SOFA API  df6198ac
Open source framework for multi-physics simuation
sofa::core::behavior::Constraint< DataTypes > Class Template Referenceabstract

#include <Constraint.h>

Component computing constraints within a simulated body. More...

Inheritance diagram for sofa::core::behavior::Constraint< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::core::behavior::Constraint< DataTypes >

Component computing constraints within a simulated body.

This class define the abstract API common to constraints using a given type of DOFs. A Constraint computes constraints applied to one simulated body given its current position and velocity.

Public Attributes

Data< RealendTime
 Time when the constraint becomes inactive (-1 for infinitely active) More...
 
- Public Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< unsigned int > m_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
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_CLASS2 (SOFA_TEMPLATE(Constraint, DataTypes), BaseConstraint, SOFA_TEMPLATE(SingleStateAccessor, DataTypes))
 
virtual bool isActive () const
 if false, the constraint does nothing More...
 
void getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *v) override
 
virtual void getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v)=0
 
void buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override
 
virtual void buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv &c, unsigned int &cIndex, const DataVecCoord &x)=0
 
void storeLambda (const ConstraintParams *cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector *lambda) override
 
virtual type::vector< std::string > getBaseConstraintIdentifiers () override final
 
virtual void getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *v)
 
virtual void getConstraintViolation (const ConstraintParams *, linearalgebra::BaseVector *, unsigned int)
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraint
 SOFA_ABSTRACT_CLASS (BaseConstraint, BaseConstraintSet)
 
int getGroup () const
 Get the 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...
 
void setGroup (int g)
 Set the 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...
 
virtual void getConstraintInfo (const ConstraintParams *cParams, VecConstraintBlockInfo &blocks, VecPersistentID &ids, VecConstCoord &positions, VecConstDeriv &directions, VecConstArea &areas)
 
virtual void getConstraintResolution (const ConstraintParams *cParams, std::vector< ConstraintResolution * > &resTab, unsigned int &offset)
 
virtual void getConstraintResolution (std::vector< ConstraintResolution * > &resTab, unsigned int &offset)
 
type::vector< std::string > getIdentifiers ()
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintSet
 SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject)
 
virtual void resetConstraint ()
 
virtual void setConstraintId (unsigned cId)
 
virtual void processGeometricalData ()
 
virtual void getConstraintViolation (const ConstraintParams *, linearalgebra::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...
 
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)
 
BasefindLinkDestClass (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 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 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::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 (::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 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)
 
- Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 
const MechanicalState< DataTypes > * getMState () const
 
- Public Member Functions inherited from sofa::core::behavior::StateAccessor
 SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)
 
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & getMechanicalStates () const
 Return a list of mechanical states to which this component is associated. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 

Static Public Member Functions

template<class T >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, 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 std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 Constraint (MechanicalState< DataTypes > *mm=nullptr)
 
 ~Constraint () override
 
virtual type::vector< std::string > getConstraintIdentifiers ()
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraint
 BaseConstraint ()
 
 ~BaseConstraint () override
 
- 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, 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...
 
- Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
 SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr)
 
 ~SingleStateAccessor () override=default
 
- Protected Member Functions inherited from sofa::core::behavior::StateAccessor
 StateAccessor ()
 
 ~StateAccessor () override=default
 

Additional Inherited Members

- Protected Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< int > group
 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
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...
 
- Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
SingleLink< SingleStateAccessor< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINKmstate
 
- Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 

Attribute details

◆ endTime

template<class DataTypes >
Data<Real> sofa::core::behavior::Constraint< DataTypes >::endTime

Time when the constraint becomes inactive (-1 for infinitely active)

Constructor details

◆ Constraint()

template<class DataTypes >
sofa::core::behavior::Constraint< DataTypes >::Constraint ( MechanicalState< DataTypes > *  mm = nullptr)
protected

◆ ~Constraint()

template<class DataTypes >
sofa::core::behavior::Constraint< DataTypes >::~Constraint
overrideprotected

Function details

◆ buildConstraintMatrix() [1/2]

template<class DataTypes >
virtual void sofa::core::behavior::Constraint< DataTypes >::buildConstraintMatrix ( const ConstraintParams cParams,
DataMatrixDeriv c,
unsigned int &  cIndex,
const DataVecCoord x 
)
pure virtual

Construct the Jacobian Matrix

Parameters
cis the result constraint sparse matrix
cIndexis the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
xis the position vector used for contraint equation computation
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

Implemented in sofa::component::constraint::lagrangian::model::UniformLagrangianConstraint< DataTypes >, and sofa::component::constraint::lagrangian::model::StopperLagrangianConstraint< DataTypes >.

