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SurgSim::Blocks::MassSpring2DRepresentation Class Reference

#include <SurgSim/Blocks/MassSpring2DRepresentation.h>

Inheritance diagram for SurgSim::Blocks::MassSpring2DRepresentation:
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Public Member Functions

 MassSpring2DRepresentation (const std::string &name)
 Constructor. More...
 
void init2D (const std::array< std::array< SurgSim::Math::Vector3d, 2 >, 2 > extremities, size_t numNodesPerDim[2], std::vector< size_t > nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal)
 Initializes a 2D MassSpring. More...
 
- Public Member Functions inherited from SurgSim::Physics::MassSpringRepresentation
 MassSpringRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~MassSpringRepresentation ()
 Destructor. More...
 
void addMass (const std::shared_ptr< Mass > mass)
 Adds a mass. More...
 
void addSpring (const std::shared_ptr< Spring > spring)
 Adds a spring. More...
 
size_t getNumMasses () const
 Gets the number of masses. More...
 
size_t getNumSprings () const
 Gets the number of springs. More...
 
std::shared_ptr< MassgetMass (size_t nodeId)
 Retrieves the mass of a given node. More...
 
std::shared_ptr< SpringgetSpring (size_t springId)
 Retrieves a given spring from its id. More...
 
double getTotalMass () const
 Gets the total mass of the mass spring. More...
 
double getRayleighDampingStiffness () const
 Gets the Rayleigh stiffness parameter. More...
 
double getRayleighDampingMass () const
 Gets the Rayleigh mass parameter. More...
 
void setRayleighDampingStiffness (double stiffnessCoef)
 Sets the Rayleigh stiffness parameter. More...
 
void setRayleighDampingMass (double massCoef)
 Sets the Rayleigh mass parameter. More...
 
virtual RepresentationType getType () const override
 Query the representation type. More...
 
virtual void addExternalGeneralizedForce (std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override
 Add an external generalized force applied on a specific localization. More...
 
virtual void beforeUpdate (double dt) override
 Preprocessing done before the update call. More...
 
virtual SurgSim::Math::VectorcomputeF (const SurgSim::Math::OdeState &state) override
 Evaluation of the RHS function f(x,v) for a given state. More...
 
virtual const
SurgSim::Math::Matrix
computeM (const SurgSim::Math::OdeState &state) override
 Evaluation of the LHS matrix M(x,v) for a given state. More...
 
virtual const
SurgSim::Math::Matrix
computeD (const SurgSim::Math::OdeState &state) override
 Evaluation of D = -df/dv (x,v) for a given state. More...
 
virtual const
SurgSim::Math::Matrix
computeK (const SurgSim::Math::OdeState &state) override
 Evaluation of K = -df/dx (x,v) for a given state. More...
 
virtual void computeFMDK (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector **f, SurgSim::Math::Matrix **M, SurgSim::Math::Matrix **D, SurgSim::Math::Matrix **K) override
 Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together. More...
 
- Public Member Functions inherited from SurgSim::Physics::DeformableRepresentation
 DeformableRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~DeformableRepresentation ()
 Destructor. More...
 
virtual void resetState () override
 Reset the representation to its initial/default state. More...
 
virtual void setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState)
 
virtual const std::shared_ptr
< SurgSim::Math::OdeState
getCurrentState () const
 
virtual const std::shared_ptr
< SurgSim::Math::OdeState
getPreviousState () const
 
virtual const std::shared_ptr
< SurgSim::Math::OdeState
getFinalState () const
 
size_t getNumDofPerNode () const
 Gets the number of degrees of freedom per node. More...
 
void setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme)
 Sets the numerical integration scheme. More...
 
