sofa::component::constraint::LinearMovementConstraint< DataTypes > Class Template Reference

impose a motion to given DOFs (translation and rotation) The motion between 2 key times is linearly interpolated More...

#include <LinearMovementConstraint.h>

Inheritance diagram for sofa::component::constraint::LinearMovementConstraint< DataTypes >:

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Collaboration diagram for sofa::component::constraint::LinearMovementConstraint< DataTypes >:

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Public Types
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef DataTypes::Real	Real
typedef topology::PointSubset	SetIndex
typedef helper::vector < unsigned int >	SetIndexArray
Public Member Functions
	LinearMovementConstraint ()
virtual	~LinearMovementConstraint ()
void	clearIndices ()
	methods to add/remove some indices, keyTimes, keyMovement
void	addIndex (unsigned int index)
void	removeIndex (unsigned int index)
void	clearKeyMovements ()
void	addKeyMovement (Real time, Deriv movement)
	add a new key movement
void	init ()
	-- Constraint interface
void	projectResponse (VecDeriv &dx)
	Project dx to constrained space (dx models an acceleration).
virtual void	projectVelocity (VecDeriv &dx)
	project dx to constrained space (dx models a velocity)
virtual void	projectPosition (VecCoord &x)
	project x to constrained space (x models a position)
virtual void	handleTopologyChange ()
	Handle topological changes.
virtual void	draw ()
	Render internal data of this object, for debugging purposes.
bool	isHolonomic ()
	this constraint is holonomic
template<>
void	draw ()
	Render internal data of this object, for debugging purposes.
template<>
void	draw ()
	Render internal data of this object, for debugging purposes.
template<>
void	draw ()
	Render internal data of this object, for debugging purposes.
template<>
void	draw ()
	Render internal data of this object, for debugging purposes.
Data Fields
Data< SetIndex >	m_indices
	indices of the DOFs the constraint is applied to
Data< helper::vector< Real > >	m_keyTimes
	the key frames when the motion is defined by the user
Data< VecDeriv >	m_keyMovements
	the motions corresponding to the key frames
Real	prevT
	the key times surrounding the current simulation time (for interpolation)
Real	nextT
Deriv	prevM
	the motions corresponding to the surrouding key times
Deriv	nextM
VecCoord	x0
	initial constrained DOFs position
Static Protected Member Functions
static bool	FCTestNewPointFunction (int, void *, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double > &)
	Define TestNewPointFunction (for topology changes).
static void	FCRemovalFunction (int, void *)
	Define RemovalFunction (for topology changes).
Protected Attributes
sofa::core::componentmodel::topology::BaseMeshTopology *	topology

---

Detailed Description

template<class DataTypes>
class sofa::component::constraint::LinearMovementConstraint< DataTypes >

impose a motion to given DOFs (translation and rotation) The motion between 2 key times is linearly interpolated

Definition at line 56 of file LinearMovementConstraint.h.

---

Member Typedef Documentation

template<class DataTypes >

typedef DataTypes::Coord sofa::component::constraint::LinearMovementConstraint< DataTypes >::Coord

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 61 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef DataTypes::Deriv sofa::component::constraint::LinearMovementConstraint< DataTypes >::Deriv

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 62 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef DataTypes::Real sofa::component::constraint::LinearMovementConstraint< DataTypes >::Real

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 63 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef topology::PointSubset sofa::component::constraint::LinearMovementConstraint< DataTypes >::SetIndex

Definition at line 64 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef helper::vector<unsigned int> sofa::component::constraint::LinearMovementConstraint< DataTypes >::SetIndexArray

Definition at line 65 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef DataTypes::VecCoord sofa::component::constraint::LinearMovementConstraint< DataTypes >::VecCoord

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 59 of file LinearMovementConstraint.h.

template<class DataTypes >

typedef DataTypes::VecDeriv sofa::component::constraint::LinearMovementConstraint< DataTypes >::VecDeriv

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 60 of file LinearMovementConstraint.h.

---

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::constraint::LinearMovementConstraint< DataTypes >::LinearMovementConstraint

(

)

[inline]

Definition at line 81 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes.

template<class DataTypes >

sofa::component::constraint::LinearMovementConstraint< DataTypes >::~LinearMovementConstraint

(

)

[inline, virtual]

Definition at line 110 of file LinearMovementConstraint.inl.

---

Member Function Documentation

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::addIndex

(

unsigned int

index

)

[inline]

Definition at line 122 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::addKeyMovement	(	Real	time,
		Deriv	movement
	)			[inline]

add a new key movement

Parameters:

	time	: the simulation time you want to set a movement (in sec)
	movement	: the corresponding motion for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s

Definition at line 145 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::clearIndices

(

)

[inline]

methods to add/remove some indices, keyTimes, keyMovement

Definition at line 115 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::clearKeyMovements

(

)

[inline]

Definition at line 136 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes.

template<>

void sofa::component::constraint::LinearMovementConstraint< Rigid3fTypes >::draw

(

)

[inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<>

void sofa::component::constraint::LinearMovementConstraint< Rigid3dTypes >::draw

(

)

[inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<>

void sofa::component::constraint::LinearMovementConstraint< Rigid3fTypes >::draw

(

)

[inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 69 of file LinearMovementConstraint.cpp.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::helper::gl::glVertexT(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0.

template<>

void sofa::component::constraint::LinearMovementConstraint< Rigid3dTypes >::draw

(

)

[inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 49 of file LinearMovementConstraint.cpp.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::helper::gl::glVertexT(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::draw

(

)

[inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 260 of file LinearMovementConstraint.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::helper::gl::glVertexT(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::FCRemovalFunction	(	int	pointIndex,
		void *	param
	)			[inline, static, protected]

Define RemovalFunction (for topology changes).

