Classes
class	AbstractTypeInfo

class	BaseMatrix

class	BaseMatrixLinearOpAddM

class	BaseMatrixLinearOpAddMT

class	BaseMatrixLinearOpAM

struct	BaseMatrixLinearOpAM1_BlockSparse

struct	BaseMatrixLinearOpAM_BlockSparse

struct	BaseMatrixLinearOpAMS_BlockSparse

class	BaseMatrixLinearOpMulTV

class	BaseMatrixLinearOpMulV

class	BaseMatrixLinearOpMV

struct	BaseMatrixLinearOpMV_BlockDiagonal

struct	BaseMatrixLinearOpMV_BlockDiagonal< Real, 1, 1, add, transpose, M, V1, V2 >

struct	BaseMatrixLinearOpMV_BlockSparse

class	BaseMatrixLinearOpPMulTV

class	BaseMatrixLinearOpPMulV

class	BaseVector

struct	BoolTypeInfo

class	BoundingBox

class	BoundingBox1D
	bounding interval More...

class	BoundingBox2D
	bounding rectangle More...

struct	BoundingBoxTypeInfo

struct	CleanupCheck

struct	DataTypeInfo

struct	DataTypeInfo< bool >

struct	DataTypeInfo< BoundingBox >

struct	DataTypeInfo< char >

struct	DataTypeInfo< component::linearsolver::EigenBaseSparseMatrix< Real > >

struct	DataTypeInfo< component::linearsolver::EigenSparseMatrix< TIn, TOut > >

struct	DataTypeInfo< double >

struct	DataTypeInfo< float >

struct	DataTypeInfo< int >

struct	DataTypeInfo< long >

struct	DataTypeInfo< long long >

struct	DataTypeInfo< short >

struct	DataTypeInfo< sofa::core::objectmodel::Tag >

struct	DataTypeInfo< sofa::core::objectmodel::TagSet >

struct	DataTypeInfo< sofa::core::topology::Topology::Edge >

struct	DataTypeInfo< sofa::core::topology::Topology::Hexahedron >

struct	DataTypeInfo< sofa::core::topology::Topology::Pentahedron >

struct	DataTypeInfo< sofa::core::topology::Topology::Pyramid >

struct	DataTypeInfo< sofa::core::topology::Topology::Quad >

struct	DataTypeInfo< sofa::core::topology::Topology::Tetrahedron >

struct	DataTypeInfo< sofa::core::topology::Topology::Triangle >

struct	DataTypeInfo< sofa::defaulttype::Mat< L, C, real > >

struct	DataTypeInfo< sofa::defaulttype::RigidCoord< N, real > >

struct	DataTypeInfo< sofa::defaulttype::RigidDeriv< N, real > >

struct	DataTypeInfo< sofa::helper::fixed_array< T, N > >

struct	DataTypeInfo< sofa::helper::Quater< T > >

struct	DataTypeInfo< sofa::helper::types::RGBAColor >

struct	DataTypeInfo< sofa::helper::vector< bool, Alloc > >

struct	DataTypeInfo< sofa::helper::vector< std::string, Alloc > >

struct	DataTypeInfo< sofa::helper::vector< T, Alloc > >

struct	DataTypeInfo< std::set< T, Compare, Alloc > >

struct	DataTypeInfo< std::string >

struct	DataTypeInfo< std::vector< T, Alloc > >

struct	DataTypeInfo< unsigned char >

struct	DataTypeInfo< unsigned int >

struct	DataTypeInfo< unsigned long >

struct	DataTypeInfo< unsigned long long >

struct	DataTypeInfo< unsigned short >

struct	DataTypeName
	Type name template: default to using DataTypeInfo::name(), but can be overriden for types with shorter typedefs. More...

struct	DataTypeName< BoundingBox >

struct	DefaultDataTypeInfo

struct	EigenSparseToMapMapSparseMatrix

class	EigenSparseToMapMapSparseMatrix< sofa::defaulttype::RigidDeriv< N, Real > >

class	EigenSparseToMapMapSparseMatrix< sofa::defaulttype::Vec< N, Real > >

struct	EigenSparseToMapMapSparseMatrixVec

struct	FixedArrayTypeInfo

class	Frame

struct	IntegerTypeInfo

class	MapMapSparseMatrix

struct	MapMapSparseMatrixToEigenSparse

class	MapMapSparseMatrixToEigenSparse< sofa::defaulttype::RigidDeriv< N, Real > >

class	MapMapSparseMatrixToEigenSparse< sofa::defaulttype::Vec< N, Real > >

struct	MapMapSparseMatrixToEigenSparseVec

class	Mat

class	MatNoInit
	Same as Mat except the values are not initialized by default. More...

class	MatSym

class	Ray

class	RegisterTemplateAlias
	Helper class used to register a template alias in the TemplateAliases class. More...

class	RigidCoord

class	RigidCoord< 2, real >

class	RigidCoord< 3, real >

class	RigidDeriv

class	RigidDeriv< 2, real >

class	RigidDeriv< 3, real >

class	RigidMass

class	RigidMass< 2, real >

class	RigidMass< 3, real >

struct	ScalarTypeInfo

struct	SetTypeInfo

class	SolidTypes

class	StdRigidTypes

class	StdRigidTypes< 2, real >

class	StdRigidTypes< 3, real >

class	StdVectorTypes

class	TBoundingBox

class	TemplateAliases
	Class used to store and resolve template aliases. More...

struct	TextTypeInfo

struct	VectorTypeInfo

class	VirtualTypeInfo
	Abstract type traits class. More...

