libsofa1-dev 1.0~beta4-12 / usr / include / sofa / component / mapping / ArticulatedSystemMapping.inl

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
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#ifndef SOFA_COMPONENT_MAPPING_ARTICULATEDSYSTEMMAPPING_INL
#define SOFA_COMPONENT_MAPPING_ARTICULATEDSYSTEMMAPPING_INL

#include <sofa/component/mapping/ArticulatedSystemMapping.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/core/objectmodel/BaseContext.h>
#include <sofa/helper/gl/template.h>

namespace sofa
{

namespace component
{

namespace mapping
{

template <class BasicMapping>
ArticulatedSystemMapping<BasicMapping>::ArticulatedSystemMapping(In* from, Out* to)
: Inherit(from, to)
, rootModel(NULL), ahc(NULL)
, m_rootModelName(initData(&m_rootModelName, std::string(""), "rootModel", "Root position if a rigid root model is specified."))
{

}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::init()
{
	GNode* context = dynamic_cast<GNode*>(this->fromModel->getContext());
	context->getNodeObject(ahc);
	articulationCenters = ahc->getArticulationCenters();

	OutVecCoord& xto = *this->toModel->getX();
	InVecCoord& xfrom = *this->fromModel->getX();

	ArticulationPos.clear();
	ArticulationAxis.clear();
	ArticulationPos.resize(xfrom.size());
	ArticulationAxis.resize(xfrom.size());

	if (!m_rootModelName.getValue().empty())
	{
		std::vector< std::string > tokens(0);
		std::string str = m_rootModelName.getValue();
		std::string::size_type begin_index = 0;
		std::string::size_type end_index = 0;
    if (rootModel)
    {
		serr << "Root Model found : Name = " << rootModel->getName() << sendl;

    }
		while ( (end_index = str.find("/", begin_index)) != std::string::npos )
		{
			tokens.push_back(str.substr(begin_index, end_index - begin_index));
			begin_index = end_index + 1;
		}

		tokens.push_back(str.substr(begin_index));

		GNode* node = context;

		std::vector< std::string >::iterator it = tokens.begin();
		std::vector< std::string >::iterator itEnd = tokens.end();

		while (it != itEnd)
		{
			if ( it->compare("..") == 0 )
			{
				if (node != 0)
					node = node->parent;
			}
			else
			{
				if (node != 0)
					node = node->getChild(*it);
			}

			++it;
		}

		if (node != 0)
			node->getNodeObject(rootModel);

	}
	else
	{
		context->parent->getNodeObject(rootModel);
	}

	CoordinateBuf.clear();
	CoordinateBuf.resize(xfrom.size());
	for (unsigned int c=0; c<xfrom.size(); c++)
	{
		CoordinateBuf[c].x() = 0.0;
	}

	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = articulationCenters.begin();
	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acEnd = articulationCenters.end();

	for (; ac != acEnd; ac++)
	{
		(*ac)->OrientationArticulationCenter.clear();
		(*ac)->DisplacementArticulationCenter.clear();
		(*ac)->Disp_Rotation.clear();

		// sout << "(*ac)->OrientationArticulationCenter : " << (*ac)->OrientationArticulationCenter << sendl;
		// todo : warning if a (*a)->articulationIndex.getValue() exceed xfrom size !
	}

	apply(xto, xfrom, (rootModel==NULL ? NULL : rootModel->getX()));

	/*
	OutVecDeriv& vto = *this->toModel->getV();
	InVecDeriv& vfrom = *this->fromModel->getV();
	applyJT(vfrom, vto);
	*/
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::reset()
{
	init();
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::apply( typename Out::VecCoord& out, const typename In::VecCoord& in, const typename InRoot::VecCoord* inroot  )
{
    // Copy the root position if a rigid root model is present
    if (rootModel)
    {
        out[0] = (*inroot)[rootModel->getSize()-1];
	//	sout << "Root Model Name = " << rootModel->getName() << sendl;
     //   out[0] = (*rootModel->getX())[rootModel->getSize()-1];
    }

	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = articulationCenters.begin();
	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acEnd = articulationCenters.end();

	for (; ac != acEnd; ac++)
	{
		int parent = (*ac)->parentIndex.getValue();
		int child = (*ac)->childIndex.getValue();

		// Before computing the child position, it is placed with the same orientation than its parent
		// and at the position compatible with the definition of the articulation center
		// (see initTranslateChild function for details...)
		Quat quat_child_buf = out[child].getOrientation();



		// The position of the articulation center can be deduced using the 6D position of the parent:
		// only useful for visualisation of the mapping => NO ! Used in applyJ and applyJT
		(*ac)->globalPosition.setValue(out[parent].getCenter() +
			out[parent].getOrientation().rotate((*ac)->posOnParent.getValue()));

		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*> articulations = (*ac)->getArticulations();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.begin();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator aEnd = articulations.end();

		int process = (*ac)->articulationProcess.getValue();

		switch(process)	{
			case 0: // 0-(default) articulation are treated one by one, the axis of the second articulation is updated by the potential rotation of the first articulation
				//			   potential problems could arise when rotation exceed 90° (known problem of euler angles)
			{
				// the position of the child is reset to its rest position (based on the postion of the articulation center)
				out[child].getOrientation() = out[parent].getOrientation();
				out[child].getCenter() = out[parent].getCenter() + (*ac)->initTranslateChild(out[parent].getOrientation());

				Vec<3,OutReal> APos;
				APos = (*ac)->globalPosition.getValue();
				for (; a != aEnd; a++)
				{
					int ind = (*a)->articulationIndex.getValue();
					InCoord value = in[ind];
					Vec<3,Real> axis = out[child].getOrientation().rotate((*a)->axis.getValue());
					ArticulationAxis[ind] = axis;

					if ((*a)->rotation.getValue())
					{
						Quat dq;
						dq.axisToQuat(axis, value.x());
						out[child].getCenter() += (*ac)->translateChild(dq, out[child].getOrientation());
						out[child].getOrientation() += dq;

					}
					if ((*a)->translation.getValue())
					{
						out[child].getCenter() += axis*value.x();
						APos += axis*value.x();
					}

					ArticulationPos[ind]= APos;
				}
				break;
			}
	case 1: // the axis of the articulations are linked to the parent - rotations are treated by successive increases -
			{
				//sout<<"Case 1"<<sendl;
				// no reset of the position of the child its position is corrected at the end to respect the articulation center.

				for (; a != aEnd; a++)
				{
					int ind = (*a)->articulationIndex.getValue();
					InCoord value = in[ind];
					InCoord prev_value = CoordinateBuf[ind];
					Vec<3,Real> axis = out[parent].getOrientation().rotate((*a)->axis.getValue());
					ArticulationAxis[ind]=axis;

					// the increment of rotation and translation are stored in dq and disp
					if ((*a)->rotation.getValue() )
					{
						Quat r;
						r.axisToQuat(axis, value.x() - prev_value.x());
						// add the contribution into the quaternion that provides the actual orientation of the articulation center
						(*ac)->OrientationArticulationCenter+=r;

					}
					if ((*a)->translation.getValue())
					{
						(*ac)->DisplacementArticulationCenter+=axis*(value.x() - prev_value.x());
					}

				}

				//// in case 1: the rotation of the axis of the articulation follows the parent -> translation are treated "before":


				// step 1: compute the new position of the articulation center and the articulation pos
				//         rq: the articulation center folows the translations
				(*ac)->globalPosition.setValue(out[parent].getCenter() + out[parent].getOrientation().rotate((*ac)->posOnParent.getValue()) + (*ac)->DisplacementArticulationCenter);
				vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.begin();

				for (; a != aEnd; a++)
				{
					Vec<3,OutReal> APos;
					APos = (*ac)->globalPosition.getValue();
					ArticulationPos[(*a)->articulationIndex.getValue()]=APos;
				}

				// step 2: compute the position of the child
				out[child].getOrientation() = out[parent].getOrientation() + (*ac)->OrientationArticulationCenter;
				out[child].getCenter() =  (*ac)->globalPosition.getValue() - out[child].getOrientation().rotate( (*ac)->posOnChild.getValue() );

				break;

			}


			case 2: // the axis of the articulations are linked to the child (previous pos) - rotations are treated by successive increases -
			{
				//sout<<"Case 2"<<sendl;
				// no reset of the position of the child its position is corrected at the end to respect the articulation center.
				//Quat dq(0,0,0,1);
				Vec<3,Real> disp(0,0,0);


				for (; a != aEnd; a++)
				{
					int ind = (*a)->articulationIndex.getValue();
					InCoord value = in[ind];
					InCoord prev_value = CoordinateBuf[ind];
					Vec<3,Real> axis = quat_child_buf.rotate((*a)->axis.getValue());
					ArticulationAxis[ind]=axis;





					// the increment of rotation and translation are stored in dq and disp
					if ((*a)->rotation.getValue() )
					{
						Quat r;
						r.axisToQuat(axis, value.x() - prev_value.x());
						// add the contribution into the quaternion that provides the actual orientation of the articulation center
						(*ac)->OrientationArticulationCenter+=r;
					}
					if ((*a)->translation.getValue())
					{
						disp += axis*(value.x()) ;

					}

					//// in case 2: the rotation of the axis of the articulation follows the child -> translation are treated "after"
					//// ArticulationPos do not move
					Vec<3,OutReal> APos;
					APos = (*ac)->globalPosition.getValue();
					ArticulationPos[(*a)->articulationIndex.getValue()]=APos;

				}
				(*ac)->DisplacementArticulationCenter=disp;

				out[child].getOrientation() = out[parent].getOrientation() + (*ac)->OrientationArticulationCenter;
				out[child].getCenter() =  (*ac)->globalPosition.getValue() - out[child].getOrientation().rotate((*ac)->posOnChild.getValue());
				out[child].getCenter() += (*ac)->DisplacementArticulationCenter;

				break;

			}

		}
	}

	//////////////////// buf the actual position of the articulations ////////////////////

	CoordinateBuf.clear();
	CoordinateBuf.resize(in.size());
	for (unsigned int c=0; c<in.size(); c++)
	{
		CoordinateBuf[c].x() = in[c].x();
	}


}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in, const typename InRoot::VecDeriv* inroot )
{

	//sout<<" \n ApplyJ ";
	OutVecCoord& xto = *this->toModel->getX();

	out.clear();
	out.resize(xto.size());

    // Copy the root position if a rigid root model is present
    if (inroot)
    {
		// sout << "Root Model Name = " << rootModel->getName() << sendl;
        out[0] = (*inroot)[inroot->size()-1];
    }
    else
		out[0] = OutDeriv();



	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = articulationCenters.begin();
	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acEnd = articulationCenters.end();

	int i = 0;

	for (; ac != acEnd; ac++)
	{
		int parent = (*ac)->parentIndex.getValue();
		int child = (*ac)->childIndex.getValue();

		out[child].getVOrientation() += out[parent].getVOrientation();
		Vec<3,OutReal> P = xto[parent].getCenter();
		Vec<3,OutReal> C = xto[child].getCenter();
		out[child].getVCenter() = out[parent].getVCenter() + cross(P-C, out[parent].getVOrientation());
		//sout<<"P:"<< P  <<"- C: "<< C;

		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*> articulations = (*ac)->getArticulations();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.begin();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator aEnd = articulations.end();

		for (; a != aEnd; a++)
		{
			int ind = (*a)->articulationIndex.getValue();
			InCoord value = in[ind];
			Vec<3,OutReal> axis = ArticulationAxis[ind];
			Vec<3,OutReal> A = ArticulationPos[ind];


			if ((*a)->rotation.getValue())
			{
				out[child].getVCenter() += cross(A-C, axis*value.x());
				out[child].getVOrientation() += axis*value.x();
			}
			if ((*a)->translation.getValue())
			{
				out[child].getVCenter() += axis*value.x();
			}
			i++;

		}
	}
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in, typename InRoot::VecDeriv* outroot )
{

	//sout<<"\n ApplyJt";
	OutVecCoord& xto = *this->toModel->getX();
//	InVecCoord &xfrom= *this->fromModel->getX();

	//apply(xto,xfrom);


	OutVecDeriv fObjects6DBuf = in;

	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = articulationCenters.end();
	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acBegin = articulationCenters.begin();

	int i=ArticulationAxis.size();
	while (ac != acBegin)
	{
		ac--;
		int parent = (*ac)->parentIndex.getValue();
		int child = (*ac)->childIndex.getValue();

		fObjects6DBuf[parent].getVCenter() += fObjects6DBuf[child].getVCenter();
		Vec<3,OutReal> P = xto[parent].getCenter();
		Vec<3,OutReal> C = xto[child].getCenter();
		fObjects6DBuf[parent].getVOrientation() += fObjects6DBuf[child].getVOrientation() + cross(C-P,  fObjects6DBuf[child].getVCenter());


		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*> articulations = (*ac)->getArticulations();

		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.end();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator aBegin = articulations.begin();

		while (a != aBegin)
		{
			a--;
			i--;
			int ind = (*a)->articulationIndex.getValue();
			Vec<3,OutReal> axis = ArticulationAxis[ind];
			Vec<3,Real> A = ArticulationPos[ind] ;
			OutDeriv T;
			T.getVCenter() = fObjects6DBuf[child].getVCenter();
			T.getVOrientation() = fObjects6DBuf[child].getVOrientation() + cross(C-A, fObjects6DBuf[child].getVCenter());



			if ((*a)->rotation.getValue())
			{
				out[ind].x() += (Real)dot(axis, T.getVOrientation());
			}
			if ((*a)->translation.getValue())
			{
				out[ind].x() += (Real)dot(axis, T.getVCenter());
			}
		}
	}

	if (outroot)
	{
		(*outroot)[outroot->size()-1] += fObjects6DBuf[0];
	}
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in, typename InRoot::VecConst* outRoot )
{
//	sout << "ApplyJT const  - size in = " << in.size() << sendl;

	OutVecCoord& xto = *this->toModel->getX();

	out.resize(in.size());
	unsigned int sizeOutRoot =0;

	if (rootModel!=NULL)
	{
		sizeOutRoot = outRoot->size();
		outRoot->resize(in.size() + sizeOutRoot); // the constraints are all transmitted to the root
	}


	for(unsigned int i=0; i<in.size(); i++)
	{
                OutConstraintIterator itOut;
                for (itOut=in[i].getData().begin();itOut!=in[i].getData().end();itOut++)
		{
			int childIndex = itOut->first;
			const OutDeriv valueConst = (OutDeriv) itOut->second;
			Vec<3,OutReal> C = xto[childIndex].getCenter();
			vector<ArticulatedHierarchyContainer::ArticulationCenter*> ACList = ahc->getAcendantList(childIndex);

			vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = ACList.begin();
			vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acEnd = ACList.end();


			int ii=0;

			for (; ac != acEnd; ac++)
			{

				vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*> articulations = (*ac)->getArticulations();
				vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.begin();
				vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator aEnd = articulations.end();


				for (; a != aEnd; a++)
					{
					int ind=	(*a)->articulationIndex.getValue();
					InDeriv data;

					Vec<3,OutReal> axis = ArticulationAxis[ind]; // xto[parent].getOrientation().rotate((*a)->axis.getValue());
					Vec<3,Real> A = ArticulationPos[ind] ; // Vec<3,OutReal> posAc = (*ac)->globalPosition.getValue();
					OutDeriv T;
					T.getVCenter() = valueConst.getVCenter();
					T.getVOrientation() = valueConst.getVOrientation() + cross(C - A, valueConst.getVCenter());



					if ((*a)->rotation.getValue())
					{
						data = (Real)dot(axis, T.getVOrientation());
					}
					if ((*a)->translation.getValue())
					{
						data = (Real)dot(axis, T.getVCenter());
						//printf("\n weightedNormalArticulation : %f", constArt.data);
					}
					out[i].insert(ind,data);
					ii++;
				}
			}

			if (rootModel!=NULL)
			{
				unsigned int indexT = rootModel->getSize()-1; // On applique sur le dernier noeud
				Vec<3,OutReal> posRoot = xto[indexT].getCenter();
				OutDeriv T;
				T.getVCenter() = valueConst.getVCenter();
				T.getVOrientation() = valueConst.getVOrientation() + cross(C - posRoot, valueConst.getVCenter());

				(*outRoot)[sizeOutRoot+i].insert(indexT,T);
				//sout<< "constraintT = data : "<< T << "index : "<< indexT<<sendl;
				//(*outRoot)[i].push_back(constraintT);
			//	sout<< "constraintT = data : "<< T << "index : "<< indexT<<sendl;
			}
		}
	}

//	sout<<"End ApplyJT const"<<sendl;

}


template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::propagateX()
{
	if (this->fromModel!=NULL && this->toModel->getX()!=NULL && this->fromModel->getX()!=NULL)
		apply(*this->toModel->getX(), *this->fromModel->getX(), (rootModel==NULL ? NULL : rootModel->getX()));
}

template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::propagateXfree()
{
	if (this->fromModel!=NULL && this->toModel->getXfree()!=NULL && this->fromModel->getXfree()!=NULL)
		apply(*this->toModel->getXfree(), *this->fromModel->getXfree(), (rootModel==NULL ? NULL : rootModel->getXfree()));
}


template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::propagateV()
{
	if (this->fromModel!=NULL && this->toModel->getV()!=NULL && this->fromModel->getV()!=NULL)
		applyJ(*this->toModel->getV(), *this->fromModel->getV(), (rootModel==NULL ? NULL : rootModel->getV()));
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::propagateDx()
{
	if (this->fromModel!=NULL && this->toModel->getDx()!=NULL && this->fromModel->getDx()!=NULL)
		applyJ(*this->toModel->getDx(), *this->fromModel->getDx(), (rootModel==NULL ? NULL : rootModel->getDx()));
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::accumulateForce()
{
	if (this->fromModel!=NULL && this->toModel->getF()!=NULL && this->fromModel->getF()!=NULL)
		applyJT(*this->fromModel->getF(), *this->toModel->getF(), (rootModel==NULL ? NULL : rootModel->getF()));
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::accumulateDf()
{
	if (this->fromModel!=NULL && this->toModel->getF()!=NULL && this->fromModel->getF()!=NULL)
		applyJT(*this->fromModel->getF(), *this->toModel->getF(), (rootModel==NULL ? NULL : rootModel->getF()));
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::accumulateConstraint()
{
	if (this->fromModel!=NULL && this->toModel->getC()!=NULL && this->fromModel->getC()!=NULL)
	{
		applyJT(*this->fromModel->getC(), *this->toModel->getC(), (rootModel==NULL ? NULL : rootModel->getC()));

		// Accumulate contacts indices through the MechanicalMapping
		std::vector<unsigned int>::iterator it = this->toModel->getConstraintId().begin();
		std::vector<unsigned int>::iterator itEnd = this->toModel->getConstraintId().end();

		while (it != itEnd)
		{
			this->fromModel->setConstraintId(*it);
			// in case of a "multi-mapping" (the articulation system is placede on a  simulated object)
			// the constraints are transmitted to the rootModle (the <rigidtype> object which is the root of the articulated system)
			if (rootModel!=NULL)
				rootModel->setConstraintId(*it);
			it++;
		}
	}
}



template <class BasicMapping>
void ArticulatedSystemMapping<BasicMapping>::draw()
{

	if (!this->getShow()) return;
	std::vector< Vector3 > points;
	std::vector< Vector3 > pointsLine;

	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator ac = articulationCenters.begin();
	vector<ArticulatedHierarchyContainer::ArticulationCenter*>::const_iterator acEnd = articulationCenters.end();
	unsigned int i=0;
	for (; ac != acEnd; ac++)
	{
//		int parent = (*ac)->parentIndex.getValue();
//		int child = (*ac)->childIndex.getValue();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*> articulations = (*ac)->getArticulations();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator a = articulations.begin();
		vector<ArticulatedHierarchyContainer::ArticulationCenter::Articulation*>::const_iterator aEnd = articulations.end();
		for (; a != aEnd; a++)
		{

			// Articulation Pos and Axis are based on the configuration of the parent
			int ind= (*a)->articulationIndex.getValue();
			points.push_back(ArticulationPos[ind]);

			pointsLine.push_back(ArticulationPos[ind]);
			Vec<3,OutReal> Pos_axis = ArticulationPos[ind] + ArticulationAxis[ind];
			pointsLine.push_back(Pos_axis);

			i++;
		}
	}

	simulation::getSimulation()->DrawUtility.drawPoints(points, 10, Vec<4,float>(1,0.5,0.5,1));
	simulation::getSimulation()->DrawUtility.drawLines(pointsLine, 1, Vec<4,float>(0,0,1,1));





	//
	//OutVecCoord& xto = *this->toModel->getX();
	//glDisable (GL_LIGHTING);
	//glPointSize(2);
}

} // namespace mapping

} // namespace component

} // namespace sofa

#endif