Definition at line 71 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::removeIndex().

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::init().

template<class DataTypes >

bool sofa::component::constraint::LinearMovementConstraint< DataTypes >::FCTestNewPointFunction	(	int	,
		void *	param,
		const sofa::helper::vector< unsigned int > &	,
		const sofa::helper::vector< double > &
	)			[inline, static, protected]

Define TestNewPointFunction (for topology changes).

Definition at line 59 of file LinearMovementConstraint.inl.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::init().

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::handleTopologyChange

(

)

[inline, virtual]

Handle topological changes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 100 of file LinearMovementConstraint.inl.

References sofa::core::componentmodel::topology::BaseMeshTopology::firstChange(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::getMState(), sofa::core::componentmodel::topology::BaseMeshTopology::lastChange(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::topology.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::init

(

void

)

[inline, virtual]

-- Constraint interface

Reimplemented from sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 157 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::FCRemovalFunction(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::FCTestNewPointFunction(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMeshTopology(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextM, sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevM, sofa::component::topology::PointSubset::setRemovalFunction(), sofa::component::topology::PointSubset::setRemovalParameter(), sofa::component::topology::PointSubset::setTestFunction(), sofa::component::topology::PointSubset::setTestParameter(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::topology, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0.

template<class DataTypes >

bool sofa::component::constraint::LinearMovementConstraint< DataTypes >::isHolonomic

(

)

[inline, virtual]

this constraint is holonomic

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 111 of file LinearMovementConstraint.h.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition

(

VecCoord &

x

)

[inline, virtual]

project x to constrained space (x models a position)

Implements sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 231 of file LinearMovementConstraint.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getTime(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes, sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextM, sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextT, sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevM, sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevT, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectResponse

(

VecDeriv &

dx

)

[inline, virtual]

Project dx to constrained space (dx models an acceleration).

This method must be implemented by the component, and is usually called by the generic Constraint::projectResponse() method.

Implements sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 179 of file LinearMovementConstraint.inl.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity

(

VecDeriv &

dx

)

[inline, virtual]

project dx to constrained space (dx models a velocity)

Implements sofa::core::componentmodel::behavior::Constraint< DataTypes >.

Definition at line 185 of file LinearMovementConstraint.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getDt(), sofa::core::objectmodel::BaseContext::getTime(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements, sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes, sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextM, sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextT, sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevM, and sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevT.

template<class DataTypes >

void sofa::component::constraint::LinearMovementConstraint< DataTypes >::removeIndex

(

unsigned int

index

)

[inline]

Definition at line 129 of file LinearMovementConstraint.inl.

References sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices, and sofa::helper::removeValue().

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::FCRemovalFunction().

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Field Documentation

template<class DataTypes >

Data<SetIndex> sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_indices

indices of the DOFs the constraint is applied to

Definition at line 69 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::addIndex(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::clearIndices(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::draw(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::handleTopologyChange(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::init(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::LinearMovementConstraint(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::removeIndex().

template<class DataTypes >

Data<VecDeriv > sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyMovements

the motions corresponding to the key frames

Definition at line 73 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::addKeyMovement(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::clearKeyMovements(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::draw(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::LinearMovementConstraint(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

Data<helper::vector<Real> > sofa::component::constraint::LinearMovementConstraint< DataTypes >::m_keyTimes

the key frames when the motion is defined by the user

Definition at line 71 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::addKeyMovement(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::clearKeyMovements(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::LinearMovementConstraint(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

Deriv sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextM

Definition at line 78 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::init(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

Real sofa::component::constraint::LinearMovementConstraint< DataTypes >::nextT

Definition at line 76 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

Deriv sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevM

the motions corresponding to the surrouding key times

Definition at line 78 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::init(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

Real sofa::component::constraint::LinearMovementConstraint< DataTypes >::prevT

the key times surrounding the current simulation time (for interpolation)

Definition at line 76 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectVelocity().

template<class DataTypes >

sofa::core::componentmodel::topology::BaseMeshTopology* sofa::component::constraint::LinearMovementConstraint< DataTypes >::topology [protected]

Definition at line 115 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::handleTopologyChange(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::init().

template<class DataTypes >

VecCoord sofa::component::constraint::LinearMovementConstraint< DataTypes >::x0

initial constrained DOFs position

Definition at line 80 of file LinearMovementConstraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::draw(), sofa::component::constraint::LinearMovementConstraint< DataTypes >::init(), and sofa::component::constraint::LinearMovementConstraint< DataTypes >::projectPosition().

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The documentation for this class was generated from the following files:

• modules/sofa/component/constraint/LinearMovementConstraint.h
• modules/sofa/component/constraint/LinearMovementConstraint.inl