sofa::component::mapping::ArticulatedSystemMapping< BasicMapping > Class Template Reference

#include <ArticulatedSystemMapping.h>

Inheritance diagram for sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >:

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Collaboration diagram for sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >:

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Public Types

typedef BasicMapping Inherit
typedef Inherit::In In
typedef Inherit::Out Out
typedef Out::VecCoord OutVecCoord
typedef Out::VecDeriv OutVecDeriv
typedef Out::Coord OutCoord
typedef Out::Deriv OutDeriv
typedef Out::SparseVecDeriv OutSparseVecDeriv
typedef Out::SparseDeriv OutSparseDeriv
typedef In::VecCoord InVecCoord
typedef In::VecDeriv InVecDeriv
typedef In::Coord InCoord
typedef In::Deriv InDeriv
typedef In::SparseVecDeriv InSparseVecDeriv
typedef In::SparseDeriv InSparseDeriv
typedef In::Real Real
typedef OutCoord::value_type OutReal
typedef
sofa::core::componentmodel::behavior::MechanicalState
< typename Out::DataTypes > 		InRoot

Public Member Functions

 ArticulatedSystemMapping (In *from, Out *to)
virtual ~ArticulatedSystemMapping ()
void init ()
 Initialization method called at graph modification, during bottom-up traversal.
void reset ()
 Reset to initial state.
void apply (typename Out::VecCoord &out, const typename In::VecCoord &in)
void applyJ (typename Out::VecDeriv &out, const typename In::VecDeriv &in, const typename InRoot::VecDeriv *inroot)
void applyJT (typename In::VecDeriv &out, const typename Out::VecDeriv &in, typename InRoot::VecDeriv *outroot)
void applyJT (typename In::VecConst &out, const typename Out::VecConst &in, typename InRoot::VecConst *outroot)
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)
void draw ()
 Render internal data of this object, for debugging purposes.
void propagateV ()
void propagateDx ()
void accumulateForce ()
void accumulateDf ()
void accumulateConstraint ()

Data Fields

InRoot * rootModel
vector
< ArticulatedHierarchyContainer::ArticulationCenter * > 		articulationCenters
 Stores al the articulation centers.
ArticulatedHierarchyContainer * ahc

Private Attributes

Vec< 1, Quat > Buf_Rotation
std::vector< Vec< 3, OutReal > > ArticulationAxis
std::vector< Vec< 3, OutReal > > ArticulationPos
InVecCoord CoordinateBuf
InVecDeriv dxVec1Buf
OutVecDeriv dxRigidBuf

Detailed Description

template<class BasicMapping>
class sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >

Definition at line 54 of file ArticulatedSystemMapping.h.

Member Typedef Documentation

template<class BasicMapping >
typedef Inherit::In sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::In

Definition at line 58 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::Coord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InCoord

Definition at line 68 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::Deriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InDeriv

Definition at line 69 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef BasicMapping sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Inherit

Definition at line 57 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef sofa::core::componentmodel::behavior::MechanicalState<typename Out::DataTypes> sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InRoot

Definition at line 75 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::SparseDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InSparseDeriv

Definition at line 71 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::SparseVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InSparseVecDeriv

Definition at line 70 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::VecCoord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InVecCoord

Definition at line 66 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::VecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InVecDeriv

Definition at line 67 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Inherit::Out sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Out

Definition at line 59 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::Coord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutCoord

Definition at line 62 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::Deriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutDeriv

Definition at line 63 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef OutCoord::value_type sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutReal

Definition at line 73 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::SparseDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutSparseDeriv

Definition at line 65 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::SparseVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutSparseVecDeriv

Definition at line 64 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::VecCoord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutVecCoord

Definition at line 60 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef Out::VecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutVecDeriv

Definition at line 61 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
typedef In::Real sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Real

Definition at line 72 of file ArticulatedSystemMapping.h.