Typedefs
typedef Mat< 1, 1, float >	Mat1x1f

typedef Mat< 1, 1, double >	Mat1x1d

typedef Mat< 2, 2, float >	Mat2x2f

typedef Mat< 2, 2, double >	Mat2x2d

typedef Mat< 3, 3, float >	Mat3x3f

typedef Mat< 3, 3, double >	Mat3x3d

typedef Mat< 3, 4, float >	Mat3x4f

typedef Mat< 3, 4, double >	Mat3x4d

typedef Mat< 4, 4, float >	Mat4x4f

typedef Mat< 4, 4, double >	Mat4x4d

typedef Mat< 2, 2, SReal >	Mat2x2

typedef Mat< 3, 3, SReal >	Mat3x3

typedef Mat< 4, 4, SReal >	Mat4x4

typedef Mat< 2, 2, SReal >	Matrix2

typedef Mat< 3, 3, SReal >	Matrix3

typedef Mat< 4, 4, SReal >	Matrix4

typedef helper::Quater< double >	Quatd
	alias More...

typedef helper::Quater< float >	Quatf
	alias More...

typedef helper::Quater< SReal >	Quat
	alias More...

typedef Quat	Quaternion
	alias More...

typedef StdRigidTypes< 3, double >	Rigid3dTypes

typedef RigidMass< 3, double >	Rigid3dMass

typedef StdRigidTypes< 3, float >	Rigid3fTypes

typedef RigidMass< 3, float >	Rigid3fMass

typedef StdRigidTypes< 3, SReal >	Rigid3Types
	un-defined precision type More...

typedef StdRigidTypes< 3, SReal >	RigidTypes
	alias (beurk) More...

typedef RigidMass< 3, SReal >	Rigid3Mass
	un-defined precision type More...

typedef StdRigidTypes< 2, double >	Rigid2dTypes

typedef RigidMass< 2, double >	Rigid2dMass

typedef StdRigidTypes< 2, float >	Rigid2fTypes

typedef RigidMass< 2, float >	Rigid2fMass

typedef StdRigidTypes< 2, SReal >	Rigid2Types

typedef RigidMass< 2, SReal >	Rigid2Mass

typedef std::map< std::string, TemplateAlias >	TemplateAliasesMap

typedef TemplateAliasesMap::const_iterator	TemplateAliasesMapIterator

typedef std::pair< std::string, bool >	TemplateAlias

typedef unsigned int	index_type

typedef StdVectorTypes< Vec3d, Vec3d, double >	Vec3dTypes
	3D DOFs, double precision More...

typedef StdVectorTypes< Vec2d, Vec2d, double >	Vec2dTypes
	2D DOFs, double precision More...

typedef StdVectorTypes< Vec1d, Vec1d, double >	Vec1dTypes
	1D DOFs, double precision More...

typedef StdVectorTypes< Vec6d, Vec6d, double >	Vec6dTypes
	6D DOFs, double precision More...

typedef StdVectorTypes< Vec3f, Vec3f, float >	Vec3fTypes
	3f DOFs, single precision More...

typedef StdVectorTypes< Vec2f, Vec2f, float >	Vec2fTypes
	2f DOFs, single precision More...

typedef StdVectorTypes< Vec1f, Vec1f, float >	Vec1fTypes
	1f DOFs, single precision More...

typedef StdVectorTypes< Vec6f, Vec6f, float >	Vec6fTypes
	6f DOFs, single precision More...

typedef StdVectorTypes< Vec6, Vec6, Vec6::value_type >	Vec6Types
	6D DOFs, double precision (default) More...

typedef StdVectorTypes< Vec3, Vec3, Vec3::value_type >	Vec3Types
	3D DOFs, double precision (default) More...

typedef StdVectorTypes< Vec2, Vec2, Vec2::value_type >	Vec2Types
	2D DOFs, double precision (default) More...

typedef StdVectorTypes< Vec1, Vec1, Vec1::value_type >	Vec1Types
	1D DOFs, double precision (default) More...

Functions
int	hexval (char c)

bool	isValidEncoding (const std::string &s)

SOFA_DEFAULTTYPE_API std::istream &	operator>> (std::istream &i, RGBAColor &t)

std::ostream &	operator<< (std::ostream &out, const sofa::defaulttype::Frame &c)

SOFA_DEFAULTTYPE_API void	init ()
	Initialize the SofaDefaultType library, as well as it dependency: SofaHelper. More...

SOFA_DEFAULTTYPE_API bool	isInitialized ()
	Return true if and only if the SofaDefaultType library has been initialized. More...

