sofa::simulation::MappingJacobians< JacobianMatrixType > Class Template Reference

#include <MappingGraph.h>

Manages Jacobian matrix contributions for a single mechanical state. More...

Detailed Description

template<class JacobianMatrixType>
class sofa::simulation::MappingJacobians< JacobianMatrixType >

Manages Jacobian matrix contributions for a single mechanical state.

This class holds and retrieves the Jacobian matrices calculated during graph construction. It maps input states (which require Jacobians) to their corresponding Jacobian calculation object.

Template Parameters

JacobianMatrixType

The concrete type used for the Jacobian matrix structure.

Public Member Functions
	MappingJacobians ()=delete
	Deleted constructor enforces usage via the parameterized constructor. More...
	MappingJacobians (const core::behavior::BaseMechanicalState &mappedState)
	Constructs the Jacobian manager for a specific mechanical state. More...
void	addJacobianToTopMostParent (std::shared_ptr< JacobianMatrixType > jacobian, core::behavior::BaseMechanicalState *topMostParent)
	Associates a calculated Jacobian matrix with a top-most parent state. More...
std::shared_ptr< JacobianMatrixType >	getJacobianFrom (core::behavior::BaseMechanicalState *mstate) const
	Retrieves the Jacobian matrix associated with a given mechanical state. More...

Constructor details

MappingJacobians() [1/2]

template<class JacobianMatrixType >

sofa::simulation::MappingJacobians< JacobianMatrixType >::MappingJacobians ( )

delete

Deleted constructor enforces usage via the parameterized constructor.

MappingJacobians() [2/2]

template<class JacobianMatrixType >

sofa::simulation::MappingJacobians< JacobianMatrixType >::MappingJacobians ( const core::behavior::BaseMechanicalState &  mappedState )

inline

Constructs the Jacobian manager for a specific mechanical state.

Parameters

mappedState

Reference to the mechanical state being managed.

Function details

addJacobianToTopMostParent()

template<class JacobianMatrixType >

void sofa::simulation::MappingJacobians< JacobianMatrixType >::addJacobianToTopMostParent ( std::shared_ptr< JacobianMatrixType >  jacobian, core::behavior::BaseMechanicalState *  topMostParent  )

inline

Associates a calculated Jacobian matrix with a top-most parent state.

Parameters

jacobian	The shared pointer to the Jacobian matrix.
topMostParent	The mechanical state that uses this Jacobian as input.

getJacobianFrom()

template<class JacobianMatrixType >

std::shared_ptr<JacobianMatrixType> sofa::simulation::MappingJacobians< JacobianMatrixType >::getJacobianFrom ( core::behavior::BaseMechanicalState *  mstate ) const

inline

Retrieves the Jacobian matrix associated with a given mechanical state.

Parameters

mstate

The state whose Jacobian is requested.

Returns

A shared pointer to the Jacobian, or nullptr if not found.