Constructor & Destructor Documentation

template<class BasicMapping >
sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulatedSystemMapping ( In *  from,
Out *  to 
) [inline]

Definition at line 79 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
virtual sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::~ArticulatedSystemMapping (  )  [inline, virtual]

Definition at line 84 of file ArticulatedSystemMapping.h.

Member Function Documentation

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateConstraint (  )  [inline]

Definition at line 552 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel, and sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::setConstraintId().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateDf (  )  [inline]

Definition at line 543 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateForce (  )  [inline]

Definition at line 534 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply ( typename Out::VecCoord &  out,
const typename In::VecCoord &  in 
) [inline]

Definition at line 95 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, sofa::helper::Quater< Real >::axisToQuat(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::CoordinateBuf, sofa::core::componentmodel::behavior::BaseMechanicalState::getSize(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel, sofa::helper::Quater< Real >::rotate(), and sofa::defaulttype::Vec< N, real >::x().

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ ( typename Out::VecDeriv &  out,
const typename In::VecDeriv &  in 
) [inline]

Definition at line 103 of file ArticulatedSystemMapping.h.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ ( typename Out::VecDeriv &  out,
const typename In::VecDeriv &  in,
const typename InRoot::VecDeriv *  inroot 
) [inline]

Definition at line 294 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, cross(), and sofa::defaulttype::Vec< N, real >::x().

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateDx(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateV().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT ( typename In::VecConst &  out,
const typename Out::VecConst &  in 
) [inline]

Definition at line 113 of file ArticulatedSystemMapping.h.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT ( typename In::VecDeriv &  out,
const typename Out::VecDeriv &  in 
) [inline]

Definition at line 108 of file ArticulatedSystemMapping.h.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT ( typename In::VecConst &  out,
const typename Out::VecConst &  in,
typename InRoot::VecConst *  outroot 
) [inline]

Definition at line 425 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, cross(), dot(), sofa::component::container::ArticulatedHierarchyContainer::getAcendantList(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT ( typename In::VecDeriv &  out,
const typename Out::VecDeriv &  in,
typename InRoot::VecDeriv *  outroot 
) [inline]

Definition at line 358 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, cross(), and dot().

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateConstraint(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateDf(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateForce(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::draw (  )  [inline, virtual]

Render internal data of this object, for debugging purposes.

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

Definition at line 577 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, and sofa::helper::gl::glVertexT().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init ( void   )  [inline, virtual]

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

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

Definition at line 43 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::CoordinateBuf, sofa::component::container::ArticulatedHierarchyContainer::getArticulationCenters(), sofa::simulation::Node::getNodeObject(), sofa::simulation::tree::GNode::parent, and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::reset().

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateDx (  )  [inline]

Definition at line 525 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateV (  )  [inline]

Definition at line 516 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.

template<class BasicMapping >
void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::reset ( void   )  [inline, virtual]

Reset to initial state.

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

Definition at line 86 of file ArticulatedSystemMapping.inl.

References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

Field Documentation

template<class BasicMapping >
ArticulatedHierarchyContainer* sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc

Definition at line 157 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
std::vector< Vec<3,OutReal> > sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationAxis [private]

Definition at line 161 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::draw(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
vector<ArticulatedHierarchyContainer::ArticulationCenter*> sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters

Stores al the articulation centers.

Definition at line 155 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::draw(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
std::vector< Vec<3,OutReal> > sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulationPos [private]

Definition at line 162 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::draw(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
Vec<1,Quat> sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Buf_Rotation [private]

Definition at line 160 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
InVecCoord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::CoordinateBuf [private]

Definition at line 163 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().

template<class BasicMapping >
OutVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::dxRigidBuf [private]

Definition at line 165 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
InVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::dxVec1Buf [private]

Definition at line 164 of file ArticulatedSystemMapping.h.

template<class BasicMapping >
InRoot* sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel

Definition at line 77 of file ArticulatedSystemMapping.h.

Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateConstraint(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateDf(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateForce(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateDx(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateV().

The documentation for this class was generated from the following files:
Generated on Sun Nov 23 04:20:34 2008 for Sofa by  doxygen 1.5.7.1