SOFA_DEFAULTTYPE_API void	cleanup ()
	Clean up the resources used by the SofaDefaultType library, as well as its dependency: SofaHelper. More...

SOFA_DEFAULTTYPE_API bool	isCleanedUp ()
	Return true if and only if the SofaDefaultType library has been cleaned up. More...

template<class MatrixRow , class VecDeriv >
VecDeriv::Real	SparseMatrixVecDerivMult (const MatrixRow &row, const VecDeriv &vec)

template<typename LhsDeriv , typename RhsDeriv , typename Real >
void	addMultTransposeEigen (MapMapSparseMatrix< LhsDeriv > &lhs, const Eigen::SparseMatrix< Real, Eigen::RowMajor > &jacobian, const MapMapSparseMatrix< RhsDeriv > &rhs)
	Computes lhs += jacobian^T * rhs. More...

template<class real >
real	determinant (const Mat< 3, 3, real > &m)
	Determinant of a 3x3 matrix. More...

template<class real >
real	determinant (const Mat< 2, 2, real > &m)
	Determinant of a 2x2 matrix. More...

template<class real >
real	determinant (const Mat< 2, 3, real > &m)

template<class real >
real	determinant (const Mat< 3, 2, real > &m)

template<class real >
real	oneNorm (const Mat< 3, 3, real > &A)

template<class real >
real	infNorm (const Mat< 3, 3, real > &A)

template<int N, class real >
real	trace (const Mat< N, N, real > &m)
	trace of a square matrix More...

template<int N, class real >
Vec< N, real >	diagonal (const Mat< N, N, real > &m)
	diagonal of a square matrix More...

template<int S, class real >
bool	invertMatrix (Mat< S, S, real > &dest, const Mat< S, S, real > &from)
	Matrix inversion (general case). More...

template<class real >
bool	invertMatrix (Mat< 3, 3, real > &dest, const Mat< 3, 3, real > &from)
	Matrix inversion (special case 3x3). More...

template<class real >
bool	invertMatrix (Mat< 2, 2, real > &dest, const Mat< 2, 2, real > &from)
	Matrix inversion (special case 2x2). More...

template<int S, class real >
bool	transformInvertMatrix (Mat< S, S, real > &dest, const Mat< S, S, real > &from)
	Inverse Matrix considering the matrix as a transformation. More...

template<int L, int C, typename real >
std::ostream &	operator<< (std::ostream &o, const Mat< L, C, real > &m)

template<int L, int C, typename real >
std::istream &	operator>> (std::istream &in, sofa::defaulttype::Mat< L, C, real > &m)

template<int L, int C, typename real >
void	printMatlab (std::ostream &o, const Mat< L, C, real > &m)
	printing in other software formats More...

template<int L, int C, typename real >
void	printMaple (std::ostream &o, const Mat< L, C, real > &m)

template<int L, int C, typename T >
Mat< L, C, T >	dyad (const Vec< L, T > &u, const Vec< C, T > &v)
	Create a matrix as . More...

template<int L, int C, typename real >
real	scalarProduct (const Mat< L, C, real > &left, const Mat< L, C, real > &right)
	Compute the scalar product of two matrix (sum of product of all terms) More...

template<class Real >
defaulttype::Mat< 3, 3, Real >	crossProductMatrix (const defaulttype::Vec< 3, Real > &v)

template<int n, class real >
bool	cholDcmp (Mat< n, n, real > &L, const Mat< n, n, real > &M)

template<int n, class real >
void	cholBksb (Vec< n, real > &x, const Mat< n, n, real > &L, const Vec< n, real > &b)

template<int n, class real >
bool	cholSlv (Vec< n, real > &x, const Mat< n, n, real > &M, const Vec< n, real > &b)

template<int n, class real >
bool	cholInv (Mat< n, n, real > &Inv, const Mat< n, n, real > &M)

template<int n, typename Real >
void	ludcmp (Mat< n, n, Real > &a, Vec< n, int > &indx)
	Compute the LU decomposition of matrix a. a is replaced by its pivoted LU decomposition. indx stores pivoting indices. More...

template<int n, typename Real >
void	lubksb (const Mat< n, n, Real > &a, const Vec< n, int > &indx, Vec< n, Real > &b)
	Compute the solution of Mx=b. b is replaced by x. a and indx together represent the LU decomposition of m, as given my method ludcmp. More...

template<int n, typename Real >
void	luinv (Mat< n, n, Real > &inv, Mat< n, n, Real > &m)

template<class T1 , class T2 >
const T1	S_MAX (const T1 &a, const T2 &b)
	return the max of two values More...

template<class T1 , class T2 >
const T1	S_MIN (const T1 &a, const T2 &b)
	return the min of two values More...

template<class T1 , class T2 >
const T1	S_SIGN (const T1 &a, const T2 &b)

template<class T >
const T	S_SQR (const T a)

template<class T1 , class T2 >
T1	pythag (const T1 a, const T2 b)
	Computes sqrt(a^2 + b^2) without destructive underflow or overflow. More...

