/usr/include/sofa/component/mapping/IdentityMapping.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_H
#define SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <sofa/component/component.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class IdentityMapping : public BasicMapping
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename In::DataTypes InDataTypes;
typedef typename InDataTypes::Real Real;
typedef typename InDataTypes::VecCoord InVecCoord;
typedef typename InDataTypes::VecDeriv InVecDeriv;
typedef typename InDataTypes::Coord InCoord;
typedef typename InDataTypes::Deriv InDeriv;
typedef typename Out::VecCoord VecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename Out::DataTypes OutDataTypes;
typedef typename OutDataTypes::Real OutReal;
typedef typename OutDataTypes::VecCoord OutVecCoord;
typedef typename OutDataTypes::VecDeriv OutVecDeriv;
//enum { N=((int)Deriv::static_size < (int)InDeriv::static_size ? (int)Deriv::static_size : (int)InDeriv::static_size) };
IdentityMapping(In* from, Out* to)
: Inherit(from, to)
{
}
virtual ~IdentityMapping()
{
}
/// Return true if the destination model has the same topology as the source model.
///
/// This is the case for mapping keeping a one-to-one correspondance between
/// input and output DOFs (mostly identity or data-conversion mappings).
virtual bool sameTopology() const { return true; }
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
};
using core::Mapping;
using core::componentmodel::behavior::MechanicalMapping;
using core::componentmodel::behavior::MappedModel;
using core::componentmodel::behavior::State;
using core::componentmodel::behavior::MechanicalState;
using sofa::defaulttype::Vec1dTypes;
using sofa::defaulttype::Vec2dTypes;
using sofa::defaulttype::Vec3dTypes;
using sofa::defaulttype::Vec6dTypes;
using sofa::defaulttype::Vec1fTypes;
using sofa::defaulttype::Vec2fTypes;
using sofa::defaulttype::Vec3fTypes;
using sofa::defaulttype::Vec6fTypes;
using sofa::defaulttype::ExtVec1fTypes;
using sofa::defaulttype::ExtVec2fTypes;
using sofa::defaulttype::ExtVec3fTypes;
using sofa::defaulttype::Rigid2dTypes;
using sofa::defaulttype::Rigid3dTypes;
using sofa::defaulttype::Rigid2fTypes;
using sofa::defaulttype::Rigid3fTypes;
#if defined(WIN32) && !defined(SOFA_COMPONENT_MAPPING_IDENTITYMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec2dTypes>, MechanicalState<Vec2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec1dTypes>, MechanicalState<Vec1dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec6dTypes>, MechanicalState<Vec6dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3dTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid2dTypes>, MechanicalState<Rigid2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2dTypes>, MappedModel<Rigid2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid2dTypes>, MechanicalState<Vec2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2dTypes>, MappedModel<Vec2dTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec2fTypes>, MechanicalState<Vec2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec1fTypes>, MechanicalState<Vec1fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec6fTypes>, MechanicalState<Vec6fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3fTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid2fTypes>, MechanicalState<Rigid2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2fTypes>, MappedModel<Rigid2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid2fTypes>, MechanicalState<Vec2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2fTypes>, MappedModel<Vec2fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec2dTypes>, MechanicalState<Vec2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec2fTypes>, MechanicalState<Vec2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec1dTypes>, MechanicalState<Vec1fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec1fTypes>, MechanicalState<Vec1dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec6dTypes>, MechanicalState<Vec6fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Vec6fTypes>, MechanicalState<Vec6dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2dTypes>, MappedModel<Rigid2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API IdentityMapping< Mapping< State<Rigid2fTypes>, MappedModel<Rigid2dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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