16 #ifndef SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H 17 #define SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H 52 void addMass(
const std::shared_ptr<Mass> mass);
56 void addSpring(
const std::shared_ptr<Spring> spring);
71 std::shared_ptr<Mass>
getMass(
size_t nodeId);
78 std::shared_ptr<Spring>
getSpring(
size_t springId);
161 bool useGlobalStiffnessMatrix =
false,
bool useGlobalMassMatrix =
false,
double scale = 1.0);
179 void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
202 #endif // SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H Definition: DriveElementFromInputBehavior.cpp:27
RepresentationType
Definition: Representation.h:42
struct SurgSim::Physics::MassSpringRepresentation::@2 m_rayleighDamping
Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness.
virtual ~MassSpringRepresentation()
Destructor.
Definition: MassSpringRepresentation.cpp:43
size_t getNumSprings() const
Gets the number of springs.
Definition: MassSpringRepresentation.cpp:62
void addRayleighDampingForce(SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalStiffnessMatrix=false, bool useGlobalMassMatrix=false, double scale=1.0)
Add the Rayleigh damping forces.
Definition: MassSpringRepresentation.cpp:366
virtual void addExternalGeneralizedForce(std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override
Add an external generalized force applied on a specific localization.
Definition: MassSpringRepresentation.cpp:114
std::shared_ptr< Spring > getSpring(size_t springId)
Retrieves a given spring from its id.
Definition: MassSpringRepresentation.cpp:73
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
double stiffnessCoefficient
Definition: MassSpringRepresentation.h:194
virtual const SurgSim::Math::Matrix & computeM(const SurgSim::Math::OdeState &state) override
Evaluation of the LHS matrix M(x,v) for a given state.
Definition: MassSpringRepresentation.cpp:177
double getTotalMass() const
Gets the total mass of the mass spring.
Definition: MassSpringRepresentation.cpp:79
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
virtual RepresentationType getType() const override
Query the representation type.
Definition: MassSpringRepresentation.cpp:109
double getRayleighDampingMass() const
Gets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:94
void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)
Transform a state using a given transformation.
Definition: MassSpringRepresentation.cpp:460
std::shared_ptr< Mass > getMass(size_t nodeId)
Retrieves the mass of a given node.
Definition: MassSpringRepresentation.cpp:67
void setRayleighDampingMass(double massCoef)
Sets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:104
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
double getRayleighDampingStiffness() const
Gets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:89
MassSpring model is a deformable model (a set of masses connected by springs).
Definition: MassSpringRepresentation.h:38
virtual SurgSim::Math::Vector & computeF(const SurgSim::Math::OdeState &state) override
Evaluation of the RHS function f(x,v) for a given state.
Definition: MassSpringRepresentation.cpp:153
virtual void computeFMDK(const SurgSim::Math::OdeState &state, SurgSim::Math::Vector **f, SurgSim::Math::Matrix **M, SurgSim::Math::Matrix **D, SurgSim::Math::Matrix **K) override
Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed...
Definition: MassSpringRepresentation.cpp:288
void addSpringsForce(SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
Add the springs force to f (given a state)
Definition: MassSpringRepresentation.cpp:416
MassSpringRepresentation(const std::string &name)
Constructor.
Definition: MassSpringRepresentation.cpp:32
Definitions of small fixed-size square matrix types.
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
std::vector< std::shared_ptr< Spring > > m_springs
Springs.
Definition: MassSpringRepresentation.h:187
virtual const SurgSim::Math::Matrix & computeK(const SurgSim::Math::OdeState &state) override
Evaluation of K = -df/dx (x,v) for a given state.
Definition: MassSpringRepresentation.cpp:259
virtual const SurgSim::Math::Matrix & computeD(const SurgSim::Math::OdeState &state) override
Evaluation of D = -df/dv (x,v) for a given state.
Definition: MassSpringRepresentation.cpp:204
void addMass(const std::shared_ptr< Mass > mass)
Adds a mass.
Definition: MassSpringRepresentation.cpp:47
Definitions of small fixed-size vector types.
double massCoefficient
Definition: MassSpringRepresentation.h:193
std::vector< std::shared_ptr< Mass > > m_masses
Masses.
Definition: MassSpringRepresentation.h:184
void addSpring(const std::shared_ptr< Spring > spring)
Adds a spring.
Definition: MassSpringRepresentation.cpp:52
void setRayleighDampingStiffness(double stiffnessCoef)
Sets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:99
void addGravityForce(SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
Add the gravity force to f (given a state)
Definition: MassSpringRepresentation.cpp:424
size_t getNumMasses() const
Gets the number of masses.
Definition: MassSpringRepresentation.cpp:57
virtual void beforeUpdate(double dt) override
Preprocessing done before the update call.
Definition: MassSpringRepresentation.cpp:135