sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes > Class Template Reference

Component computing contact forces within a simulated body using the compliance method. More...

#include <LinearSolverConstraintCorrection.h>

Inheritance diagram for sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >:

Collaboration diagram for sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >:


Public Types
typedef TDataTypes	DataTypes
typedef DataTypes::Real	Real
typedef componentmodel::behavior::BaseConstraintCorrection	Inherit
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::VecConst	VecConst
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef DataTypes::SparseVecDeriv	Const
Public Member Functions
	LinearSolverConstraintCorrection (behavior::MechanicalState< DataTypes > *mm=NULL)
virtual	~LinearSolverConstraintCorrection ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
behavior::MechanicalState < DataTypes > *	getMState ()
	Retrieve the associated MechanicalState.
virtual void	getCompliance (defaulttype::BaseMatrix *W)
virtual void	applyContactForce (const defaulttype::BaseVector *f)
virtual void	resetContactForce ()
virtual std::string	getTemplateName () const
	Get the template type names (if any) used to instantiate this object.
Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory.
static std::string	templateName (const LinearSolverConstraintCorrection< DataTypes > *=NULL)
Protected Attributes
behavior::MechanicalState < DataTypes > *	mstate
behavior::OdeSolver *	odesolver
behavior::LinearSolver *	linearsolver
linearsolver::SparseMatrix< SReal >	J
	constraint matrix
linearsolver::FullVector< SReal >	F
	forces computed from the constraints
linearsolver::FullMatrix< SReal >	refMinv
	reference inverse matrix

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >

Component computing contact forces within a simulated body using the compliance method.

Definition at line 67 of file LinearSolverConstraintCorrection.h.

Member Typedef Documentation

template<class TDataTypes >

typedef DataTypes::SparseVecDeriv sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::Const

Definition at line 78 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::Coord sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::Coord

Definition at line 76 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef TDataTypes sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::DataTypes

Definition at line 70 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::Deriv sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::Deriv

Definition at line 77 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef componentmodel::behavior::BaseConstraintCorrection sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::Inherit

Definition at line 72 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::Real sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::Real

Definition at line 71 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecConst sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::VecConst

Definition at line 75 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecCoord sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::VecCoord

Definition at line 73 of file LinearSolverConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecDeriv sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::VecDeriv

Definition at line 74 of file LinearSolverConstraintCorrection.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::LinearSolverConstraintCorrection ( behavior::MechanicalState< DataTypes > * mm = NULL ) [inline]

Definition at line 54 of file LinearSolverConstraintCorrection.inl.

template<class DataTypes >

sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::~LinearSolverConstraintCorrection ( ) [inline, virtual]

Definition at line 60 of file LinearSolverConstraintCorrection.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::applyContactForce ( const defaulttype::BaseVector * f ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 175 of file LinearSolverConstraintCorrection.inl.

template<class TDataTypes >

template<class T >

static bool sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::canCreate	(	T *&	obj,
		objectmodel::BaseContext *	context,
		objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Pre-construction check method called by ObjectFactory.

Check that DataTypes matches the MechanicalState.

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

Definition at line 97 of file LinearSolverConstraintCorrection.h.

References sofa::component::constraint::getLinearSolver(), sofa::core::objectmodel::BaseContext::getMechanicalState(), and sofa::component::constraint::getOdeSolver().

template<class DataTypes >

void sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::getCompliance ( defaulttype::BaseMatrix * W ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 111 of file LinearSolverConstraintCorrection.inl.

References sofa::core::componentmodel::behavior::LinearSolver::addJMInvJt(), sofa::component::linearsolver::FullMatrix< T >::element(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId(), sofa::core::componentmodel::behavior::OdeSolver::getPositionIntegrationFactor(), sofa::core::componentmodel::behavior::BaseMechanicalState::getSize(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::J, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::linearsolver, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::mstate, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::odesolver, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::refMinv, sofa::component::linearsolver::FullMatrix< T >::resize(), and sofa::defaulttype::BaseMatrix::rowSize().

template<class TDataTypes >

behavior::MechanicalState<DataTypes>* sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::getMState ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 87 of file LinearSolverConstraintCorrection.h.

References sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::mstate.

template<class TDataTypes >

virtual std::string sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::getTemplateName ( ) const [inline, virtual]

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::objectmodel::Base.

Definition at line 114 of file LinearSolverConstraintCorrection.h.

References sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::templateName().

template<class DataTypes >

void sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::init ( void ) [inline, virtual]

Initialization method called at graph modification, during bottom-up traversal.

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

Definition at line 71 of file LinearSolverConstraintCorrection.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::component::constraint::getLinearSolver(), sofa::core::objectmodel::BaseContext::getMechanicalState(), sofa::core::objectmodel::Base::getName(), sofa::component::constraint::getOdeSolver(), sofa::core::componentmodel::behavior::BaseMechanicalState::getSize(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::linearsolver, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::mstate, sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::odesolver, and sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::refMinv.

template<class DataTypes >

void sofa::component::constraint::LinearSolverConstraintCorrection< DataTypes >::resetContactForce ( void ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 263 of file LinearSolverConstraintCorrection.inl.

References force, sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), and sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::mstate.

template<class TDataTypes >

static std::string sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::templateName ( const LinearSolverConstraintCorrection< DataTypes > * = NULL ) [inline, static]