IdentityMapping.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_H
#define SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_H

#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <vector>

namespace sofa
{

namespace component
{

namespace mapping
{

template <class BasicMapping>
class IdentityMapping : public BasicMapping
{
public:
    typedef BasicMapping Inherit;
    typedef typename Inherit::In In;
    typedef typename Inherit::Out Out;
    
    typedef typename In::DataTypes InDataTypes; 
    typedef typename InDataTypes::Real Real;
    typedef typename InDataTypes::VecCoord InVecCoord;
    typedef typename InDataTypes::VecDeriv InVecDeriv;
    typedef typename InDataTypes::Coord InCoord;
    typedef typename InDataTypes::Deriv InDeriv;
    
    typedef typename Out::VecCoord VecCoord;
    typedef typename Out::VecDeriv VecDeriv;
    typedef typename Out::SparseDeriv OutSparseDeriv;
    typedef typename Out::Coord Coord;
    typedef typename Out::Deriv Deriv;  
    typedef typename Out::DataTypes OutDataTypes;
    typedef typename OutDataTypes::Real OutReal;
    typedef typename OutDataTypes::VecCoord OutVecCoord;
    typedef typename OutDataTypes::VecDeriv OutVecDeriv;
    
    //enum { N=((int)Deriv::static_size < (int)InDeriv::static_size ? (int)Deriv::static_size : (int)InDeriv::static_size) };
    
    IdentityMapping(In* from, Out* to)
    : Inherit(from, to)
    {
    }
    
    virtual ~IdentityMapping()
    {
    }

    virtual bool sameTopology() const { return true; }
    
    void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
    
    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
    
    void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );

    void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
};

} // namespace mapping

} // namespace component

} // namespace sofa

#endif