Inheritance diagram for SurgSim::Math::MassPoint:

Public Member Functions
	MassPoint (double viscosity=0.0)
	Constructor. More...

void	disableGravity ()

Matrix	applyCompliance (const OdeState &state, const Matrix &b) override
	Calculate the product \(C.b\) where \(C\) is the compliance matrix with boundary conditions applied. More...

void	setOdeSolver (std::shared_ptr< SurgSim::Math::OdeSolver > solver)

Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual	~OdeEquation ()
	Virtual destructor.

const std::shared_ptr< OdeState >	getInitialState () const
	Retrieves the ode initial conditions \((x0, v0)\) (i.e the initial state) More...

virtual void	updateFMDK (const OdeState &state, int options)
	Update the OdeEquation (and support data) based on the given state. More...

const Vector &	getF () const

const SparseMatrix &	getM () const

const SparseMatrix &	getD () const

const SparseMatrix &	getK () const

bool	hasF () const

bool	hasM () const

bool	hasK () const

bool	hasD () const

Public Attributes
std::shared_ptr< SurgSim::Math::OdeSolver >	m_odeSolver
	Ode solver (its type depends on the numerical integration scheme)

double	m_mass

double	m_viscosity

Vector3d	m_gravity

Protected Member Functions
void	computeF (const OdeState &state) override
	Evaluation of the RHS function \(f(x, v)\) for a given state. More...

void	computeM (const OdeState &state) override
	Evaluation of the LHS matrix \(M(x,v)\) for a given state. More...

void	computeD (const OdeState &state) override
	Evaluation of \(D = -\frac{\partial f}{\partial v}(x,v)\) for a given state. More...

void	computeK (const OdeState &state) override
	Evaluation of \(K = -\frac{\partial f}{\partial x}(x,v)\) for a given state. More...

void	computeFMDK (const OdeState &state) override
	Evaluation of \(f(x,v)\), \(M(x,v)\), \(D = -\frac{\partial f}{\partial v}(x,v)\) and \(K = -\frac{\partial f}{\partial x}(x,v)\). More...

Additional Inherited Members
Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeState >	m_initialState
	The initial state (which defines the ODE initial conditions \((x0, v0)\)) More...

unsigned int	m_initState

Vector	m_f
	The vector containing \(f(x, v)\).

SparseMatrix	m_M
	The matrix \(M(x,v)\).

SparseMatrix	m_D
	The The matrix \(D = -\frac{\partial f}{\partial v}(x,v)\).

SparseMatrix	m_K
	The The matrix \(K = -\frac{\partial f}{\partial x}(x,v)\).

Constructor & Destructor Documentation

§ MassPoint()

SurgSim::Math::MassPoint::MassPoint ( double viscosity = 0.0 )

inlineexplicit

Constructor.

Parameters

viscosity The mass viscosity

Member Function Documentation

§ applyCompliance()

Matrix SurgSim::Math::MassPoint::applyCompliance	(	const OdeState &	state,
		const Matrix &	b
	)

inlineoverridevirtual

Calculate the product \(C.b\) where \(C\) is the compliance matrix with boundary conditions applied.

Note that this can be rewritten as \((B^T)(M^{-1})(B.b) = (B^T)((M^{-1})(B.b)) = x\), where \((M^{-1})(B.b) = y\) is simply the solution to \(M.y = B.b\) and \(B^T.y = x\).

Parameters

state	\((x, v)\) the current position and velocity to evaluate the various terms with
b	The input matrix

Returns: The matrix \(C.b\)

Implements SurgSim::Math::OdeEquation.

§ computeD()

void SurgSim::Math::MassPoint::computeD ( const OdeState & state )

inlineoverrideprotectedvirtual

Evaluation of \(D = -\frac{\partial f}{\partial v}(x,v)\) for a given state.

Parameters

state \((x, v)\) the current position and velocity to evaluate the Jacobian matrix with

Implements SurgSim::Math::OdeEquation.

§ computeF()

void SurgSim::Math::MassPoint::computeF ( const OdeState & state )

inlineoverrideprotectedvirtual

Evaluation of the RHS function \(f(x, v)\) for a given state.

Parameters

state \((x, v)\) the current position and velocity to evaluate the function \(f(x,v)\) with

Implements SurgSim::Math::OdeEquation.

§ computeFMDK()

void SurgSim::Math::MassPoint::computeFMDK ( const OdeState & state )

inlineoverrideprotectedvirtual

Evaluation of \(f(x,v)\), \(M(x,v)\), \(D = -\frac{\partial f}{\partial v}(x,v)\) and \(K = -\frac{\partial f}{\partial x}(x,v)\).

When all the terms are needed, this method can perform optimization in evaluating everything together

Parameters

state \((x, v)\) the current position and velocity to evaluate the various terms with

Note: computeF(), computeM(), computeD(), computeK()

Implements SurgSim::Math::OdeEquation.

§ computeK()

void SurgSim::Math::MassPoint::computeK ( const OdeState & state )

inlineoverrideprotectedvirtual

Evaluation of \(K = -\frac{\partial f}{\partial x}(x,v)\) for a given state.

Parameters

state \((x, v)\) the current position and velocity to evaluate the Jacobian matrix with

Implements SurgSim::Math::OdeEquation.

§ computeM()

void SurgSim::Math::MassPoint::computeM ( const OdeState & state )

inlineoverrideprotectedvirtual

Evaluation of the LHS matrix \(M(x,v)\) for a given state.

Parameters

state \((x, v)\) the current position and velocity to evaluate the matrix \(M(x,v)\) with

Implements SurgSim::Math::OdeEquation.

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

SurgSim/Math/UnitTests/MockObject.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

§ MassPoint()

Member Function Documentation

§ applyCompliance()

§ computeD()

§ computeF()

§ computeFMDK()

§ computeK()

§ computeM()