SOFA API  b3f2f2a4
Open source framework for multi-physics simuation
Static Public Attributes | Protected Attributes | Public Member Functions | Static Public Member Functions | Friends | List of all members
sofa::defaulttype::RigidDeriv< 3, real > Class Template Reference

#include <RigidDeriv.h>

Static Public Attributes

static constexpr sofa::Size total_size = 6
 Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method) More...
 
static constexpr sofa::Size spatial_dimensions = 3
 Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for rigids) More...
 

Protected Attributes

Vec3 vCenter
 
Vec3 vOrientation
 

Public Member Functions

constexpr RigidDeriv ()
 
constexpr RigidDeriv (type::NoInit)
 
constexpr RigidDeriv (const Vec3 &velCenter, const Vec3 &velOrient)
 
template<typename real2 >
constexpr RigidDeriv (const RigidDeriv< 3, real2 > &c)
 
template<typename real2 >
constexpr RigidDeriv (const type::Vec< 6, real2 > &v)
 
template<typename real2 >
constexpr RigidDeriv (const real2 *ptr)
 
constexpr void clear ()
 
template<typename real2 >
constexpr void operator= (const RigidDeriv< 3, real2 > &c)
 
template<typename real2 >
constexpr void operator= (const type::Vec< 3, real2 > &v)
 
template<typename real2 >
constexpr void operator= (const type::Vec< 6, real2 > &v)
 
constexpr void operator+= (const RigidDeriv &a)
 
constexpr void operator-= (const RigidDeriv &a)
 
constexpr RigidDeriv< 3, real > operator+ (const RigidDeriv< 3, real > &a) const
 
template<typename real2 >
constexpr void operator*= (real2 a)
 
template<typename real2 >
constexpr void operator/= (real2 a)
 
constexpr RigidDeriv< 3, real > operator- () const
 
constexpr RigidDeriv< 3, real > operator- (const RigidDeriv< 3, real > &a) const
 
constexpr Real operator* (const RigidDeriv< 3, real > &a) const
 dot product, mostly used to compute residuals as sqrt(x*x) More...
 
real norm () const
 Euclidean norm. More...
 
constexpr Vec3 & getVCenter ()
 
constexpr Vec3 & getVOrientation ()
 
constexpr const Vec3 & getVCenter () const
 
constexpr const Vec3 & getVOrientation () const
 
constexpr Vec3 & getLinear ()
 
constexpr const Vec3 & getLinear () const
 
constexpr Vec3 & getAngular ()
 
constexpr const Vec3 & getAngular () const
 
constexpr VecAll getVAll () const
 
constexpr Vec3 velocityAtRotatedPoint (const Vec3 &p) const
 Velocity at point p, where p is the offset from the origin of the frame, given in the same coordinate system as the velocity of the origin. More...
 
constexpr real * ptr ()
 
constexpr const real * ptr () const
 
constexpr real & operator[] (Size i)
 Access to i-th element. More...
 
constexpr const real & operator[] (Size i) const
 Const access to i-th element. More...
 
Tests operators
constexpr bool operator== (const RigidDeriv< 3, real > &b) const
 
constexpr bool operator!= (const RigidDeriv< 3, real > &b) const
 

Static Public Member Functions

static constexpr Size size ()
 

Friends

class RigidCoord< 3, real >
 
std::ostream & operator<< (std::ostream &out, const RigidDeriv< 3, real > &v)
 write to an output stream More...
 
std::istream & operator>> (std::istream &in, RigidDeriv< 3, real > &v)
 read from an input stream More...
 

Attribute details

◆ spatial_dimensions

template<typename real >
constexpr sofa::Size sofa::defaulttype::RigidDeriv< 3, real >::spatial_dimensions = 3
staticconstexpr

Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for rigids)

◆ total_size

template<typename real >
constexpr sofa::Size sofa::defaulttype::RigidDeriv< 3, real >::total_size = 6
staticconstexpr

Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method)

◆ vCenter

template<typename real >
Vec3 sofa::defaulttype::RigidDeriv< 3, real >::vCenter
protected

◆ vOrientation

template<typename real >
Vec3 sofa::defaulttype::RigidDeriv< 3, real >::vOrientation
protected

Constructor details

◆ RigidDeriv() [1/6]

template<typename real >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( )
inlineconstexpr

◆ RigidDeriv() [2/6]

template<typename real >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( type::NoInit  )
inlineexplicitconstexpr

◆ RigidDeriv() [3/6]

template<typename real >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( const Vec3 &  velCenter,
const Vec3 &  velOrient 
)
inlineconstexpr

◆ RigidDeriv() [4/6]

template<typename real >
template<typename real2 >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( const RigidDeriv< 3, real2 > &  c)
inlineconstexpr

◆ RigidDeriv() [5/6]

template<typename real >
template<typename real2 >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( const type::Vec< 6, real2 > &  v)
inlineconstexpr

◆ RigidDeriv() [6/6]

template<typename real >
template<typename real2 >
constexpr sofa::defaulttype::RigidDeriv< 3, real >::RigidDeriv ( const real2 *  ptr)
inlineconstexpr

Function details

◆ clear()

template<typename real >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::clear ( )
inlineconstexpr

◆ getAngular() [1/2]

template<typename real >
constexpr Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getAngular ( )
inlineconstexpr

