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Merge pull request #119 from alxbilger/fixaliases
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Fix aliases due to SOFA changes
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@fredroy
fredroy authored Jul 31, 2024
2 parents f11e8e8 + 64532bc commit d4dd51d
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Showing 4 changed files with 94 additions and 124 deletions.
14 changes: 3 additions & 11 deletions src/Cosserat/mapping/BaseCosseratMapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -74,19 +74,11 @@ class BaseCosseratMapping : public sofa::core::Multi2Mapping<TIn1, TIn2, TOut>
typedef TIn2 In2;
typedef TOut Out;

// TODO(dmarchal:2024/06/07) This very long list of public typedefs looks
// questionnable at least this has to be justified by comment on why these
// typedefs are public
typedef typename In1::Coord Coord1;
typedef typename In1::Deriv Deriv1;
using Coord1 = sofa::Coord_t<In1>;
using Deriv1 = sofa::Deriv_t<In1>;

typedef typename In2::Coord Coord2;
typedef typename In2::Deriv Deriv2;
using OutCoord = sofa::Coord_t<Out>;

typedef typename Out::Coord OutCoord;
typedef typename Out::Deriv OutDeriv;

public:
// TODO(dmarchal: 2024/06/07): There is a lot of public attributes is this
// really needed ?

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58 changes: 29 additions & 29 deletions src/Cosserat/mapping/DiscreteCosseratMapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,17 +33,17 @@ using namespace sofa::defaulttype;

template <>
void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJ(
const sofa::core::MechanicalParams* /* mparams */, const vector< OutDataVecDeriv*>& dataVecOutVel,
const vector<const In1DataVecDeriv*>& dataVecIn1Vel,
const vector<const In2DataVecDeriv*>& dataVecIn2Vel) {
const sofa::core::MechanicalParams* /* mparams */, const vector< sofa::DataVecDeriv_t<Out>*>& dataVecOutVel,
const vector<const sofa::DataVecDeriv_t<In1>*>& dataVecIn1Vel,
const vector<const sofa::DataVecDeriv_t<In2>*>& dataVecIn2Vel) {

if(dataVecOutVel.empty() || dataVecIn1Vel.empty() ||dataVecIn2Vel.empty() )
return;

msg_info() << " ########## ApplyJ R Function ########";

const In1VecDeriv& in1_vel = sofa::helper::getReadAccessor(*dataVecIn1Vel[0]);
const In2VecDeriv& in2_vel = sofa::helper::getReadAccessor(*dataVecIn2Vel[0]);
const sofa::VecDeriv_t<In1>& in1_vel = sofa::helper::getReadAccessor(*dataVecIn1Vel[0]);
const sofa::VecDeriv_t<In2>& in2_vel = sofa::helper::getReadAccessor(*dataVecIn2Vel[0]);

auto out_vel = sofa::helper::getWriteOnlyAccessor(*dataVecOutVel[0]);

Expand All @@ -67,7 +67,7 @@ void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJ(
baseVelocity[u] = in2_vel[baseIndex][u];

//Apply the local transform i.e. from SOFA's frame to Cosserat's frame
const In2VecCoord& xfrom2Data = sofa::helper::getReadAccessor(*m_fromModel2->read(sofa::core::ConstVecCoordId::position()));
const sofa::VecCoord_t<In2>& xfrom2Data = sofa::helper::getReadAccessor(*m_fromModel2->read(sofa::core::ConstVecCoordId::position()));
Transform TInverse = Transform(xfrom2Data[baseIndex].getCenter(), xfrom2Data[baseIndex].getOrientation()).inversed();
Mat6x6 P = this->buildProjector(TInverse);
Vec6 baseLocalVelocity = P * baseVelocity; //This is the base velocity in Locale frame
Expand All @@ -90,7 +90,7 @@ void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJ(
m_nodesVelocityVectors.push_back(eta_node_i);
msg_info() << "Node velocity : "<< i << " = " << eta_node_i;
}
const OutVecCoord& out = sofa::helper::getReadAccessor(*m_toModel->read(sofa::core::ConstVecCoordId::position()));
const sofa::VecCoord_t<Out>& out = sofa::helper::getReadAccessor(*m_toModel->read(sofa::core::ConstVecCoordId::position()));

auto sz = curv_abs_frames.size();
out_vel.resize(sz);
Expand All @@ -112,23 +112,23 @@ void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJ(

template <>
void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJT(
const sofa::core::MechanicalParams* /*mparams*/, const vector< In1DataVecDeriv*>& dataVecOut1Force,
const vector< In2DataVecDeriv*>& dataVecOut2Force,
const vector<const OutDataVecDeriv*>& dataVecInForce) {
const sofa::core::MechanicalParams* /*mparams*/, const vector< sofa::DataVecDeriv_t<In1>*>& dataVecOut1Force,
const vector< sofa::DataVecDeriv_t<In2>*>& dataVecOut2Force,
const vector<const sofa::DataVecDeriv_t<Out>*>& dataVecInForce) {

if(dataVecOut1Force.empty() || dataVecInForce.empty() || dataVecOut2Force.empty())
return;

msg_info() << " ########## ApplyJT force R Function ########";
const OutVecDeriv& in = dataVecInForce[0]->getValue();
const sofa::VecDeriv_t<Out>& in = dataVecInForce[0]->getValue();

In1VecDeriv out1 = sofa::helper::getWriteAccessor(*dataVecOut1Force[0]);
In2VecDeriv out2 = sofa::helper::getWriteAccessor(*dataVecOut2Force[0]);
sofa::VecDeriv_t<In1> out1 = sofa::helper::getWriteAccessor(*dataVecOut1Force[0]);
sofa::VecDeriv_t<In2> out2 = sofa::helper::getWriteAccessor(*dataVecOut2Force[0]);
const auto baseIndex = d_baseIndex.getValue();

const OutVecCoord& frame = m_toModel->read(sofa::core::ConstVecCoordId::position())->getValue();
const In1DataVecCoord* x1fromData = m_fromModel1->read(sofa::core::ConstVecCoordId::position());
const In1VecCoord x1from = x1fromData->getValue();
const sofa::VecCoord_t<Out>& frame = m_toModel->read(sofa::core::ConstVecCoordId::position())->getValue();
const sofa::DataVecCoord_t<In1>* x1fromData = m_fromModel1->read(sofa::core::ConstVecCoordId::position());
const sofa::VecCoord_t<In1> x1from = x1fromData->getValue();
vector<Vec6> local_F_Vec; local_F_Vec.clear();

out1.resize(x1from.size());
Expand Down Expand Up @@ -195,34 +195,34 @@ void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>:: applyJT(

template <>
void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>::applyJT(
const sofa::core::ConstraintParams*/*cparams*/ , const vector< In1DataMatrixDeriv*>& dataMatOut1Const,
const vector< In2DataMatrixDeriv*>& dataMatOut2Const ,
const vector<const OutDataMatrixDeriv*>& dataMatInConst)
const sofa::core::ConstraintParams*/*cparams*/ , const vector< sofa::DataMatrixDeriv_t<In1>*>& dataMatOut1Const,
const vector< sofa::DataMatrixDeriv_t<In2>*>& dataMatOut2Const ,
const vector<const sofa::DataMatrixDeriv_t<Out>*>& dataMatInConst)
{
if(dataMatOut1Const.empty() || dataMatOut2Const.empty() || dataMatInConst.empty() )
return;

msg_info() << " ########## ApplyJT constraint R Function ########";

//We need only one input In model and input Root model (if present)
In1MatrixDeriv& out1 = sofa::helper::getWriteAccessor(*dataMatOut1Const[0]); // constraints on the strain space (reduced coordinate)
In2MatrixDeriv& out2 = sofa::helper::getWriteAccessor(*dataMatOut2Const[0]); // constraints on the reference frame (base frame)
const OutMatrixDeriv& in = dataMatInConst[0]->getValue(); // input constraints defined on the mapped frames
sofa::MatrixDeriv_t<In1>& out1 = sofa::helper::getWriteAccessor(*dataMatOut1Const[0]); // constraints on the strain space (reduced coordinate)
sofa::MatrixDeriv_t<In2>& out2 = sofa::helper::getWriteAccessor(*dataMatOut2Const[0]); // constraints on the reference frame (base frame)
const sofa::MatrixDeriv_t<Out>& in = dataMatInConst[0]->getValue(); // input constraints defined on the mapped frames

const OutVecCoord& frame = m_toModel->read(sofa::core::ConstVecCoordId::position())->getValue();
const In1DataVecCoord* x1fromData = m_fromModel1->read(sofa::core::ConstVecCoordId::position());
const In1VecCoord x1from = x1fromData->getValue();
const sofa::VecCoord_t<Out>& frame = m_toModel->read(sofa::core::ConstVecCoordId::position())->getValue();
const sofa::DataVecCoord_t<In1>* x1fromData = m_fromModel1->read(sofa::core::ConstVecCoordId::position());
const sofa::VecCoord_t<In1> x1from = x1fromData->getValue();

TangentTransform matB_trans; matB_trans.clear();
for(unsigned int k=0; k<3; k++) matB_trans[k][k] = 1.0;

vector< std::tuple<int,Vec6> > NodesInvolved;
vector< std::tuple<int,Vec6> > NodesInvolvedCompressed;

typename OutMatrixDeriv::RowConstIterator rowItEnd = in.end();
typename sofa::MatrixDeriv_t<Out>::RowConstIterator rowItEnd = in.end();

bool doPrintLog = f_printLog.getValue();
for (typename OutMatrixDeriv::RowConstIterator rowIt = in.begin(); rowIt != rowItEnd; ++rowIt)
for (typename sofa::MatrixDeriv_t<Out>::RowConstIterator rowIt = in.begin(); rowIt != rowItEnd; ++rowIt)
{
msg_info_when(doPrintLog)
<<"************* Apply JT (MatrixDeriv) iteration on line "
Expand All @@ -239,8 +239,8 @@ void DiscreteCosseratMapping<Vec6Types, Rigid3Types, Rigid3Types>::applyJT(
<<"no column for this constraint";
continue;
}
typename In1MatrixDeriv::RowIterator o1 = out1.writeLine(rowIt.index()); // we store the constraint number
typename In2MatrixDeriv::RowIterator o2 = out2.writeLine(rowIt.index());
typename sofa::MatrixDeriv_t<In1>::RowIterator o1 = out1.writeLine(rowIt.index()); // we store the constraint number
typename sofa::MatrixDeriv_t<In2>::RowIterator o2 = out2.writeLine(rowIt.index());

NodesInvolved.clear();
while (colIt != colItEnd)
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50 changes: 14 additions & 36 deletions src/Cosserat/mapping/DiscreteCosseratMapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,29 +56,6 @@ class DiscreteCosseratMapping : public BaseCosseratMapping<TIn1, TIn2, TOut> {
typedef TIn2 In2;
typedef TOut Out;

using typename Inherit1::In1VecCoord;
using typename Inherit1::In1VecDeriv;
using typename Inherit1::In1MatrixDeriv;
using typename Inherit1::In1DataVecCoord;
using typename Inherit1::In1DataVecDeriv;
using typename Inherit1::In1DataMatrixDeriv;

using typename Inherit1::In2VecCoord;
using typename Inherit1::In2VecDeriv;
using typename Inherit1::In2MatrixDeriv;
using typename Inherit1::In2DataVecCoord;
using typename Inherit1::In2DataVecDeriv;
using typename Inherit1::In2DataMatrixDeriv;

using typename Inherit1::OutCoord;
using typename Inherit1::OutDeriv;
using typename Inherit1::OutVecCoord;
using typename Inherit1::OutVecDeriv;
using typename Inherit1::OutMatrixDeriv;
using typename Inherit1::OutDataVecCoord;
using typename Inherit1::OutDataVecDeriv;
using typename Inherit1::OutDataMatrixDeriv;

//////////////////////////////////////////////////////////////////////
/// @name Data Fields
/// @{
Expand Down Expand Up @@ -106,20 +83,21 @@ class DiscreteCosseratMapping : public BaseCosseratMapping<TIn1, TIn2, TOut> {
//////////////////////////////////////////////////////////////////////
/// The following method are inherited from MultiMapping
/// @{
void apply(const sofa::core::MechanicalParams * /* mparams */,
const vector<OutDataVecCoord *> &dataVecOutPos,
const vector<const In1DataVecCoord *> &dataVecIn1Pos,
const vector<const In2DataVecCoord *> &dataVecIn2Pos) override;
auto apply(const sofa::core::MechanicalParams* /* mparams */,
const vector<sofa::DataVecCoord_t<Out>*>& dataVecOutPos,
const vector<const sofa::DataVecCoord_t<In1>*>& dataVecIn1Pos,
const vector<const sofa::DataVecCoord_t<In2>*>& dataVecIn2Pos) ->
void override;

void applyJ(const sofa::core::MechanicalParams * /* mparams */,
const vector<OutDataVecDeriv *> &dataVecOutVel,
const vector<const In1DataVecDeriv *> &dataVecIn1Vel,
const vector<const In2DataVecDeriv *> &dataVecIn2Vel) override;
const vector<sofa::DataVecDeriv_t<Out> *> &dataVecOutVel,
const vector<const sofa::DataVecDeriv_t<In1> *> &dataVecIn1Vel,
const vector<const sofa::DataVecDeriv_t<In2> *> &dataVecIn2Vel) override;

void applyJT(const sofa::core::MechanicalParams * /* mparams */,
const vector<In1DataVecDeriv *> &dataVecOut1Force,
const vector<In2DataVecDeriv *> &dataVecOut2RootForce,
const vector<const OutDataVecDeriv *> &dataVecInForce) override;
const vector<sofa::DataVecDeriv_t<In1> *> &dataVecOut1Force,
const vector<sofa::DataVecDeriv_t<In2> *> &dataVecOut2RootForce,
const vector<const sofa::DataVecDeriv_t<Out> *> &dataVecInForce) override;

// TODO(dmarchal:2024/06/13): Override with an empty function is a rare code pattern
// to make it clear this is the intented and not just an "I'm too lazy to implement it"
Expand All @@ -131,9 +109,9 @@ class DiscreteCosseratMapping : public BaseCosseratMapping<TIn1, TIn2, TOut> {
/// Support for constraints.
void applyJT(
const sofa::core::ConstraintParams *cparams,
const vector<In1DataMatrixDeriv *> &dataMatOut1Const,
const vector<In2DataMatrixDeriv *> &dataMatOut2Const,
const vector<const OutDataMatrixDeriv *> &dataMatInConst) override;
const vector<sofa::DataMatrixDeriv_t<In1> *> &dataMatOut1Const,
const vector<sofa::DataMatrixDeriv_t<In2> *> &dataMatOut2Const,
const vector<const sofa::DataMatrixDeriv_t<Out> *> &dataMatInConst) override;
/// @}
/////////////////////////////////////////////////////////////////////////////

Expand Down
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