template<int m, int n, typename Real >
void	svddcmp (Mat< m, n, Real > &a, Vec< n, Real > &w, Mat< n, m, Real > &v)
	Compute the SVD decomposition of matrix a (from nr). a is replaced by its pivoted LU decomposition. indx stores pivoting indices. More...

template<int m, int n, typename Real >
Real	cond (Mat< m, n, Real > &a)
	return the condition number of the matrix a following the euclidian norm (using the svd decomposition to find singular values) More...

template<class real >
real	determinant (const MatSym< 3, real > &m)
	Determinant of a 3x3 matrix. More...

template<class real >
real	determinant (const MatSym< 2, real > &m)
	Determinant of a 2x2 matrix. More...

template<class real >
real	trace (const MatSym< 3, real > &m)
	Trace of a 3x3 matrix. More...

template<class real >
real	trace (const MatSym< 2, real > &m)
	Trace of a 2x2 matrix. More...

template<int S, class real >
bool	invertMatrix (MatSym< S, real > &dest, const MatSym< S, real > &from)
	Matrix inversion (general case). More...

template<class real >
bool	invertMatrix (MatSym< 3, real > &dest, const MatSym< 3, real > &from)
	Matrix inversion (special case 3x3). More...

template<class real >
bool	invertMatrix (MatSym< 2, real > &dest, const MatSym< 2, real > &from)
	Matrix inversion (special case 2x2). More...

template<int D, class real >
std::ostream &	operator<< (std::ostream &o, const MatSym< D, real > &m)

template<int D, class real >
std::istream &	operator>> (std::istream &in, MatSym< D, real > &m)

template<int D, typename real >
real	scalarProduct (const MatSym< D, real > &left, const MatSym< D, real > &right)
	Compute the scalar product of two matrix (sum of product of all terms) More...

template<int D, typename real >
real	scalarProduct (const MatSym< D, real > &left, const Mat< D, D, real > &right)

template<int D, typename real >
real	scalarProduct (const Mat< D, D, real > &left, const MatSym< D, real > &right)

template<typename real , typename real2 >
RigidDeriv< 3, real >	operator* (RigidDeriv< 3, real > r, real2 a)

template<typename real , typename real2 >
RigidDeriv< 3, real >	operator/ (RigidDeriv< 3, real > r, real2 a)

template<int N, typename T >
RigidDeriv< N, T >::Pos &	getLinear (RigidDeriv< N, T > &v)

template<int N, typename T >
const RigidDeriv< N, T >::Pos &	getLinear (const RigidDeriv< N, T > &v)

template<int N, typename T >
RigidDeriv< N, T >::Rot &	getAngular (RigidDeriv< N, T > &v)

template<int N, typename T >
const RigidDeriv< N, T >::Rot &	getAngular (const RigidDeriv< N, T > &v)

template<int N, typename T >
RigidDeriv< N, T >::Pos &	getVCenter (RigidDeriv< N, T > &v)

template<int N, typename T >
const RigidDeriv< N, T >::Pos &	getVCenter (const RigidDeriv< N, T > &v)

template<int N, typename T >
RigidDeriv< N, T >::Rot &	getVOrientation (RigidDeriv< N, T > &v)

template<int N, typename T >
const RigidDeriv< N, T >::Rot &	getVOrientation (const RigidDeriv< N, T > &v)

template<typename T , typename R >
Vec< 3, T >	velocityAtRotatedPoint (const RigidDeriv< 3, R > &v, const Vec< 3, T > &p)
	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...

template<typename real >
RigidDeriv< 3, real >	operator* (const RigidDeriv< 3, real > &d, const RigidMass< 3, real > &m)

template<typename real >
RigidDeriv< 3, real >	operator* (const RigidMass< 3, real > &m, const RigidDeriv< 3, real > &d)

template<typename real >
RigidDeriv< 3, real >	operator/ (const RigidDeriv< 3, real > &d, const RigidMass< 3, real > &m)

template<typename real , typename real2 >
RigidDeriv< 2, real >	operator* (RigidDeriv< 2, real > r, real2 a)

template<typename real , typename real2 >
RigidDeriv< 2, real >	operator/ (RigidDeriv< 2, real > r, real2 a)

template<typename R , typename T >
Vec< 2, R >	velocityAtRotatedPoint (const RigidDeriv< 2, T > &v, const Vec< 2, R > &p)
	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...

template<typename real >
RigidDeriv< 2, real >	operator* (const RigidDeriv< 2, real > &d, const RigidMass< 2, real > &m)

template<typename real >
RigidDeriv< 2, real >	operator/ (const RigidDeriv< 2, real > &d, const RigidMass< 2, real > &m)

template<typename T >
const Vec< 3, T >	getVCenter (const Vec< 6, T > &v)

template<typename T >
const Vec< 3, T >	getVOrientation (const Vec< 6, T > &v)

TemplateAliasesMap &	getTemplateAliasesMap ()

template<class T >
constexpr bool	isDouble ()

template<>
constexpr bool	isDouble< double > ()

constexpr bool	isSRealDouble ()

constexpr bool	isSRealFloat ()

Helpers
Helper Functions to more easily create tests and check the results.

