template<class TDataTypes1, class TDataTypes2>
class sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >
Component computing constraints between a pair of simulated body.
This class define the abstract API common to interaction constraints between a pair of bodies using a given type of DOFs.
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| SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(MixedInteractionConstraint, TDataTypes1, TDataTypes2), BaseInteractionConstraint) |
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virtual bool | isActive () const |
| if false, the constraint does nothing More...
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void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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MechanicalState< DataTypes1 > * | getMState1 () |
| Retrieve the associated MechanicalState. More...
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BaseMechanicalState * | getMechModel1 () override |
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MechanicalState< DataTypes2 > * | getMState2 () |
| Retrieve the associated MechanicalState. More...
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BaseMechanicalState * | getMechModel2 () override |
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void | getConstraintViolation (const ConstraintParams *cParams, defaulttype::BaseVector *v) override |
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virtual void | getConstraintViolation (const ConstraintParams *cParams, defaulttype::BaseVector *v, const DataVecCoord1 &x1, const DataVecCoord2 &x2, const DataVecDeriv1 &v1, const DataVecDeriv2 &v2)=0 |
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void | buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override |
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virtual void | buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv1 &c1, DataMatrixDeriv2 &c2, unsigned int &cIndex, const DataVecCoord1 &x1, const DataVecCoord2 &x2)=0 |
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| SOFA_ABSTRACT_CLASS (BaseInteractionConstraint, BaseConstraint) |
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| SOFA_ABSTRACT_CLASS (BaseConstraint, BaseConstraintSet) |
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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...
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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...
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virtual void | getConstraintInfo (const ConstraintParams *cParams, VecConstraintBlockInfo &blocks, VecPersistentID &ids, VecConstCoord &positions, VecConstDeriv &directions, VecConstArea &areas) |
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virtual void | getConstraintResolution (const ConstraintParams *cParams, std::vector< ConstraintResolution * > &resTab, unsigned int &offset) |
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virtual void | getConstraintResolution (std::vector< ConstraintResolution * > &resTab, unsigned int &offset) |
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virtual void | storeLambda (const ConstraintParams *cParams, MultiVecDerivId res, const sofa::defaulttype::BaseVector *lambda)=0 |
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| SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject) |
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virtual void | resetConstraint () |
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virtual void | setConstraintId (unsigned cId) |
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virtual void | processGeometricalData () |
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virtual void | getConstraintViolation (const ConstraintParams *, defaulttype::BaseVector *, unsigned int) |
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bool | insertInNode (objectmodel::BaseNode *node) override |
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bool | removeInNode (objectmodel::BaseNode *node) override |
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| SOFA_CLASS (BaseObject, Base) |
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virtual void | draw (const core::visual::VisualParams *) |
| Render internal data of this object, for debugging purposes. More...
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virtual void | computeBBox (const core::ExecParams *, bool=false) |
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void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
| Sets a source Object and parses it to collect dependent Data. More...
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void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
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void * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
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virtual std::string | getPathName () const override |
| Return the full path name of this object. More...
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template<class T > |
T::SPtr | searchLocal () const |
| Local search of an object of the given type. More...
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template<class T > |
T::SPtr | searchUp () const |
| Upward search of an object of the given type, starting from the local context. More...
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template<class T > |
T::SPtr | searchDown () const |
| Downward search of an object of the given type, starting from the local context. More...
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template<class T > |
T::SPtr | searchFromRoot () const |
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template<class T > |
T::SPtr | searchInParents () const |
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template<class T > |
helper::vector< typename T::SPtr > | searchAllLocal () const |
| Local search of all objects of the given type. More...
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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...
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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...
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template<class T > |
helper::vector< typename T::SPtr > | searchAllFromRoot () const |
| Search of all objects of the given type, starting from the root. More...
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template<class T > |
helper::vector< typename T::SPtr > | searchAllInParents () const |
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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...
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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...
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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...
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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...
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template<class T > |
helper::vector< typename T::SPtr > | searchAllInParents (const Tag &t) const |
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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...
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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...
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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...
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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...
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template<class T > |
helper::vector< typename T::SPtr > | searchAllInParents (const TagSet &t) const |
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SReal | getTime () const |
| Current time. More...
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const BaseContext * | getContext () const |
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BaseContext * | getContext () |
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const BaseObject * | getMaster () const |
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BaseObject * | getMaster () |
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const VecSlaves & | getSlaves () const |
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BaseObject * | getSlave (const std::string &name) const |
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virtual void | addSlave (BaseObject::SPtr s) |
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virtual void | removeSlave (BaseObject::SPtr s) |
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virtual void | handleEvent (Event *) |
| Handle an event. More...
