/usr/include/sofa/component/mapping/IdentityMapping.inl is in libsofa1-dev 1.0~beta4-9.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 | /******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library 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 library 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 library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_INL
#define SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_INL
#include <sofa/component/mapping/IdentityMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/VecTypes.h>
namespace sofa
{
namespace component
{
namespace mapping
{
template<class T1, class T2>
extern void eq(T1& dest, const T2& src)
{
dest = (T1)(src);
}
template<class T1, class T2>
extern void peq(T1& dest, const T2& src)
{
dest += (T1)(src);
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::RigidCoord<N,real1>& dest, const defaulttype::RigidCoord<N,real2>& src)
{
dest.getCenter() = src.getCenter();
dest.getOrientation() = src.getOrientation();
}
template<typename real1, typename real2>
extern void eq(defaulttype::RigidCoord<2,real1>& dest, const defaulttype::RigidCoord<2,real2>& src)
{
dest.getCenter() = src.getCenter();
dest.getOrientation() = (real1)src.getOrientation();
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::RigidCoord<N,real1>& dest, const defaulttype::RigidCoord<N,real2>& src)
{
dest.getCenter() += src.getCenter();
dest.getOrientation() += src.getOrientation();
}
template<typename real1, typename real2>
extern void peq(defaulttype::RigidCoord<2,real1>& dest, const defaulttype::RigidCoord<2,real2>& src)
{
dest.getCenter() += src.getCenter();
dest.getOrientation() += (real1)src.getOrientation();
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::RigidDeriv<N,real1>& dest, const defaulttype::RigidDeriv<N,real2>& src)
{
dest.getVCenter() = src.getVCenter();
dest.getVOrientation() = src.getVOrientation();
}
template<typename real1, typename real2>
extern void eq(defaulttype::RigidDeriv<2,real1>& dest, const defaulttype::RigidDeriv<2,real2>& src)
{
dest.getVCenter() = src.getVCenter();
dest.getVOrientation() = (real1)src.getVOrientation();
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::RigidDeriv<N,real1>& dest, const defaulttype::RigidDeriv<N,real2>& src)
{
dest.getVCenter() += src.getVCenter();
dest.getVOrientation() += src.getVOrientation();
}
template<typename real1, typename real2>
extern void peq(defaulttype::RigidDeriv<2,real1>& dest, const defaulttype::RigidDeriv<2,real2>& src)
{
dest.getVCenter() += src.getVCenter();
dest.getVOrientation() += (real1)src.getVOrientation();
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::Vec<N,real1>& dest, const defaulttype::RigidCoord<N,real2>& src)
{
dest = src.getCenter();
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::Vec<N,real1>& dest, const defaulttype::RigidCoord<N,real2>& src)
{
dest += src.getCenter();
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::Vec<N,real1>& dest, const defaulttype::RigidDeriv<N,real2>& src)
{
dest = src.getVCenter();
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::Vec<N,real1>& dest, const defaulttype::RigidDeriv<N,real2>& src)
{
dest += src.getVCenter();
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::RigidCoord<N,real1>& dest, const defaulttype::Vec<N,real2>& src)
{
dest.getCenter() = src;
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::RigidCoord<N,real1>& dest, const defaulttype::Vec<N,real2>& src)
{
dest.getCenter() += src;
}
template<int N, typename real1, typename real2>
extern void eq(defaulttype::RigidDeriv<N,real1>& dest, const defaulttype::Vec<N,real2>& src)
{
dest.getVCenter() = src;
}
template<int N, typename real1, typename real2>
extern void peq(defaulttype::RigidDeriv<N,real1>& dest, const defaulttype::Vec<N,real2>& src)
{
dest.getVCenter() += src;
}
template <class BasicMapping>
void IdentityMapping<BasicMapping>::apply( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
//const unsigned int N = Coord::size() < InCoord::size() ? Coord::size() : InCoord::size();
out.resize(in.size());
for(unsigned int i=0;i<out.size();i++)
{
//for (unsigned int j=0;j < N;++j)
// out[i][j] = (OutReal)in[i][j];
//out[i] = in[i];
eq(out[i], in[i]);
}
}
template <class BasicMapping>
void IdentityMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
//const unsigned int N = Deriv::size() < InDeriv::size() ? Deriv::size() : InDeriv::size();
out.resize(in.size());
for(unsigned int i=0;i<out.size();i++)
{
//for (unsigned int j=0;j < N;++j)
// out[i][j] = (OutReal)in[i][j];
eq(out[i], in[i]);
}
}
template <class BasicMapping>
void IdentityMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
//const unsigned int N = Deriv::size() < InDeriv::size() ? Deriv::size() : InDeriv::size();
for(unsigned int i=0;i<out.size();i++)
{
//for (unsigned int j=0;j < N;++j)
// out[i][j] += (Real)in[i][j];
peq(out[i], in[i]);
}
}
template <class BaseMapping>
void IdentityMapping<BaseMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
{
unsigned int outSize = out.size();
out.resize(in.size() + outSize); // we can accumulate in "out" constraints from several mappings
//const unsigned int N = Deriv::size() < InDeriv::size() ? Deriv::size() : InDeriv::size();
for(unsigned int i=0;i<in.size();i++)
{
typename In::SparseVecDeriv& o = out[i+outSize];
OutConstraintIterator itOut;
for (itOut=in[i].getData().begin();itOut!=in[i].getData().end();itOut++)
{
unsigned int indexIn = itOut->first;
InDeriv data; eq(data, itOut->second);
o.insert( indexIn, data);
}
}
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
|