Variables
template class SOFA_DEFAULTTYPE_API	SolidTypes< double >

class SOFA_DEFAULTTYPE_API	Transform

constexpr index_type	InvalidID = UINT_MAX

Typedef Documentation

typedef unsigned int sofa::defaulttype::index_type

typedef Mat<1,1,double> sofa::defaulttype::Mat1x1d

typedef Mat<1,1,float> sofa::defaulttype::Mat1x1f

typedef Mat<2,2,SReal> sofa::defaulttype::Mat2x2

typedef Mat<2,2,double> sofa::defaulttype::Mat2x2d

typedef Mat<2,2,float> sofa::defaulttype::Mat2x2f

typedef Mat<3,3,SReal> sofa::defaulttype::Mat3x3

typedef Mat<3,3,double> sofa::defaulttype::Mat3x3d

typedef Mat<3,3,float> sofa::defaulttype::Mat3x3f

typedef Mat<3,4,double> sofa::defaulttype::Mat3x4d

typedef Mat<3,4,float> sofa::defaulttype::Mat3x4f

typedef Mat<4,4,SReal> sofa::defaulttype::Mat4x4

typedef Mat<4,4,double> sofa::defaulttype::Mat4x4d

typedef Mat<4,4,float> sofa::defaulttype::Mat4x4f

typedef Mat<2,2,SReal> sofa::defaulttype::Matrix2

typedef Mat<3,3,SReal> sofa::defaulttype::Matrix3

typedef Mat<4,4,SReal> sofa::defaulttype::Matrix4

typedef helper::Quater<SReal> sofa::defaulttype::Quat

alias

typedef helper::Quater<double> sofa::defaulttype::Quatd

alias

typedef Quat sofa::defaulttype::Quaternion

alias

typedef helper::Quater<float> sofa::defaulttype::Quatf

alias

typedef RigidMass<2,double> sofa::defaulttype::Rigid2dMass

typedef StdRigidTypes<2,double> sofa::defaulttype::Rigid2dTypes

typedef RigidMass<2,float> sofa::defaulttype::Rigid2fMass

typedef StdRigidTypes<2,float> sofa::defaulttype::Rigid2fTypes

typedef RigidMass<2,SReal> sofa::defaulttype::Rigid2Mass

typedef StdRigidTypes<2,SReal> sofa::defaulttype::Rigid2Types

typedef RigidMass<3,double> sofa::defaulttype::Rigid3dMass

typedef StdRigidTypes<3,double> sofa::defaulttype::Rigid3dTypes

typedef RigidMass<3,float> sofa::defaulttype::Rigid3fMass

typedef StdRigidTypes<3,float> sofa::defaulttype::Rigid3fTypes

typedef RigidMass<3,SReal> sofa::defaulttype::Rigid3Mass

un-defined precision type

typedef StdRigidTypes<3,SReal> sofa::defaulttype::Rigid3Types

un-defined precision type

typedef StdRigidTypes<3,SReal> sofa::defaulttype::RigidTypes

alias (beurk)

typedef std::pair<std::string, bool> sofa::defaulttype::TemplateAlias

typedef std::map<std::string, TemplateAlias> sofa::defaulttype::TemplateAliasesMap

typedef TemplateAliasesMap::const_iterator sofa::defaulttype::TemplateAliasesMapIterator

typedef StdVectorTypes<Vec1d,Vec1d,double> sofa::defaulttype::Vec1dTypes

1D DOFs, double precision

typedef StdVectorTypes<Vec1f,Vec1f,float> sofa::defaulttype::Vec1fTypes

1f DOFs, single precision

typedef StdVectorTypes<Vec1,Vec1,Vec1::value_type> sofa::defaulttype::Vec1Types

1D DOFs, double precision (default)

typedef StdVectorTypes<Vec2d,Vec2d,double> sofa::defaulttype::Vec2dTypes

2D DOFs, double precision

typedef StdVectorTypes<Vec2f,Vec2f,float> sofa::defaulttype::Vec2fTypes

2f DOFs, single precision

typedef StdVectorTypes<Vec2,Vec2,Vec2::value_type> sofa::defaulttype::Vec2Types

2D DOFs, double precision (default)

typedef StdVectorTypes<Vec3d,Vec3d,double> sofa::defaulttype::Vec3dTypes

3D DOFs, double precision

typedef StdVectorTypes<Vec3f,Vec3f,float> sofa::defaulttype::Vec3fTypes

3f DOFs, single precision

typedef StdVectorTypes<Vec3,Vec3,Vec3::value_type> sofa::defaulttype::Vec3Types

3D DOFs, double precision (default)

typedef StdVectorTypes<Vec6d,Vec6d,double> sofa::defaulttype::Vec6dTypes

6D DOFs, double precision

typedef StdVectorTypes<Vec6f,Vec6f,float> sofa::defaulttype::Vec6fTypes

6f DOFs, single precision

typedef StdVectorTypes<Vec6,Vec6,Vec6::value_type> sofa::defaulttype::Vec6Types

6D DOFs, double precision (default)