SurgSim::Math::IntegrationScheme getIntegrationScheme () const
 Gets the numerical integration scheme. More...
 
const SurgSim::Math::VectorgetExternalGeneralizedForce () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedStiffness () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedDamping () const
 
const SurgSim::Math::MatrixgetComplianceMatrix () const
 Gets the compliance matrix associated with motion. More...
 
virtual void update (double dt) override
 Update the representation state to the current time step. More...
 
virtual void afterUpdate (double dt) override
 Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
 
virtual void applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
 Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
 
void deactivateAndReset (void)
 Deactivate and call resetState. More...
 
virtual void setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
 Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
 
- Public Member Functions inherited from SurgSim::Physics::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual void resetParameters ()
 Reset the representation parameters to their initial/default values. More...
 
size_t getNumDof () const
 Query the object number of degrees of freedom. More...
 
void setIsGravityEnabled (bool isGravityEnabled)
 Set the gravity enable flag. More...
 
bool isGravityEnabled () const
 Get the gravity enable flag. More...
 
void setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
 Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
 
bool isDrivingSceneElementPose ()
 Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
 
virtual std::shared_ptr
< Localization
createLocalization (const SurgSim::DataStructures::Location &location)
 Computes a localized coordinate w.r.t this representation, given a Location object. More...
 
std::shared_ptr
< SurgSim::Collision::Representation
getCollisionRepresentation () const
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const
SceneElement
getSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
virtual void setLocalActive (bool val)
 Set the component's active state. More...
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node)
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 
- Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual ~OdeEquation ()
 Virtual destructor. More...
 
const std::shared_ptr< OdeStategetInitialState () const
 Retrieves the ode initial conditions (x0, v0) (i.e. More...
 

Private Member Functions

void init2DStretchingSprings (const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[2], double stiffness, double damping)
 Helper method to initialize/add all stretching springs on a 2D structure. More...
 
void init2DBendingSprings (const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[2], double stiffness, double damping)
 Helper method to initialize/add all bending springs on a 2D structure. More...
 
void init2DFaceDiagonalSprings (const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[2], double stiffness, double damping)
 Helper method to initialize/add all face diagonal springs on a 2D structure. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef
SurgSim::Framework::ObjectFactory1
< SurgSim::Framework::Component,
std::string > 
FactoryType
 
- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function
< boost::any(void)> 
GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function
< YAML::Node(void)> 
EncoderType
 
typedef std::function< void(const
YAML::Node *)> 
DecoderType
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 
- Protected Member Functions inherited from SurgSim::Physics::MassSpringRepresentation
void addRayleighDampingForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalStiffnessMatrix=false, bool useGlobalMassMatrix=false, double scale=1.0)
 Add the Rayleigh damping forces. More...
 
void addSpringsForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Add the springs force to f (given a state) More...
 
void addGravityForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Add the gravity force to f (given a state) More...
 
void transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)
 Transform a state using a given transformation. More...
 
- Protected Member Functions inherited from SurgSim::Physics::DeformableRepresentation
virtual bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 
- Protected Member Functions inherited from SurgSim::Physics::Representation
void setNumDof (size_t numDof)
 Set the number of degrees of freedom. More...
 
const SurgSim::Math::Vector3dgetGravity () const
 Get the gravity used by this Representation. More...
 
void driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
 This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr
< PoseComponent
getPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const
PoseComponent
getPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 
- Protected Attributes inherited from SurgSim::Physics::DeformableRepresentation
std::shared_ptr
< SurgSim::Math::OdeState
m_previousState
 The previous state inside the calculation loop, this has no meaning outside of the loop. More...
 
std::shared_ptr
< SurgSim::Math::OdeState
m_currentState
 The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState. More...
 
std::shared_ptr
< SurgSim::Math::OdeState
m_newState
 New state is a temporary variable to store the newly computed state. More...
 
std::shared_ptr
< SurgSim::Math::OdeState
m_finalState
 Last valid state (a.k.a final state) More...
 
SurgSim::Math::Vector m_f
 Force applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_M
 Mass matrix. More...
 
SurgSim::Math::Matrix m_D
 Damping matrix. More...
 
SurgSim::Math::Matrix m_K
 Stiffness matrix. More...
 
size_t m_numDofPerNode
 Number of degrees of freedom per node (varies per deformable model) More...
 
