sofa::simulation::OdeSolverImpl Class Reference
#include <OdeSolverImpl.h>
Public Types | |
| typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId | VecId |
| typedef sofa::core::componentmodel::behavior::MultiVector < OdeSolverImpl > | MultiVector |
| typedef sofa::core::componentmodel::behavior::MultiMatrix < OdeSolverImpl > | MultiMatrix |
| typedef sofa::core::componentmodel::behavior::MechanicalMatrix | MechanicalMatrix |
Public Member Functions | |
| virtual void | propagatePositionAndVelocity (double t, VecId x, VecId v) |
| Propagate the given state (time, position and velocity) through all mappings. | |
| virtual void | computeAcc (double t, VecId a, VecId x, VecId v) |
| Compute the acceleration corresponding to the given state (time, position and velocity). | |
| virtual void | computeContactAcc (double t, VecId a, VecId x, VecId v) |
Matrix operations using LinearSolver components | |
| virtual void | m_resetSystem () |
| virtual void | m_setSystemMBKMatrix (double mFact, double bFact, double kFact) |
| virtual void | m_setSystemRHVector (VecId v) |
| virtual void | m_setSystemLHVector (VecId v) |
| virtual void | m_solveSystem () |
| virtual void | m_print (std::ostream &out) |
Detailed Description
Definition at line 136 of file OdeSolverImpl.h.
Member Typedef Documentation
| typedef sofa::core::componentmodel::behavior::MechanicalMatrix sofa::simulation::OdeSolverImpl::MechanicalMatrix |
Definition at line 142 of file OdeSolverImpl.h.
| typedef sofa::core::componentmodel::behavior::MultiMatrix<OdeSolverImpl> sofa::simulation::OdeSolverImpl::MultiMatrix |
Definition at line 141 of file OdeSolverImpl.h.
| typedef sofa::core::componentmodel::behavior::MultiVector<OdeSolverImpl> sofa::simulation::OdeSolverImpl::MultiVector |
Definition at line 140 of file OdeSolverImpl.h.
| typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId sofa::simulation::OdeSolverImpl::VecId |
Reimplemented from sofa::core::componentmodel::behavior::OdeSolver.
Definition at line 139 of file OdeSolverImpl.h.
Member Function Documentation
Compute the acceleration corresponding to the given state (time, position and velocity).
Definition at line 190 of file OdeSolverImpl.cpp.
References sofa::simulation::SolverImpl::accFromF(), sofa::simulation::SolverImpl::computeForce(), sofa::core::objectmodel::BaseObject::f_printLog, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::force(), sofa::core::objectmodel::Data< T >::getValue(), sofa::simulation::SolverImpl::projectResponse(), and propagatePositionAndVelocity().
Referenced by sofa::component::odesolver::RungeKutta4Solver::solve(), and sofa::component::odesolver::RungeKutta2Solver::solve().
| void sofa::simulation::OdeSolverImpl::computeContactAcc | ( | double | t, | |
| VecId | a, | |||
| VecId | x, | |||
| VecId | v | |||
| ) | [virtual] |
Definition at line 222 of file OdeSolverImpl.cpp.
References sofa::simulation::SolverImpl::accFromF(), sofa::simulation::SolverImpl::computeContactForce(), sofa::core::objectmodel::BaseObject::f_printLog, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::force(), sofa::core::objectmodel::Data< T >::getValue(), sofa::simulation::SolverImpl::projectResponse(), and propagatePositionAndVelocity().
| void sofa::simulation::OdeSolverImpl::m_print | ( | std::ostream & | out | ) | [virtual] |
Definition at line 342 of file OdeSolverImpl.cpp.
References sofa::defaulttype::BaseMatrix::colSize(), sofa::defaulttype::BaseMatrix::element(), sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::LinearSolver::getSystemBaseMatrix(), sofa::defaulttype::BaseMatrix::rowSize(), and sofa::core::objectmodel::BaseContext::SearchDown.
| void sofa::simulation::OdeSolverImpl::m_resetSystem | ( | ) | [virtual] |
Definition at line 287 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::LinearSolver::resetSystem(), and sofa::core::objectmodel::BaseContext::SearchDown.
| void sofa::simulation::OdeSolverImpl::m_setSystemLHVector | ( | VecId | v | ) | [virtual] |
Definition at line 320 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::SearchDown, and sofa::core::componentmodel::behavior::LinearSolver::setSystemLHVector().
| void sofa::simulation::OdeSolverImpl::m_setSystemMBKMatrix | ( | double | mFact, | |
| double | bFact, | |||
| double | kFact | |||
| ) | [virtual] |
Definition at line 298 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::SearchDown, and sofa::core::componentmodel::behavior::LinearSolver::setSystemMBKMatrix().
| void sofa::simulation::OdeSolverImpl::m_setSystemRHVector | ( | VecId | v | ) | [virtual] |
Definition at line 309 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::SearchDown, and sofa::core::componentmodel::behavior::LinearSolver::setSystemRHVector().
| void sofa::simulation::OdeSolverImpl::m_solveSystem | ( | ) | [virtual] |
Definition at line 331 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::Base::getClassName(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::SearchDown, and sofa::core::componentmodel::behavior::LinearSolver::solveSystem().
| void sofa::simulation::OdeSolverImpl::propagatePositionAndVelocity | ( | double | t, | |
| VecId | x, | |||
| VecId | v | |||
| ) | [virtual] |
Propagate the given state (time, position and velocity) through all mappings.
Implements sofa::core::componentmodel::behavior::OdeSolver.
Definition at line 135 of file OdeSolverImpl.cpp.
References sofa::core::objectmodel::BaseObject::getContext().
Referenced by computeAcc(), and computeContactAcc().
The documentation for this class was generated from the following files:
- modules/sofa/simulation/common/OdeSolverImpl.h
- modules/sofa/simulation/common/OdeSolverImpl.cpp
