Inheritance diagram for SurgSim::Physics::MockSpring:
Public Member Functions | |
| void | addNode (size_t nodeId) |
| void | addForce (const OdeState &state, Vector *F, double scale=1.0) override |
| void | addDamping (const OdeState &state, SparseMatrix *D, double scale=1.0) override |
| void | addStiffness (const SurgSim::Math::OdeState &state, SurgSim::Math::SparseMatrix *K, double scale=1.0) override |
| Adds the spring stiffness matrix K (= -df/dx) (computed for a given state) to a complete system stiffness matrix K (assembly) More... | |
| void | addFDK (const OdeState &state, Vector *f, SparseMatrix *D, SparseMatrix *K) override |
| void | addMatVec (const OdeState &state, double alphaD, double alphaK, const Vector &x, Vector *F) override |
 Public Member Functions inherited from SurgSim::Physics::Spring | |
| virtual | ~Spring () |
| Virtual destructor. | |
| virtual void | initialize (const SurgSim::Math::OdeState &state) |
| Initialize the Spring once everything has been set. More... | |
| size_t | getNumNodes () const |
| Gets the number of nodes the spring is connecting. More... | |
| size_t | getNodeId (size_t springNodeId) const |
| Gets the springNodeId-th node id. More... | |
| const std::vector< size_t > & | getNodeIds () const |
| Gets the node ids for this spring. More... | |
| virtual void | addForce (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector *F, double scale=1.0)=0 |
| Adds the spring force (computed for a given state) to a complete system force vector F (assembly) More... | |
| virtual void | addDamping (const SurgSim::Math::OdeState &state, SurgSim::Math::SparseMatrix *D, double scale=1.0)=0 |
| Adds the spring damping matrix D (= -df/dv) (computed for a given state) to a complete system damping matrix D (assembly) More... | |
| virtual void | addFDK (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector *F, SurgSim::Math::SparseMatrix *D, SurgSim::Math::SparseMatrix *K)=0 |
| Adds the spring force vector, mass, stiffness and damping matrices (computed for a given state) into a complete system data structure F, D, K (assembly) More... | |
| virtual void | addMatVec (const SurgSim::Math::OdeState &state, double alphaD, double alphaK, const SurgSim::Math::Vector &x, SurgSim::Math::Vector *F)=0 |
| Adds the spring matrix-vector contribution F += (alphaD.D + alphaK.K).x (computed for a given state) into a complete system data structure F (assembly) More... | |
Additional Inherited Members | |
| Protected Attributes inherited from SurgSim::Physics::Spring | |
| std::vector< size_t > | m_nodeIds |
| Node ids connected by this spring. | |
Member Function Documentation
§ addStiffness()
|
overridevirtual |
Adds the spring stiffness matrix K (= -df/dx) (computed for a given state) to a complete system stiffness matrix K (assembly)
- Parameters
-
state The state to compute the stiffness matrix with [in,out] K The complete system stiffness matrix to add the spring stiffness matrix into scale A factor to scale the added stiffness matrix with
Implements SurgSim::Physics::Spring.
The documentation for this class was generated from the following files:
- SurgSim/Physics/UnitTests/MockObjects.h
- SurgSim/Physics/UnitTests/MockObjects.cpp