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virtual void | handleTopologyChange () |
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virtual void | handleTopologyChange (core::topology::Topology *t) |
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void | parse (BaseObjectDescription *arg) override |
| Parse the given description to assign values to this object's fields and potentially other parameters. More...
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virtual void | bwdInit () |
| Initialization method called at graph creation and modification, during bottom-up traversal. More...
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virtual void | reinit () |
| Update method called when variables used in precomputation are modified. More...
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void | updateInternal () |
| Update method called when variables (used to compute other internal variables) are modified. More...
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virtual void | storeResetState () |
| Save the initial state for later uses in reset() More...
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virtual void | reset () |
| Reset to initial state. More...
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virtual void | cleanup () |
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virtual const BaseClass * | getClass () const |
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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) |
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void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
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const std::string & | getName () const |
| Accessor to the object name. More...
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void | setName (const std::string &n) |
| Set the name of this object. More...
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void | setName (const std::string &n, int counter) |
| Set the name of this object, adding an integer counter. More...
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virtual std::string | getTypeName () const |
| Get the type name of this object (i.e. class and template types) More...
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virtual std::string | getClassName () const |
| Get the class name of this object. More...
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virtual std::string | getTemplateName () const |
| Get the template type names (if any) used to instantiate this object. More...
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virtual std::string | getNameSpaceName () const |
| Get the template type names (if any) used to instantiate this object. More...
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void | setDefinitionSourceFileName (const std::string &sourceFileName) |
| Set the source filename (where the component is implemented) More...
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const std::string & | getDefinitionSourceFileName () const |
| Get the source filename (where the component is implemented) More...
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void | setDefinitionSourceFilePos (const int) |
| Set the source location (where the component is implemented) More...
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int | getDefinitionSourceFilePos () const |
| Get the source location (where the component is implemented) More...
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void | setInstanciationSourceFileName (const std::string &sourceFileName) |
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const std::string & | getInstanciationSourceFileName () const |
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void | setInstanciationSourceFilePos (const int) |
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int | getInstanciationSourceFilePos () const |
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const std::string | getWarnings () const |
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const std::string | getOutputs () const |
| use getLoggedMessageAsString() or getLoggedMessage instead. More...
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void | clearWarnings () |
| use getLoggedMessageAsString() or getLoggedMessage instead. More...
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void | clearOutputs () |
| use clearLoggedMessages() instead More...
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void | processStream (std::ostream &out) |
| use clearLoggedMessages() instead More...
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void | addMessage (const sofa::helper::logging::Message &m) const |
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size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
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const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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void | clearLoggedMessages () const |
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bool | notMuted () const |
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bool | IsInheritingFromBase () |
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const sofa::core::objectmodel::TagSet & | getTags () const |
| Represents the subsets the object belongs to. More...
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bool | hasTag (Tag t) const |
| Return true if the object belong to the given subset. More...
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void | addTag (Tag t) |
| Add a subset qualification to the object. More...
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void | removeTag (Tag t) |
| Remove a subset qualification to the object. More...
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ComponentState | getComponentState () const |
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bool | isComponentStateValid () const |
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virtual bool | parseField (const std::string &attribute, const std::string &value) |
| Assign one field value (Data or Link) More...
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virtual bool | hasField (const std::string &attribute) const |
| Check if a given Data field or Link exists. More...
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void | parseFields (const std::list< std::string > &str) |
| Assign the field values stored in the given list of name + value pairs of strings. More...
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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...
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void | writeDatas (std::map< std::string, std::string * > &str) |
| Write the current field values to the given map of name -> value pairs. More...
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void | writeDatas (std::ostream &out, const std::string &separator=" ") |
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BaseData * | findData (const std::string &name) const |
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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...
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BaseLink * | findLink (const std::string &name) const |
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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...
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virtual void | updateLinks (bool logErrors=true) |
| Update pointers in case the pointed-to objects have appeared. More...
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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...
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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...
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void | addData (BaseData *f, const std::string &name) |
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void | addData (BaseData *f) |
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void | removeData (BaseData *f) |
| Remove a data field. More...
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void | addAlias (BaseData *field, const char *alias) |
| Add an alias to a Data. More...
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void | addLink (BaseLink *l) |
| Add a link. More...
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void | addAlias (BaseLink *link, const char *alias) |
| Add an alias to a Link. More...
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const VecData & | getDataFields () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapData & | getDataAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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const VecLink & | getLinks () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapLink & | getLinkAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
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template<class T > |
bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
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