◆ buildConstraintMatrix() [2/2]

template<class DataTypes >
void sofa::core::behavior::Constraint< DataTypes >::buildConstraintMatrix ( const ConstraintParams cParams,
MultiMatrixDerivId  cId,
unsigned int &  cIndex 
)
overridevirtual

Construct the Jacobian Matrix

Parameters
cIdis the result constraint sparse matrix Id
cIndexis the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

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

◆ canCreate()

template<class DataTypes >
template<class T >
static bool sofa::core::behavior::Constraint< DataTypes >::canCreate ( T *&  obj,
objectmodel::BaseContext context,
objectmodel::BaseObjectDescription arg 
)
inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

◆ getBaseConstraintIdentifiers()

template<class DataTypes >
virtual type::vector<std::string> sofa::core::behavior::Constraint< DataTypes >::getBaseConstraintIdentifiers ( )
inlinefinaloverridevirtual

◆ getConstraintIdentifiers()

◆ getConstraintViolation() [1/4]

template<class DataTypes >
virtual void sofa::core::behavior::BaseConstraintSet::getConstraintViolation
inline

Construct the Constraint violations vector

Parameters
vis the result vector that contains the whole constraints violations
cIndexis the index of the next constraint equation
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

◆ getConstraintViolation() [2/4]

template<class DataTypes >
virtual void sofa::core::behavior::Constraint< DataTypes >::getConstraintViolation ( const ConstraintParams cParams,
linearalgebra::BaseVector resV,
const DataVecCoord x,
const DataVecDeriv v 
)
pure virtual

Construct the Constraint violations vector of each constraint

Parameters
resVis the result vector that contains the whole constraints violations
xis the position vector used to compute contraint position violation
vis the velocity vector used to compute contraint velocity violation
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

Implemented in sofa::component::constraint::lagrangian::model::UniformLagrangianConstraint< DataTypes >, and sofa::component::constraint::lagrangian::model::StopperLagrangianConstraint< DataTypes >.

◆ getConstraintViolation() [3/4]

template<class DataTypes >
virtual void sofa::core::behavior::BaseConstraintSet::getConstraintViolation
inline

Construct the Constraint violations vector

Parameters
vis the result vector that contains the whole constraints violations
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

◆ getConstraintViolation() [4/4]

template<class DataTypes >
void sofa::core::behavior::Constraint< DataTypes >::getConstraintViolation ( const ConstraintParams cParams,
linearalgebra::BaseVector v 
)
overridevirtual

Construct the Constraint violations vector of each constraint

Parameters
vis the result vector that contains the whole constraints violations
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

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

◆ isActive()

template<class DataTypes >
bool sofa::core::behavior::Constraint< DataTypes >::isActive
virtual

if false, the constraint does nothing

◆ SOFA_CLASS2()

template<class DataTypes >
sofa::core::behavior::Constraint< DataTypes >::SOFA_CLASS2 ( SOFA_TEMPLATE(Constraint< DataTypes >, DataTypes ,
BaseConstraint< DataTypes ,
SOFA_TEMPLATE(SingleStateAccessor, DataTypes  
)

◆ storeLambda()

template<class DataTypes >
void sofa::core::behavior::Constraint< DataTypes >::storeLambda ( const ConstraintParams cParams,
MultiVecDerivId  res,
const sofa::linearalgebra::BaseVector lambda 
)
overridevirtual

Store the constraint lambda at the constraint dofs at the given VecDerivId location. res = J^t * lambda. J is the sparse matrix containing the constraint jacobian that was used to build the constraint matrix ( see BaseConstraintSet::buildConstraintMatrix ).

Parameters
cParamsstores the id of the state vectors used during the constraint solving step. Mostly it helps retrieving the MatrixDerivId where the constraint jacobian J is stored.
resis the state vector Id where to store the result.
lambdais the vector of scalar constraint impulses. The direction are stored in the MatrixDerivId stored in the cParams.

Implements sofa::core::behavior::BaseConstraint.