/usr/include/sofa/component/mapping/TubularMapping.h is in libsofa1-dev 1.0~beta4-9.
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* 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_TUBULARMAPPING_H
#define SOFA_COMPONENT_MAPPING_TUBULARMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class TubularMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename Out::VecCoord VecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename In::Deriv InDeriv;
typedef typename Coord::value_type Real;
enum { M=Coord::static_size };
typedef defaulttype::Mat<M,M,Real> Mat;
typedef defaulttype::Vec<M,Real> Vec;
TubularMapping ( In* from, Out* to )
: Inherit ( from, to )
, m_nbPointsOnEachCircle( initData(&m_nbPointsOnEachCircle, "nbPointsOnEachCircle", "Discretization of created circles"))
, m_radius( initData(&m_radius, "radius", "Radius of created circles"))
{
}
virtual ~TubularMapping()
{}
void init();
virtual void apply ( typename Out::VecCoord& out, const typename In::VecCoord& in );
virtual void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
virtual void applyJT ( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
//void applyJT ( typename In::VecConst& out, const typename Out::VecConst& in );
Data<unsigned int> m_nbPointsOnEachCircle; // number of points along the circles around each point of the input object (10 by default)
Data<double> m_radius; // radius of the circles around each point of the input object (1 by default)
protected:
VecCoord rotatedPoints;
};
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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