OdeState.h
Go to the documentation of this file.
1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013-2016, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_ODESTATE_H
17 #define SURGSIM_MATH_ODESTATE_H
18 
19 #include <memory>
20 
21 #include "SurgSim/Math/Matrix.h"
23 #include "SurgSim/Math/Vector.h"
24 
25 namespace SurgSim
26 {
27 
28 namespace Math
29 {
30 
38 class OdeState
39 {
40 public:
42  OdeState();
43 
45  virtual ~OdeState();
46 
50  bool operator ==(const OdeState& state) const;
51 
55  bool operator !=(const OdeState& state) const;
56 
59  virtual void reset();
60 
65  virtual void setNumDof(size_t numDofPerNode, size_t numNodes);
66 
69  size_t getNumDof() const;
70 
73  size_t getNumNodes() const;
74 
78 
81  const SurgSim::Math::Vector& getPositions() const;
82 
87  const SurgSim::Math::Vector3d getPosition(size_t nodeId) const;
88 
92 
95  const SurgSim::Math::Vector& getVelocities() const;
96 
101  const SurgSim::Math::Vector3d getVelocity(size_t nodeId) const;
102 
105  void addBoundaryCondition(size_t nodeId);
106 
110  void addBoundaryCondition(size_t nodeId, size_t nodeDofId);
111 
114  size_t getNumBoundaryConditions() const;
115 
118  const std::vector<size_t>& getBoundaryConditions() const;
119 
124  bool isBoundaryCondition(size_t dof) const;
125 
131 
138  void applyBoundaryConditionsToMatrix(Matrix* matrix, bool hasCompliance = true) const;
139 
146  void applyBoundaryConditionsToMatrix(SparseMatrix* matrix, bool hasCompliance = true) const;
147 
150  virtual bool isValid() const;
151 
158  OdeState interpolate(const OdeState& other, double t) const;
159 
160 private:
162 
165 
168 
171 
173  std::vector<size_t> m_boundaryConditionsAsDofIds;
174 
176  Eigen::Matrix<bool, Eigen::Dynamic, 1> m_boundaryConditionsPerDof;
177 };
178 
179 }; // namespace Math
180 
181 }; // namespace SurgSim
182 
183 #endif // SURGSIM_MATH_ODESTATE_H
SurgSim::Math::OdeState::operator!=
bool operator!=(const OdeState &state) const
Comparison operator (difference test)
Definition: OdeState.cpp:40
SurgSim::Math::OdeState::getNumDof
size_t getNumDof() const
Retrieves the number of degrees of freedom.
Definition: OdeState.cpp:68
SurgSim::Math::OdeState::OdeState
OdeState()
Default constructor.
Definition: OdeState.cpp:27
SurgSim::Math::OdeState::applyBoundaryConditionsToMatrix
void applyBoundaryConditionsToMatrix(Matrix *matrix, bool hasCompliance=true) const
Apply boundary conditions to a given matrix.
Definition: OdeState.cpp:172
Vector.h
SurgSim::Math::OdeState
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
SurgSim::Math::OdeState::getPositions
SurgSim::Math::Vector & getPositions()
Retrieves all degrees of freedom's position (non-const version)
Definition: OdeState.cpp:83
SurgSim::Math::OdeState::applyBoundaryConditionsToVector
Vector * applyBoundaryConditionsToVector(Vector *vector) const
Apply boundary conditions to a given vector.
Definition: OdeState.cpp:157
SurgSim::Math::OdeState::getNumNodes
size_t getNumNodes() const
Retrieves the number of nodes.
Definition: OdeState.cpp:78
Matrix.h
SurgSim::Math::OdeState::getVelocity
const SurgSim::Math::Vector3d getVelocity(size_t nodeId) const
Retrieves the velocity of a given node (const version)
Definition: OdeState.cpp:108
SurgSim::Math::Vector3d
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
SparseMatrix.h
SurgSim::Math::OdeState::setNumDof
virtual void setNumDof(size_t numDofPerNode, size_t numNodes)
Allocates the state for a given number of degrees of freedom.
Definition: OdeState.cpp:53
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Math::OdeState::m_x
SurgSim::Math::Vector m_x
Degrees of freedom position.
Definition: OdeState.h:167
SurgSim::Math::OdeState::m_boundaryConditionsPerDof
Eigen::Matrix< bool, Eigen::Dynamic, 1 > m_boundaryConditionsPerDof
Boundary conditions stored per dof (True indicates a boundary condition, False does not)
Definition: OdeState.h:176
SurgSim::Math::SparseMatrix
Eigen::SparseMatrix< double > SparseMatrix
A sparse matrix.
Definition: SparseMatrix.h:32
SurgSim::Math::OdeState::getBoundaryConditions
const std::vector< size_t > & getBoundaryConditions() const
Retrieves all boundary conditions.
Definition: OdeState.cpp:147
SurgSim::Math::OdeState::operator==
bool operator==(const OdeState &state) const
Comparison operator (equality test)
Definition: OdeState.cpp:35
SurgSim::Math::OdeState::isValid
virtual bool isValid() const
Check if this state is numerically valid.
Definition: OdeState.cpp:219
SurgSim::Math::OdeState::m_boundaryConditionsAsDofIds
std::vector< size_t > m_boundaryConditionsAsDofIds
Boundary conditions stored as a list of dof ids.
Definition: OdeState.h:173
SurgSim::Math::OdeState::getVelocities
SurgSim::Math::Vector & getVelocities()
Retrieves all degrees of freedom's velocity (non-const version)
Definition: OdeState.cpp:98
SurgSim::Math::OdeState::isBoundaryCondition
bool isBoundaryCondition(size_t dof) const
Queries if a specific dof is a boundary condition or not.
Definition: OdeState.cpp:152
SurgSim::Math::Vector
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
SurgSim::Math::OdeState::addBoundaryCondition
void addBoundaryCondition(size_t nodeId)
Adds boundary conditions for a given node (fixes all the dof for this node)
Definition: OdeState.cpp:113
SurgSim::Math::OdeState::m_numNodes
size_t m_numNodes
Definition: OdeState.h:164
SurgSim::Math::OdeState::interpolate
OdeState interpolate(const OdeState &other, double t) const
Returns the linear interpolated ODE state between this and other at parameter t.
Definition: OdeState.cpp:231
SurgSim::Math::OdeState::reset
virtual void reset()
Resets the state.
Definition: OdeState.cpp:45
SurgSim::Math::OdeState::getPosition
const SurgSim::Math::Vector3d getPosition(size_t nodeId) const
Retrieves the position of a given node (const version)
Definition: OdeState.cpp:93
SurgSim::Math::OdeState::m_numDofPerNode
size_t m_numDofPerNode
Default public copy constructor and assignment operator are being used on purpose.
Definition: OdeState.h:164
SurgSim::Math::OdeState::getNumBoundaryConditions
size_t getNumBoundaryConditions() const
Retrieves the number of boundary conditions.
Definition: OdeState.cpp:142
SurgSim::Math::OdeState::~OdeState
virtual ~OdeState()
Destructor.
Definition: OdeState.cpp:31
SurgSim::Math::OdeState::m_v
SurgSim::Math::Vector m_v
Degrees of freedom velocity (m_x 1st derivative w.r.t. time)
Definition: OdeState.h:170
SurgSim::Math::Matrix
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65