Function Documentation

template<typename LhsDeriv , typename RhsDeriv , typename Real >

void sofa::defaulttype::addMultTransposeEigen	(	MapMapSparseMatrix< LhsDeriv > &	lhs,
		const Eigen::SparseMatrix< Real, Eigen::RowMajor > &	jacobian,
		const MapMapSparseMatrix< RhsDeriv > &	rhs
	)

Computes lhs += jacobian^T * rhs.

template<int n, class real >

void sofa::defaulttype::cholBksb	(	Vec< n, real > &	x,
		const Mat< n, n, real > &	L,
		const Vec< n, real > &	b
	)

Cholesky back-substitution: solve the system Mx=b using the triangular matrix L such that M=L.Lt

Precondition: L was computed using the Cholesky decomposition of L

template<int n, class real >

bool sofa::defaulttype::cholDcmp	(	Mat< n, n, real > &	L,
		const Mat< n, n, real > &	M
	)

Cholesky decomposition: compute triangular matrix L such that M=L.Lt

Precondition: M must be symmetric positive definite returns false is the decomposition fails

template<int n, class real >

bool sofa::defaulttype::cholInv	(	Mat< n, n, real > &	Inv,
		const Mat< n, n, real > &	M
	)

Inversion of a positive symmetric definite (PSD) matrix using a Cholesky decomposition. Returns false if the matrix is not PSD.

template<int n, class real >

bool sofa::defaulttype::cholSlv	(	Vec< n, real > &	x,
		const Mat< n, n, real > &	M,
		const Vec< n, real > &	b
	)

Cholesky solution: solve the system Mx=b using a Cholesky decomposition.

Precondition: M must be symmetric positive definite Returns false is the decomposition fails. If you have several solutions to perform with the same matrix M and different vectors b, it is more efficient to factor the matrix once and then use back-substitution for each vector.

SOFA_DEFAULTTYPE_API void sofa::defaulttype::cleanup ( )

Clean up the resources used by the SofaDefaultType library, as well as its dependency: SofaHelper.

template<int m, int n, typename Real >

Real sofa::defaulttype::cond ( Mat< m, n, Real > & a )

return the condition number of the matrix a following the euclidian norm (using the svd decomposition to find singular values)

template<class Real >

defaulttype::Mat<3, 3, Real> sofa::defaulttype::crossProductMatrix ( const defaulttype::Vec< 3, Real > & v )

inline

skew-symmetric mapping crossProductMatrix(v) * x = v.cross(x)

template<class real >

real sofa::defaulttype::determinant ( const MatSym< 3, real > & m )

inline

Determinant of a 3x3 matrix.

template<class real >

real sofa::defaulttype::determinant ( const MatSym< 2, real > & m )

inline

Determinant of a 2x2 matrix.

template<class real >

real sofa::defaulttype::determinant ( const Mat< 3, 3, real > & m )

inline

Determinant of a 3x3 matrix.

template<class real >

real sofa::defaulttype::determinant ( const Mat< 2, 2, real > & m )

inline

Determinant of a 2x2 matrix.

template<class real >

real sofa::defaulttype::determinant ( const Mat< 2, 3, real > & m )

inline

Generalized-determinant of a 2x3 matrix. Mirko Radi, "About a Determinant of Rectangular 2×n Matrix and its Geometric Interpretation"

template<class real >

real sofa::defaulttype::determinant ( const Mat< 3, 2, real > & m )

inline

Generalized-determinant of a 3x2 matrix. Mirko Radi, "About a Determinant of Rectangular 2×n Matrix and its Geometric Interpretation"

template<int N, class real >

Vec<N,real> sofa::defaulttype::diagonal ( const Mat< N, N, real > & m )

inline

diagonal of a square matrix

template<int L, int C, typename T >

Mat<L,C,T> sofa::defaulttype::dyad	(	const Vec< L, T > &	u,
		const Vec< C, T > &	v
	)

inline

Create a matrix as $ u v^T $ .

template<int N, typename T >

RigidDeriv<N,T>::Rot& sofa::defaulttype::getAngular ( RigidDeriv< N, T > & v )

template<int N, typename T >

const RigidDeriv<N,T>::Rot& sofa::defaulttype::getAngular ( const RigidDeriv< N, T > & v )

template<int N, typename T >

RigidDeriv<N,T>::Pos& sofa::defaulttype::getLinear ( RigidDeriv< N, T > & v )

template<int N, typename T >

const RigidDeriv<N,T>::Pos& sofa::defaulttype::getLinear ( const RigidDeriv< N, T > & v )