◆ getAngular() [2/2]

template<typename real >
constexpr const Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getAngular ( ) const
inlineconstexpr

◆ getLinear() [1/2]

template<typename real >
constexpr Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getLinear ( )
inlineconstexpr

◆ getLinear() [2/2]

template<typename real >
constexpr const Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getLinear ( ) const
inlineconstexpr

◆ getVAll()

template<typename real >
constexpr VecAll sofa::defaulttype::RigidDeriv< 3, real >::getVAll ( ) const
inlineconstexpr

◆ getVCenter() [1/2]

template<typename real >
constexpr Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getVCenter ( )
inlineconstexpr

◆ getVCenter() [2/2]

template<typename real >
constexpr const Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getVCenter ( ) const
inlineconstexpr

◆ getVOrientation() [1/2]

template<typename real >
constexpr Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getVOrientation ( )
inlineconstexpr

◆ getVOrientation() [2/2]

template<typename real >
constexpr const Vec3& sofa::defaulttype::RigidDeriv< 3, real >::getVOrientation ( ) const
inlineconstexpr

◆ norm()

template<typename real >
real sofa::defaulttype::RigidDeriv< 3, real >::norm ( ) const
inline

Euclidean norm.

◆ operator!=()

template<typename real >
constexpr bool sofa::defaulttype::RigidDeriv< 3, real >::operator!= ( const RigidDeriv< 3, real > &  b) const
inlineconstexpr

◆ operator*()

template<typename real >
constexpr Real sofa::defaulttype::RigidDeriv< 3, real >::operator* ( const RigidDeriv< 3, real > &  a) const
inlineconstexpr

dot product, mostly used to compute residuals as sqrt(x*x)

◆ operator*=()

template<typename real >
template<typename real2 >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator*= ( real2  a)
inlineconstexpr

◆ operator+()

template<typename real >
constexpr RigidDeriv<3, real> sofa::defaulttype::RigidDeriv< 3, real >::operator+ ( const RigidDeriv< 3, real > &  a) const
inlineconstexpr

◆ operator+=()

template<typename real >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator+= ( const RigidDeriv< 3, real > &  a)
inlineconstexpr

◆ operator-() [1/2]

template<typename real >
constexpr RigidDeriv<3, real> sofa::defaulttype::RigidDeriv< 3, real >::operator- ( ) const
inlineconstexpr

◆ operator-() [2/2]

template<typename real >
constexpr RigidDeriv<3, real> sofa::defaulttype::RigidDeriv< 3, real >::operator- ( const RigidDeriv< 3, real > &  a) const
inlineconstexpr

◆ operator-=()

template<typename real >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator-= ( const RigidDeriv< 3, real > &  a)
inlineconstexpr

◆ operator/=()

template<typename real >
template<typename real2 >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator/= ( real2  a)
inlineconstexpr

◆ operator=() [1/3]

template<typename real >
template<typename real2 >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator= ( const RigidDeriv< 3, real2 > &  c)
inlineconstexpr

◆ operator=() [2/3]

template<typename real >
template<typename real2 >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator= ( const type::Vec< 3, real2 > &  v)
inlineconstexpr

◆ operator=() [3/3]

template<typename real >
template<typename real2 >
constexpr void sofa::defaulttype::RigidDeriv< 3, real >::operator= ( const type::Vec< 6, real2 > &  v)
inlineconstexpr

◆ operator==()

template<typename real >
constexpr bool sofa::defaulttype::RigidDeriv< 3, real >::operator== ( const RigidDeriv< 3, real > &  b) const
inlineconstexpr

◆ operator[]() [1/2]

template<typename real >
constexpr real& sofa::defaulttype::RigidDeriv< 3, real >::operator[] ( Size  i)
inlineconstexpr

Access to i-th element.

◆ operator[]() [2/2]

template<typename real >
constexpr const real& sofa::defaulttype::RigidDeriv< 3, real >::operator[] ( Size  i) const
inlineconstexpr

Const access to i-th element.

◆ ptr() [1/2]

template<typename real >
constexpr real* sofa::defaulttype::RigidDeriv< 3, real >::ptr ( )
inlineconstexpr

◆ ptr() [2/2]

template<typename real >
constexpr const real* sofa::defaulttype::RigidDeriv< 3, real >::ptr ( ) const
inlineconstexpr

◆ size()

template<typename real >
static constexpr Size sofa::defaulttype::RigidDeriv< 3, real >::size ( )
inlinestaticconstexpr

◆ velocityAtRotatedPoint()

template<typename real >
constexpr Vec3 sofa::defaulttype::RigidDeriv< 3, real >::velocityAtRotatedPoint ( const Vec3 &  p) const
inlineconstexpr

Velocity at point p, where p is the offset from the origin of the frame, given in the same coordinate system as the velocity of the origin.

Related details

◆ operator<<

template<typename real >
std::ostream& operator<< ( std::ostream &  out,
const RigidDeriv< 3, real > &  v 
)
friend

write to an output stream

◆ operator>>

template<typename real >
std::istream& operator>> ( std::istream &  in,
RigidDeriv< 3, real > &  v 
)
friend

read from an input stream

◆ RigidCoord< 3, real >

template<typename real >
friend class RigidCoord< 3, real >
friend