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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 :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CORE_MAPPING_H
#define SOFA_CORE_MAPPING_H
#include <sofa/core/BaseMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
namespace sofa
{
namespace core
{
/**
* \brief Specialized interface to convert a model of type TIn to an other model of type TOut
*
* This Interface is used for the Mappings. A Mapping can convert one model to an other.
* For example, we can have a mapping from a BehaviorModel to a VisualModel.
*
*/
template <class TIn, class TOut>
class Mapping : public BaseMapping
{
public:
/// Input Model Type
typedef TIn In;
/// Output Model Type
typedef TOut Out;
protected:
/// Input Model
In* fromModel;
/// Output Model
Out* toModel;
/// Name of the Input Model
Data< std::string > object1;
/// Name of the Output Model
Data< std::string > object2;
public:
/// Constructor, taking input and output models as parameters.
///
/// Note that if you do not specify these models here, you must called
/// setModels with non-NULL value before the intialization (i.e. before
/// init() is called).
Mapping(In* from=NULL, Out* to=NULL);
/// Destructor
virtual ~Mapping();
/// Specify the input and output models.
virtual void setModels(In* from, Out* to);
/// Set the path to the objects mapped in the scene graph by default object1="../.." and object2=".."
void setPathObject1(std::string &o){object1.setValue(o);}
void setPathObject2(std::string &o){object2.setValue(o);}
/// Return the pointer to the input model.
In* getFromModel();
/// Return the pointer to the output model.
Out* getToModel();
/// Return the pointer to the input model.
objectmodel::BaseObject* getFrom();
/// Return the pointer to the output model.
objectmodel::BaseObject* getTo();
/// Apply the mapping on position vectors.
///
/// If the Mapping can be represented as a matrix J, this method computes
/// $ out = J in $
///
/// This method must be reimplemented by all mappings.
virtual void apply( typename Out::VecCoord& out, const typename In::VecCoord& in ) = 0;
/// Apply the mapping on derived (velocity, displacement) vectors.
///
/// If the Mapping can be represented as a matrix J, this method computes
/// $ out = J in $
///
/// This method must be reimplemented by all mappings.
virtual void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in ) = 0;
virtual void init();
/// Apply the mapping to position and velocity vectors.
///
/// This method call the internal apply(Out::VecCoord&,const In::VecCoord&)
/// and applyJ(Out::VecDeriv&,const In::VecDeriv&) methods.
virtual void updateMapping();
/// Disable the mapping to get the original coordinates of the mapped model.
///
/// It is for instance used in RigidMapping to get the local coordinates of the object.
virtual void disable();
/// Pre-construction check method called by ObjectFactory.
///
/// This implementation read the object1 and object2 attributes and check
/// if they are compatible with the input and output model types of this
/// mapping.
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (arg->findObject(arg->getAttribute("object1","../..")) == NULL)
context->serr << "Cannot create "<<className(obj)<<" as object1 is missing."<<context->sendl;
if (arg->findObject(arg->getAttribute("object2","..")) == NULL)
context->serr << "Cannot create "<<className(obj)<<" as object2 is missing."<<context->sendl;
if (dynamic_cast<In*>(arg->findObject(arg->getAttribute("object1","../.."))) == NULL)
return false;
if (dynamic_cast<Out*>(arg->findObject(arg->getAttribute("object2",".."))) == NULL)
return false;
return BaseMapping::canCreate(obj, context, arg);
}
/// Construction method called by ObjectFactory.
///
/// This implementation read the object1 and object2 attributes to
/// find the input and output models of this mapping.
template<class T>
static void create(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
obj = new T(
(arg?dynamic_cast<In*>(arg->findObject(arg->getAttribute("object1","../.."))):NULL),
(arg?dynamic_cast<Out*>(arg->findObject(arg->getAttribute("object2",".."))):NULL));
if (context) context->addObject(obj);
if (arg)
{
if (arg->getAttribute("object1"))
{
obj->object1.setValue( arg->getAttribute("object1") );
arg->removeAttribute("object1");
}
if (arg->getAttribute("object2"))
{
obj->object2.setValue( arg->getAttribute("object2") );
arg->removeAttribute("object2");
}
obj->parse(arg);
}
}
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const Mapping<TIn, TOut>* = NULL)
{
//if (In::Name() == std::string("MechanicalState"))
// return std::string("MechanicalMapping<")+TIn::DataTypes::Name() + std::string(",") + TOut::DataTypes::Name() + std::string(">");
//else
return std::string("Mapping<")+TIn::DataTypes::Name() + std::string(",") + TOut::DataTypes::Name() + std::string(">");
}
protected:
/// If true, display the mapping
bool getShow() const { return this->getContext()->getShowMappings(); }
};
} // namespace core
} // namespace sofa
#endif
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