand Term for each ConstraintGroup of a given order.

unsigned int sofa::core::behavior::BaseLMConstraint::getNumConstraint ( ConstraintParams::ConstOrder  Order)
virtual

get the number of expressed constraints of a given order

virtual BaseMechanicalState* sofa::core::behavior::BaseLMConstraint::getSimulatedMechModel1 ( ) const
pure virtual
virtual BaseMechanicalState* sofa::core::behavior::BaseLMConstraint::getSimulatedMechModel2 ( ) const
pure virtual
virtual bool sofa::core::behavior::BaseLMConstraint::isCorrectionComputedWithSimulatedDOF ( ConstraintParams::ConstOrder  ) const
inlinevirtual

Methods to know if we have to propagate the state we want to constrain before computing the correction If the correction is computed with the simulatedDOF, there is no need, and we can reach a good speed-up

Reimplemented in sofa::component::constraintset::DOFBlockerLMConstraint< DataTypes >, sofa::component::constraintset::FixedLMConstraint< DataTypes >, sofa::component::constraintset::DistanceLMConstraint< DataTypes >, and sofa::component::constraintset::DistanceLMContactConstraint< DataTypes >.

virtual void sofa::core::behavior::BaseLMConstraint::LagrangeMultiplierEvaluation ( const SReal *  ,
const SReal *  ,
SReal *  ,
ConstraintGroup  
)
inlinevirtual

Compute the new Lagrange Multiplier given a block of the compliance matrix W, and the current correction (left hand term) and previous Lagrange Multiplier.

Reimplemented in sofa::component::constraintset::DistanceLMContactConstraint< DataTypes >.

void sofa::core::behavior::BaseLMConstraint::resetConstraint ( )
overridevirtual
sofa::core::behavior::BaseLMConstraint::SOFA_ABSTRACT_CLASS ( BaseLMConstraint  ,
BaseConstraintSet   
)
void sofa::core::behavior::BaseLMConstraint::updateForceMask ( )
overridepure virtual

Useful when the Constraint is applied only on a subset of dofs. It is automatically called by ???

That way, we can optimize the time spent to transfer quantities through the mechanical mappings. Every Dofs are inserted by default. The Constraint using only a subset of dofs should only insert these dofs in the mask.

Implements sofa::core::behavior::BaseConstraintSet.

Implemented in sofa::core::behavior::LMConstraint< DataTypes1, DataTypes2 >, and sofa::core::behavior::LMConstraint< DataTypes, DataTypes >.

virtual void sofa::core::behavior::BaseLMConstraint::writeConstraintEquations ( unsigned int lineNumber,
MultiVecId  id,
ConstraintParams::ConstOrder  order 
)
pure virtual