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IdentityMapping.h
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IdentityMapping.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/mapping/linear/config.h>
#include <sofa/component/mapping/linear/LinearMapping.h>
#include <sofa/linearalgebra/EigenSparseMatrix.h>
#include <sofa/core/Mapping.h>
#include <sofa/core/Mapping.inl>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/type/vector.h>
namespace sofa::component::mapping::linear
{
template <class TIn, class TOut>
class IdentityMapping : public LinearMapping<TIn, TOut>
{
public:
SOFA_CLASS(SOFA_TEMPLATE2(IdentityMapping,TIn,TOut), SOFA_TEMPLATE2(LinearMapping,TIn,TOut));
typedef LinearMapping<TIn, TOut> Inherit;
typedef TIn In;
typedef TOut Out;
typedef typename In::Real Real;
typedef typename In::VecCoord InVecCoord;
typedef typename In::VecDeriv InVecDeriv;
typedef typename In::Coord InCoord;
typedef typename In::Deriv InDeriv;
typedef typename In::MatrixDeriv InMatrixDeriv;
typedef typename Out::VecCoord VecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename Out::MatrixDeriv MatrixDeriv;
typedef Out OutDataTypes;
typedef typename OutDataTypes::Real OutReal;
typedef typename OutDataTypes::VecCoord OutVecCoord;
typedef typename OutDataTypes::VecDeriv OutVecDeriv;
enum
{
N = OutDataTypes::spatial_dimensions
};
enum
{
NIn = sofa::defaulttype::DataTypeInfo<InDeriv>::Size
};
enum
{
NOut = sofa::defaulttype::DataTypeInfo<Deriv>::Size
};
typedef type::Mat<N, N, Real> Mat;
protected:
IdentityMapping()
: Inherit()
{
Js.resize( 1 );
Js[0] = &J;
}
virtual ~IdentityMapping()
{
}
public:
/// Return true if the destination model has the same topology as the source model.
///
/// This is the case for mapping keeping a one-to-one correspondance between
/// input and output DOFs (mostly identity or data-conversion mappings).
bool sameTopology() const override { return true; }
void init() override;
void apply(const core::MechanicalParams *mparams, Data<VecCoord>& out, const Data<InVecCoord>& in) override;
void applyJ(const core::MechanicalParams *mparams, Data<VecDeriv>& out, const Data<InVecDeriv>& in) override;
void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<VecDeriv>& in) override;
void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<MatrixDeriv>& in) override;
const sofa::linearalgebra::BaseMatrix* getJ() override;
void handleTopologyChange() override;
protected:
typedef linearalgebra::EigenSparseMatrix<TIn, TOut> eigen_type;
eigen_type J;
typedef type::vector< linearalgebra::BaseMatrix* > js_type;
js_type Js;
public:
const js_type* getJs() override;
};
#if !defined(SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_CPP)
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Vec3Types, defaulttype::Vec3Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Vec2Types, defaulttype::Vec2Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Vec1Types, defaulttype::Vec1Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Vec6Types, defaulttype::Vec6Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Vec6Types, defaulttype::Vec3Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Rigid3Types, defaulttype::Rigid3Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Rigid2Types, defaulttype::Rigid2Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Rigid3Types, defaulttype::Vec3Types >;
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API IdentityMapping< defaulttype::Rigid2Types, defaulttype::Vec2Types >;
#endif
} // namespace sofa::component::mapping::linear