SurgSim::Math::IntegrationScheme m_integrationScheme
 Numerical Integration scheme (dynamic explicit/implicit solver) More...
 
bool m_needToReloadOdeSolver
 Specify if the Ode Solver needs to be (re)loaded (do not exist yet, or integration scheme has changed) More...
 
std::shared_ptr
< SurgSim::Math::OdeSolver
m_odeSolver
 Ode solver (its type depends on the numerical integration scheme) More...
 
SurgSim::Math::Vector m_externalGeneralizedForce
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedStiffness
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedDamping
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
- Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr
< SurgSim::Collision::Representation
m_collisionRepresentation
 This entity's collision representation, these are usually very specific to the physics representation. More...
 
- Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeStatem_initialState
 The initial state (which defines the ODE initial conditions (x0, v0)) More...
 

Constructor & Destructor Documentation

SurgSim::Blocks::MassSpring2DRepresentation::MassSpring2DRepresentation ( const std::string &  name)
inlineexplicit

Constructor.

Parameters
nameThe name to assign to the model

Member Function Documentation

void SurgSim::Blocks::MassSpring2DRepresentation::init2D ( const std::array< std::array< SurgSim::Math::Vector3d, 2 >, 2 >  extremities,
size_t  numNodesPerDim[2],
std::vector< size_t >  nodeBoundaryConditions,
double  totalMass,
double  stiffnessStretching,
double  dampingStretching,
double  stiffnessBending,
double  dampingBending,
double  stiffnessFaceDiagonal,
double  dampingFaceDiagonal 
)

Initializes a 2D MassSpring.

Parameters
extremities4 positions forming the extremities of the 2D regular model (4 corners)
numNodesPerDimThe number of nodes to be created for each dimension (here 2)
nodeBoundaryConditionsThe list of all nodeId being boundary conditions (fixed node)
totalMassThe total mass of the mass spring (evenly spread out on the masses)
stiffnessStretching,dampingStretchingThe spring param for all stretching springs (edges)
stiffnessBending,dampingBendingThe spring param for all bending springs (edges)
stiffnessFaceDiagonal,dampingFaceDiagonalThe spring param for all face diagonal springs (faces)
Note
Stretching springs are connecting neighbors, bending springs are connecting 1 node
to its 2nd degree neighbors, creating a bending force around the middle node.
Face diagonal springs aim at maintaining the area of a square
extremities are organized as follow:
[0][1] *—* [1][1]
| |
[0][0] *—* [1][0]
void SurgSim::Blocks::MassSpring2DRepresentation::init2DBendingSprings ( const std::shared_ptr< SurgSim::Math::OdeState state,
size_t  numNodesPerDim[2],
double  stiffness,
double  damping 
)
private

Helper method to initialize/add all bending springs on a 2D structure.

Parameters
stateThe state to initialize the springs with (rest lengths calculation)
numNodesPerDimThe number of nodes on the 2 dimensions
stiffness,dampingThe spring parameters
void SurgSim::Blocks::MassSpring2DRepresentation::init2DFaceDiagonalSprings ( const std::shared_ptr< SurgSim::Math::OdeState state,
size_t  numNodesPerDim[2],
double  stiffness,
double  damping 
)
private

Helper method to initialize/add all face diagonal springs on a 2D structure.

Parameters
stateThe state to initialize the springs with (rest lengths calculation)
numNodesPerDimThe number of nodes on the 2 dimensions
stiffness,dampingThe spring parameters
void SurgSim::Blocks::MassSpring2DRepresentation::init2DStretchingSprings ( const std::shared_ptr< SurgSim::Math::OdeState state,
size_t  numNodesPerDim[2],
double  stiffness,
double  damping 
)
private

Helper method to initialize/add all stretching springs on a 2D structure.

Parameters
stateThe state to initialize the springs with (rest lengths calculation)
numNodesPerDimThe number of nodes on the 2 dimensions
stiffness,dampingThe spring parameters

The documentation for this class was generated from the following files: