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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);
123 bool useGlobalStiffnessMatrix =
false,
bool useGlobalMassMatrix =
false,
142 void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
178 #endif // SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H
std::shared_ptr< Localization > createLocalization(const SurgSim::DataStructures::Location &location) override
Computes a localized coordinate w.r.t this representation, given a Location object.
Definition: MassSpringRepresentation.cpp:453
std::shared_ptr< Mass > getMass(size_t nodeId)
Retrieves the mass of a given node.
Definition: MassSpringRepresentation.cpp:116
void setRayleighDampingMass(double massCoef)
Sets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:153
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: MassSpringRepresentation.cpp:50
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
double massCoefficient
Definition: MassSpringRepresentation.h:169
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:402
MassSpring model is a deformable model (a set of masses connected by springs).
Definition: MassSpringRepresentation.h:38
std::vector< std::shared_ptr< Spring > > m_springs
Springs.
Definition: MassSpringRepresentation.h:162
double getRayleighDampingStiffness() const
Gets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:138
double getTotalMass() const
Gets the total mass of the mass spring.
Definition: MassSpringRepresentation.cpp:128
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
void setRayleighDampingStiffness(double stiffnessCoef)
Sets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:148
MassSpringRepresentation(const std::string &name)
Constructor.
Definition: MassSpringRepresentation.cpp:35
void beforeUpdate(double dt) override
Preprocessing done before the update call.
Definition: MassSpringRepresentation.cpp:182
void computeM(const SurgSim::Math::OdeState &state) override
Evaluation of the LHS matrix for a given state.
Definition: MassSpringRepresentation.cpp:217
void addMass(const std::shared_ptr< Mass > mass)
Adds a mass.
Definition: MassSpringRepresentation.cpp:96
void computeF(const SurgSim::Math::OdeState &state) override
Evaluation of the RHS function for a given state.
Definition: MassSpringRepresentation.cpp:201
void computeK(const SurgSim::Math::OdeState &state) override
Evaluation of for a given state.
Definition: MassSpringRepresentation.cpp:278
std::vector< std::shared_ptr< Mass > > m_masses
Masses.
Definition: MassSpringRepresentation.h:159
Definition: CompoundShapeToGraphics.cpp:29
struct SurgSim::Physics::MassSpringRepresentation::@4 m_rayleighDamping
Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient....
size_t getNumMasses() const
Gets the number of masses.
Definition: MassSpringRepresentation.cpp:106
void computeD(const SurgSim::Math::OdeState &state) override
Evaluation of for a given state.
Definition: MassSpringRepresentation.cpp:233
virtual ~MassSpringRepresentation()
Destructor.
Definition: MassSpringRepresentation.cpp:46
void addSpring(const std::shared_ptr< Spring > spring)
Adds a spring.
Definition: MassSpringRepresentation.cpp:101
double getRayleighDampingMass() const
Gets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:143
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:410
double stiffnessCoefficient
Definition: MassSpringRepresentation.h:170
A Location defines a local position w.r.t.
Definition: Location.h:39
void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)
Transform a state using a given transformation.
Definition: MassSpringRepresentation.cpp:446
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
void computeFMDK(const SurgSim::Math::OdeState &state) override
Evaluation of , , and .
Definition: MassSpringRepresentation.cpp:295
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:351
size_t getNumSprings() const
Gets the number of springs.
Definition: MassSpringRepresentation.cpp:111
std::shared_ptr< Spring > getSpring(size_t springId)
Retrieves a given spring from its id.
Definition: MassSpringRepresentation.cpp:122
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
void addExternalGeneralizedForce(std::shared_ptr< Localization > localization, const 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:158
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65