TemplateAliasesMap& sofa::defaulttype::getTemplateAliasesMap ( )

template<typename T >

const Vec<3, T> sofa::defaulttype::getVCenter ( const Vec< 6, T > & v )

template<int N, typename T >

RigidDeriv<N,T>::Pos& sofa::defaulttype::getVCenter ( RigidDeriv< N, T > & v )

template<int N, typename T >

const RigidDeriv<N,T>::Pos& sofa::defaulttype::getVCenter ( const RigidDeriv< N, T > & v )

template<typename T >

const Vec<3, T> sofa::defaulttype::getVOrientation ( const Vec< 6, T > & v )

template<int N, typename T >

RigidDeriv<N,T>::Rot& sofa::defaulttype::getVOrientation ( RigidDeriv< N, T > & v )

template<int N, typename T >

const RigidDeriv<N,T>::Rot& sofa::defaulttype::getVOrientation ( const RigidDeriv< N, T > & v )

int sofa::defaulttype::hexval ( char c )

template<class real >

real sofa::defaulttype::infNorm ( const Mat< 3, 3, real > & A )

inline

SOFA_DEFAULTTYPE_API void sofa::defaulttype::init ( )

Initialize the SofaDefaultType library, as well as it dependency: SofaHelper.

template<int S, class real >

bool sofa::defaulttype::invertMatrix	(	MatSym< S, real > &	dest,
		const MatSym< S, real > &	from
	)

Matrix inversion (general case).

template<class real >

bool sofa::defaulttype::invertMatrix	(	MatSym< 3, real > &	dest,
		const MatSym< 3, real > &	from
	)

Matrix inversion (special case 3x3).

template<class real >

bool sofa::defaulttype::invertMatrix	(	MatSym< 2, real > &	dest,
		const MatSym< 2, real > &	from
	)

Matrix inversion (special case 2x2).

template<int S, class real >

bool sofa::defaulttype::invertMatrix	(	Mat< S, S, real > &	dest,
		const Mat< S, S, real > &	from
	)

Matrix inversion (general case).

template<class real >

bool sofa::defaulttype::invertMatrix	(	Mat< 3, 3, real > &	dest,
		const Mat< 3, 3, real > &	from
	)

Matrix inversion (special case 3x3).

template<class real >

bool sofa::defaulttype::invertMatrix	(	Mat< 2, 2, real > &	dest,
		const Mat< 2, 2, real > &	from
	)

Matrix inversion (special case 2x2).

SOFA_DEFAULTTYPE_API bool sofa::defaulttype::isCleanedUp ( )

Return true if and only if the SofaDefaultType library has been cleaned up.

template<class T >

constexpr bool sofa::defaulttype::isDouble ( )

template<>

constexpr bool sofa::defaulttype::isDouble< double > ( )

SOFA_DEFAULTTYPE_API bool sofa::defaulttype::isInitialized ( )

Return true if and only if the SofaDefaultType library has been initialized.

constexpr bool sofa::defaulttype::isSRealDouble ( )

constexpr bool sofa::defaulttype::isSRealFloat ( )

bool sofa::defaulttype::isValidEncoding ( const std::string & s )

template<int n, typename Real >

void sofa::defaulttype::lubksb	(	const Mat< n, n, Real > &	a,
		const Vec< n, int > &	indx,
		Vec< n, Real > &	b
	)

Compute the solution of Mx=b. b is replaced by x. a and indx together represent the LU decomposition of m, as given my method ludcmp.

template<int n, typename Real >

void sofa::defaulttype::ludcmp	(	Mat< n, n, Real > &	a,
		Vec< n, int > &	indx
	)

Compute the LU decomposition of matrix a. a is replaced by its pivoted LU decomposition. indx stores pivoting indices.

template<int n, typename Real >

void sofa::defaulttype::luinv	(	Mat< n, n, Real > &	inv,
		Mat< n, n, Real > &	m
	)

Compute the inverse of matrix m.

Warning: Matrix m is replaced by its LU decomposition.

template<class real >

real sofa::defaulttype::oneNorm ( const Mat< 3, 3, real > & A )

inline

template<typename real , typename real2 >

RigidDeriv<3,real> sofa::defaulttype::operator*	(	RigidDeriv< 3, real >	r,
		real2	a
	)

inline

template<typename real >

RigidDeriv<3,real> sofa::defaulttype::operator*	(	const RigidDeriv< 3, real > &	d,
		const RigidMass< 3, real > &	m
	)

inline

template<typename real >

RigidDeriv<3,real> sofa::defaulttype::operator*	(	const RigidMass< 3, real > &	m,
		const RigidDeriv< 3, real > &	d
	)

inline

template<typename real , typename real2 >

RigidDeriv<2,real> sofa::defaulttype::operator*	(	RigidDeriv< 2, real >	r,
		real2	a
	)

inline

template<typename real >

RigidDeriv<2,real> sofa::defaulttype::operator*	(	const RigidDeriv< 2, real > &	d,
		const RigidMass< 2, real > &	m
	)

inline

template<typename real , typename real2 >

RigidDeriv<3,real> sofa::defaulttype::operator/	(	RigidDeriv< 3, real >	r,
		real2	a
	)

inline

template<typename real >

RigidDeriv<3,real> sofa::defaulttype::operator/	(	const RigidDeriv< 3, real > &	d,
		const RigidMass< 3, real > &	m
	)

inline

template<typename real , typename real2 >

RigidDeriv<2,real> sofa::defaulttype::operator/	(	RigidDeriv< 2, real >	r,
		real2	a
	)

inline

template<typename real >

RigidDeriv<2,real> sofa::defaulttype::operator/	(	const RigidDeriv< 2, real > &	d,
		const RigidMass< 2, real > &	m
	)

inline

std::ostream& sofa::defaulttype::operator<<	(	std::ostream &	out,
		const sofa::defaulttype::Frame &	c
	)

template<int D, class real >

std::ostream& sofa::defaulttype::operator<<	(	std::ostream &	o,
		const MatSym< D, real > &	m
	)

template<int L, int C, typename real >

std::ostream& sofa::defaulttype::operator<<	(	std::ostream &	o,
		const Mat< L, C, real > &	m
	)

