/usr/include/sofa/component/mapping/CurveMapping.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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 *
******************************************************************************/
//
// C++ Interface: CurveMapping
//
// Description:
//
//
// Author: The SOFA team </www.sofa-framework.org>, (C) 2008
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef SOFA_COMPONENT_MAPPING_CURVEMAPPING_H
#define SOFA_COMPONENT_MAPPING_CURVEMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/core/objectmodel/Event.h>
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class CurveMapping : 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 In::VecCoord InVecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename In::Coord InCoord;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename Out::Real Real;
Data < helper::vector<Real> > abscissa;
Data < helper::vector<Real> > angle;
Data < Real > step;
Data < Real > angularStep;
Data < int > numNodes;
Data < Real > stepNode;
Data < Real > distNode;
Data < Real > velocity;
helper::vector<int> old_integer;
helper::vector<double> old_angle;
helper::vector<Real> lengthElements;
helper::vector<defaulttype::Quat> quatElements;
helper::vector<defaulttype::Quat> rotatedQuatElements;
helper::vector<defaulttype::Quat> quatInitNodes;
helper::vector<Real> reset_abscissa;
CurveMapping(In* from, Out* to)
: Inherit(from, to),
abscissa( initData(&abscissa, "abscissa", "")),
angle( initData(&angle, "angle", "")),
step( initData(&step, (Real) 10.0, "step", "")),
angularStep( initData(&angularStep, (Real) 0.0, "angularStep", "")),
numNodes( initData(&numNodes, (int)5, "numNodes", "")),
stepNode( initData(&stepNode, (Real) 0.0, "stepNode", "")),
distNode( initData(&distNode, (Real) 0.0, "distNode", "")),
velocity( initData(&velocity, (Real) 0.0, "velocity", ""))
{
}
virtual ~CurveMapping()
{
}
void init();
void reinit();
void storeResetState();
void reset();
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void handleEvent(sofa::core::objectmodel::Event* event);
void draw();
Real advanceAbscissa(Real ab, Real dist);
void rotateElements();
};
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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