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BaseMatrixProjectionMethod.h
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BaseMatrixProjectionMethod.h
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/linearsystem/config.h>
#include <sofa/component/linearsystem/MappingGraph.h>
#include <sofa/core/behavior/StateAccessor.h>
#include <sofa/linearalgebra/CompressedRowSparseMatrix.h>
namespace sofa::component::linearsystem
{
/**
* A component associated to a pair of @BaseMechanicalState able to perform
* the projection of a matrix from the space of the @BaseMechanicalState's
* to the main space using the mapping graph.
*
* Basically, if K is the matrix to be projected, it computes J, and then the
* product J^T * K * J. The J matrix comes from the chain of mappings from
* the @BaseMechanicalState to its top most parents.
*/
template<class TMatrix>
class BaseMatrixProjectionMethod : public core::behavior::StateAccessor
{
public:
SOFA_ABSTRACT_CLASS(SOFA_TEMPLATE(BaseMatrixProjectionMethod, TMatrix), core::behavior::StateAccessor);
using PairMechanicalStates = sofa::type::fixed_array<core::behavior::BaseMechanicalState*, 2>;
~BaseMatrixProjectionMethod() override;
virtual bool hasPairStates(const PairMechanicalStates& pairStates) const;
void setPairStates(const PairMechanicalStates& pairStates);
/**
* \brief The main function of the component: it compute the mappings
* jacobian matrices, then the projection of the provided matrix.
*
* \param mparams
* \param mappingGraph The current mapping graph linking all the @BaseMechanicalState
* \param matrixToProject The matrix to project. Its size must be compatible
* with the sizes of the @BaseMechanicalState's
* \param globalMatrix The product is added into this matrix
*/
virtual void projectMatrixToGlobalMatrix(const core::MechanicalParams* mparams,
const MappingGraph& mappingGraph,
TMatrix* matrixToProject,
linearalgebra::BaseMatrix* globalMatrix) = 0;
protected:
explicit BaseMatrixProjectionMethod(const PairMechanicalStates& states);
BaseMatrixProjectionMethod() = default;
};
#if !defined(SOFA_COMPONENT_LINEARSYSTEM_MATRIXMAPPING_CPP)
extern template class SOFA_COMPONENT_LINEARSYSTEM_API BaseMatrixProjectionMethod<sofa::linearalgebra::CompressedRowSparseMatrix<SReal> >;
#endif
} // namespace sofa::component::linearsystem