SOFA_DEFAULTTYPE_API std::istream& sofa::defaulttype::operator>>	(	std::istream &	i,
		RGBAColor &	t
	)

template<int D, class real >

std::istream& sofa::defaulttype::operator>>	(	std::istream &	in,
		MatSym< D, real > &	m
	)

template<int L, int C, typename real >

std::istream& sofa::defaulttype::operator>>	(	std::istream &	in,
		sofa::defaulttype::Mat< L, C, real > &	m
	)

template<int L, int C, typename real >

void sofa::defaulttype::printMaple	(	std::ostream &	o,
		const Mat< L, C, real > &	m
	)

template<int L, int C, typename real >

void sofa::defaulttype::printMatlab	(	std::ostream &	o,
		const Mat< L, C, real > &	m
	)

printing in other software formats

template<class T1 , class T2 >

T1 sofa::defaulttype::pythag	(	const T1	a,
		const T2	b
	)

Computes sqrt(a^2 + b^2) without destructive underflow or overflow.

template<class T1 , class T2 >

const T1 sofa::defaulttype::S_MAX	(	const T1 &	a,
		const T2 &	b
	)

inline

return the max of two values

template<class T1 , class T2 >

const T1 sofa::defaulttype::S_MIN	(	const T1 &	a,
		const T2 &	b
	)

inline

return the min of two values

template<class T1 , class T2 >

const T1 sofa::defaulttype::S_SIGN	(	const T1 &	a,
		const T2 &	b
	)

inline

template<class T >

const T sofa::defaulttype::S_SQR ( const T a )

inline

template<int D, typename real >

real sofa::defaulttype::scalarProduct	(	const MatSym< D, real > &	left,
		const MatSym< D, real > &	right
	)

inline

Compute the scalar product of two matrix (sum of product of all terms)

template<int D, typename real >

real sofa::defaulttype::scalarProduct	(	const MatSym< D, real > &	left,
		const Mat< D, D, real > &	right
	)

inline

template<int D, typename real >

real sofa::defaulttype::scalarProduct	(	const Mat< D, D, real > &	left,
		const MatSym< D, real > &	right
	)

inline

template<int L, int C, typename real >

real sofa::defaulttype::scalarProduct	(	const Mat< L, C, real > &	left,
		const Mat< L, C, real > &	right
	)

inline

Compute the scalar product of two matrix (sum of product of all terms)

template<class MatrixRow , class VecDeriv >

VecDeriv::Real sofa::defaulttype::SparseMatrixVecDerivMult	(	const MatrixRow &	row,
		const VecDeriv &	vec
	)

template<int m, int n, typename Real >

void sofa::defaulttype::svddcmp	(	Mat< m, n, Real > &	a,
		Vec< n, Real > &	w,
		Mat< n, m, Real > &	v
	)

Compute the SVD decomposition of matrix a (from nr). a is replaced by its pivoted LU decomposition. indx stores pivoting indices.

SVD decomposition a = u.w.vt

Precondition: a: original matrix, destroyed to become u; w: diagonal vector; v: matrix

template<class real >

real sofa::defaulttype::trace ( const MatSym< 3, real > & m )

inline

Trace of a 3x3 matrix.

template<class real >

real sofa::defaulttype::trace ( const MatSym< 2, real > & m )

inline

Trace of a 2x2 matrix.

template<int N, class real >

real sofa::defaulttype::trace ( const Mat< N, N, real > & m )

inline

trace of a square matrix

template<int S, class real >

bool sofa::defaulttype::transformInvertMatrix	(	Mat< S, S, real > &	dest,
		const Mat< S, S, real > &	from
	)

Inverse Matrix considering the matrix as a transformation.

template<typename T , typename R >

Vec<3,T> sofa::defaulttype::velocityAtRotatedPoint	(	const RigidDeriv< 3, R > &	v,
		const Vec< 3, T > &	p
	)

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.

template<typename R , typename T >

Vec<2,R> sofa::defaulttype::velocityAtRotatedPoint	(	const RigidDeriv< 2, T > &	v,
		const Vec< 2, R > &	p
	)

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.

Variable Documentation

constexpr index_type sofa::defaulttype::InvalidID = UINT_MAX

template class SOFA_DEFAULTTYPE_API sofa::defaulttype::SolidTypes< double >

class SOFA_DEFAULTTYPE_API sofa::defaulttype::Transform

Base types for the ArticulatedSolid: position, orientation, velocity, angular velocity, etc.

Author: François Faure, INRIA-UJF, 2006

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation