[constraint] data renaming (d_constraintIndex) (#293)

SofaDefrost · Jul 22, 2024 · 0f03c21 · 0f03c21
1 parent fae4074
commit 0f03c21
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Showing 16 changed files with 31 additions and 31 deletions.
diff --git a/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp b/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp
@@ -42,7 +42,7 @@ SoftRobotsBaseConstraint::SoftRobotsBaseConstraint()
     , m_hasLambdaInit(false)
     , m_hasEpsilon(false)
 {
-    m_constraintIndex.setReadOnly(true);
+    d_constraintIndex.setReadOnly(true);
 }
 
 bool SoftRobotsBaseConstraint::hasDeltaMax() const

diff --git a/src/SoftRobots/component/behavior/SoftRobotsConstraint.inl b/src/SoftRobots/component/behavior/SoftRobotsConstraint.inl
@@ -83,7 +83,7 @@ void SoftRobotsConstraint<DataTypes>::getConstraintViolation(const sofa::core::C
     {
         const DataVecCoord& xfree = *cParams->readX(m_state);
         ReadAccessor<sofa::Data<VecCoord>> x = m_state->readPositions();
-        const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+        const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
         VecDeriv dx;
         dx.resize(m_state->getSize());

diff --git a/src/SoftRobots/component/constraint/JointConstraint.h b/src/SoftRobots/component/constraint/JointConstraint.h
@@ -144,7 +144,7 @@ class JointConstraint : public SoftRobotsConstraint<DataTypes>
 
     ////////////////////////// Inherited attributes ////////////////////////////
     using SoftRobotsConstraint<DataTypes>::m_state ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////

diff --git a/src/SoftRobots/component/constraint/JointConstraint.inl b/src/SoftRobots/component/constraint/JointConstraint.inl
@@ -150,7 +150,7 @@ void JointConstraint<DataTypes>::buildConstraintMatrix(const ConstraintParams* c
     if(!this->isComponentStateValid())
         return ;
 
-    auto constraintIndex = sofa::helper::getWriteAccessor(m_constraintIndex);
+    auto constraintIndex = sofa::helper::getWriteAccessor(d_constraintIndex);
     constraintIndex.wref() = cIndex;
 
     MatrixDeriv& matrix = *cMatrix.beginEdit();
@@ -175,7 +175,7 @@ void JointConstraint<DataTypes>::getConstraintViolation(const ConstraintParams*
     SOFA_UNUSED(cParams);
 
     Real dFree = Jdx->element(0) - m_initDisplacement + m_currentDisplacement;
-    resV->set(m_constraintIndex.getValue(), dFree);
+    resV->set(d_constraintIndex.getValue(), dFree);
 }
 
 template<class DataTypes>
@@ -224,7 +224,7 @@ void JointConstraint<DataTypes>::storeLambda(const ConstraintParams* cParams,
         return ;
 
     // Update joint effort
-    d_force.setValue(lambda->element(m_constraintIndex.getValue()));
+    d_force.setValue(lambda->element(d_constraintIndex.getValue()));
 
     // Update joint displacement
     ReadAccessor<sofa::Data<VecCoord>> positions = m_state->readPositions();

diff --git a/src/SoftRobots/component/constraint/PositionConstraint.h b/src/SoftRobots/component/constraint/PositionConstraint.h
@@ -134,7 +134,7 @@ class PositionConstraint : public PositionModel<DataTypes>
     using PositionModel<DataTypes>::d_useDirections ;
     using PositionModel<DataTypes>::d_directions ;
     using PositionModel<DataTypes>::d_weight ;
-    using PositionModel<DataTypes>::m_constraintIndex ;
+    using PositionModel<DataTypes>::d_constraintIndex ;
     using PositionModel<DataTypes>::m_state ;
     ///////////////////////////////////////////////////////////////////////////
 

diff --git a/src/SoftRobots/component/constraint/PositionConstraint.inl b/src/SoftRobots/component/constraint/PositionConstraint.inl
@@ -137,7 +137,7 @@ void PositionConstraint<DataTypes>::getConstraintViolation(const ConstraintParam
     const auto& weight = sofa::helper::getReadAccessor(d_weight);
     const auto& indices = sofa::helper::getReadAccessor(d_indices);
     sofa::Index sizeIndices = indices.size();
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
     int index = 0;
     for (unsigned int i=0; i<sizeIndices; i++)
@@ -205,7 +205,7 @@ void PositionConstraint<DataTypes>::storeLambda(const ConstraintParams* cParams,
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 
-    d_force.setValue(lambda->element(m_constraintIndex.getValue()));
+    d_force.setValue(lambda->element(d_constraintIndex.getValue()));
 }
 
 

diff --git a/src/SoftRobots/component/constraint/UnilateralPlaneConstraint.h b/src/SoftRobots/component/constraint/UnilateralPlaneConstraint.h
@@ -117,7 +117,7 @@ class SOFA_SOFTROBOTS_API UnilateralPlaneConstraint : public SoftRobotsConstrain
 
     ////////////////////////// Inherited attributes ////////////////////////////
     using SoftRobotsConstraint<DataTypes>::m_state ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////

diff --git a/src/SoftRobots/component/constraint/UnilateralPlaneConstraint.inl b/src/SoftRobots/component/constraint/UnilateralPlaneConstraint.inl
@@ -115,8 +115,8 @@ void UnilateralPlaneConstraint<DataTypes>::buildConstraintMatrix(const Constrain
 
     SOFA_UNUSED(cParams);
 
-    m_constraintIndex.setValue(cIndex);
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    d_constraintIndex.setValue(cIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
     MatrixDeriv& column = *cMatrix.beginEdit();
 
@@ -164,7 +164,7 @@ void UnilateralPlaneConstraint<DataTypes>::getConstraintViolation(const Constrai
         normal = -normal;
 
     Real dfree = Jdx->element(0) + (p0-p1)*normal/normal.norm();
-    resV->set(m_constraintIndex.getValue(), dfree );
+    resV->set(d_constraintIndex.getValue(), dfree );
 }
 
 

diff --git a/src/SoftRobots/component/constraint/model/AffineFunctionModel.h b/src/SoftRobots/component/constraint/model/AffineFunctionModel.h
@@ -114,7 +114,7 @@ class SOFA_SOFTROBOTS_API AffineFunctionModel : virtual public SoftRobotsConstra
 
     ////////////////////////// Inherited attributes ////////////////////////////
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::m_state ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////

diff --git a/src/SoftRobots/component/constraint/model/AffineFunctionModel.inl b/src/SoftRobots/component/constraint/model/AffineFunctionModel.inl
@@ -191,8 +191,8 @@ void AffineFunctionModel<DataTypes>::buildConstraintMatrix(const ConstraintParam
     SOFA_UNUSED(cParams);
     SOFA_UNUSED(x);
 
-    m_constraintIndex.setValue(cIndex);
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    d_constraintIndex.setValue(cIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
     MatrixDeriv& matrix = *cMatrix.beginEdit();
 
@@ -224,7 +224,7 @@ void AffineFunctionModel<DataTypes>::getConstraintViolation(const ConstraintPara
 
 	d_functionValue.setValue(getAffineFunctionValue(m_state->readPositions().ref()));
     Real dfree = Jdx->element(0) + d_functionValue.getValue();
-    resV->set(m_constraintIndex.getValue(), dfree);
+    resV->set(d_constraintIndex.getValue(), dfree);
 }
 
 
@@ -240,7 +240,7 @@ void AffineFunctionModel<DataTypes>::storeLambda(const ConstraintParams* cParams
     if(d_componentState.getValue() != ComponentState::Valid)
             return ;
 
-    d_force.setValue(lambda->element(m_constraintIndex.getValue()));
+    d_force.setValue(lambda->element(d_constraintIndex.getValue()));
 
     //Note: this is one step behind
     d_displacement.setValue(d_functionValue.getValue());

diff --git a/src/SoftRobots/component/constraint/model/CableModel.h b/src/SoftRobots/component/constraint/model/CableModel.h
@@ -159,7 +159,7 @@ class SOFA_SOFTROBOTS_API CableModel : virtual public SoftRobotsConstraint<DataT
     /// otherwise any access to the base::attribute would require
     /// using the "this->" approach.
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::m_state ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////

diff --git a/src/SoftRobots/component/constraint/model/CableModel.inl b/src/SoftRobots/component/constraint/model/CableModel.inl
@@ -635,8 +635,8 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
 
     SOFA_UNUSED(cParams);
 
-    m_constraintIndex.setValue(cIndex);
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    d_constraintIndex.setValue(cIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
     MatrixDeriv& matrix = *cMatrix.beginEdit();
 
@@ -803,7 +803,7 @@ void CableModel<DataTypes>::getConstraintViolation(const ConstraintParams* cPara
 
     d_cableLength.setValue(getCableLength(m_state->readPositions().ref()));
     Real dfree = Jdx->element(0) + d_cableInitialLength.getValue() - d_cableLength.getValue();
-    resV->set(m_constraintIndex.getValue(), dfree);
+    resV->set(d_constraintIndex.getValue(), dfree);
 }
 
 
@@ -820,7 +820,7 @@ void CableModel<DataTypes>::storeLambda(const ConstraintParams* cParams,
             return ;
     }
 
-    d_force.setValue(lambda->element(m_constraintIndex.getValue()));
+    d_force.setValue(lambda->element(d_constraintIndex.getValue()));
 
     // Compute actual cable length and displacement from updated positions of mechanical
     // Eulalie.C: For now the position of the mechanical state is not up to date when storeLambda() is called

diff --git a/src/SoftRobots/component/constraint/model/PositionModel.h b/src/SoftRobots/component/constraint/model/PositionModel.h
@@ -92,7 +92,7 @@ class PositionModel : virtual public SoftRobotsConstraint<DataTypes>
 
     ////////////////////////// Inherited attributes ////////////////////////////
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     using SoftRobotsConstraint<DataTypes>::m_state ;
     ////////////////////////////////////////////////////////////////////////////

diff --git a/src/SoftRobots/component/constraint/model/PositionModel.inl b/src/SoftRobots/component/constraint/model/PositionModel.inl
@@ -217,8 +217,8 @@ void PositionModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cPa
     SOFA_UNUSED(cParams);
     SOFA_UNUSED(x);
 
-    m_constraintIndex.setValue(cIndex);
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    d_constraintIndex.setValue(cIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
     MatrixDeriv& column = *cMatrix.beginEdit();
     const auto& indices = sofa::helper::getReadAccessor(d_indices);
     sofa::Index sizeIndices = indices.size();

diff --git a/src/SoftRobots/component/constraint/model/SurfacePressureModel.h b/src/SoftRobots/component/constraint/model/SurfacePressureModel.h
@@ -140,7 +140,7 @@ class SOFA_SOFTROBOTS_API SurfacePressureModel : virtual public SoftRobotsConstr
     using SoftRobotsConstraint<DataTypes>::m_state ;
     using SoftRobotsConstraint<DataTypes>::getContext ;
     using SoftRobotsConstraint<DataTypes>::m_nbLines ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using SoftRobotsConstraint<DataTypes>::d_constraintIndex ;
     using SoftRobotsConstraint<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////
 

diff --git a/src/SoftRobots/component/constraint/model/SurfacePressureModel.inl b/src/SoftRobots/component/constraint/model/SurfacePressureModel.inl
@@ -317,8 +317,8 @@ void SurfacePressureModel<DataTypes>::buildConstraintMatrix(const ConstraintPara
 
     SOFA_UNUSED(cParams);
 
-    m_constraintIndex.setValue(cIndex);
-    const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);
+    d_constraintIndex.setValue(cIndex);
+    const auto& constraintIndex = sofa::helper::getReadAccessor(d_constraintIndex);
 
     ReadAccessor<Data<vector<Quad>>>     quadList = d_quads;
     ReadAccessor<Data<vector<Triangle>>> triList  = d_triangles;
@@ -373,7 +373,7 @@ void SurfacePressureModel<DataTypes>::getConstraintViolation(const ConstraintPar
 
     d_cavityVolume.setValue(getCavityVolume(m_state->readPositions().ref()));
     Real dfree = Jdx->element(0) + d_cavityVolume.getValue() - d_initialCavityVolume.getValue();
-    resV->set(m_constraintIndex.getValue(), dfree);
+    resV->set(d_constraintIndex.getValue(), dfree);
 }
 
 
@@ -388,7 +388,7 @@ void SurfacePressureModel<DataTypes>::storeLambda(const ConstraintParams* cParam
     if(d_componentState.getValue() != ComponentState::Valid)
             return ;
 
-    d_pressure.setValue(lambda->element(m_constraintIndex.getValue()));
+    d_pressure.setValue(lambda->element(d_constraintIndex.getValue()));
 
     // Compute actual cavity volume and volume growth from updated positions of mechanical
     // Eulalie.C: For now the position of the mechanical state is not up to date when storeLambda() is called