Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
SurgSim::Physics::FemRepresentation Class Referenceabstract

Finite Element Model (a.k.a. More...

#include <SurgSim/Physics/FemRepresentation.h>

Inheritance diagram for SurgSim::Physics::FemRepresentation:
SurgSim::Physics::DeformableRepresentation SurgSim::Physics::Representation SurgSim::Math::OdeEquation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible SurgSim::Physics::Fem1DRepresentation SurgSim::Physics::Fem2DRepresentation SurgSim::Physics::Fem3DRepresentation SurgSim::Physics::DivisbleCubeRepresentation SurgSim::Physics::TruthCubeRepresentation

Public Member Functions

 FemRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~FemRepresentation ()
 Destructor. More...
 
void setFilename (const std::string &filename)
 Sets the name of the file to be loaded. More...
 
const std::stringgetFilename () const
 Gets the name of the file to be loaded. More...
 
bool loadFile ()
 Loads the file. More...
 
void addFemElement (const std::shared_ptr< FemElement > element)
 Adds a FemElement. More...
 
size_t getNumFemElements () const
 Gets the number of FemElement. More...
 
std::shared_ptr< FemElementgetFemElement (size_t femElementId)
 Retrieves a given FemElement from its id. More...
 
double getTotalMass () const
 Gets the total mass of the fem. More...
 
double getRayleighDampingStiffness () const
 Gets the Rayleigh stiffness parameter. More...
 
double getRayleighDampingMass () const
 Gets the Rayleigh mass parameter. More...
 
void setRayleighDampingStiffness (double stiffnessCoef)
 Sets the Rayleigh stiffness parameter. More...
 
void setRayleighDampingMass (double massCoef)
 Sets the Rayleigh mass parameter. More...
 
bool isValidCoordinate (const SurgSim::DataStructures::IndexedLocalCoordinate &coordinate) const
 Determines whether the associated coordinate is valid. More...
 
virtual void beforeUpdate (double dt) override
 Preprocessing done before the update call. More...
 
virtual void afterUpdate (double dt) override
 Postprocessing done after the update call. More...
 
virtual SurgSim::Math::VectorcomputeF (const SurgSim::Math::OdeState &state) override
 Evaluation of the RHS function f(x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeM (const SurgSim::Math::OdeState &state) override
 Evaluation of the LHS matrix M(x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeD (const SurgSim::Math::OdeState &state) override
 Evaluation of D = -df/dv (x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeK (const SurgSim::Math::OdeState &state) override
 Evaluation of K = -df/dx (x,v) for a given state. More...
 
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, this method can perform optimization in evaluating everything together. More...
 
- Public Member Functions inherited from SurgSim::Physics::DeformableRepresentation
 DeformableRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~DeformableRepresentation ()
 Destructor. More...
 
virtual void resetState () override
 Reset the representation to its initial/default state. More...
 
virtual void setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState)
 
virtual const std::shared_ptr< SurgSim::Math::OdeStategetCurrentState () const
 
virtual const std::shared_ptr< SurgSim::Math::OdeStategetPreviousState () const
 
virtual const std::shared_ptr< SurgSim::Math::OdeStategetFinalState () const
 
size_t getNumDofPerNode () const
 Gets the number of degrees of freedom per node. More...
 
void setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme)
 Sets the numerical integration scheme. More...
 
SurgSim::Math::IntegrationScheme getIntegrationScheme () const
 Gets the numerical integration scheme. More...
 
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())=0
 Add an external generalized force applied on a specific localization. More...
 
const SurgSim::Math::VectorgetExternalGeneralizedForce () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedStiffness () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedDamping () const
 
const SurgSim::Math::MatrixgetComplianceMatrix () const
 Gets the compliance matrix associated with motion. More...
 
virtual void update (double dt) override
 Update the representation state to the current time step. More...
 
virtual void applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
 Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
 
void deactivateAndReset (void)
 Deactivate and call resetState. More...
 
virtual void setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
 Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
 
- Public Member Functions inherited from SurgSim::Physics::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual RepresentationType getType () const =0
 Query the representation type. More...
 
virtual void resetParameters ()
 Reset the representation parameters to their initial/default values. More...
 
size_t getNumDof () const
 Query the object number of degrees of freedom. More...
 
void setIsGravityEnabled (bool isGravityEnabled)
 Set the gravity enable flag. More...
 
bool isGravityEnabled () const
 Get the gravity enable flag. More...
 
void setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
 Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
 
bool isDrivingSceneElementPose ()
 Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
 
virtual std::shared_ptr< LocalizationcreateLocalization (const SurgSim::DataStructures::Location &location)
 Computes a localized coordinate w.r.t this representation, given a Location object. More...
 
std::shared_ptr< SurgSim::Collision::RepresentationgetCollisionRepresentation () const
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const SceneElementgetSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
virtual void setLocalActive (bool val)
 Set the component's active state. More...
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 
- Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual ~OdeEquation ()
 Virtual destructor. More...
 
const std::shared_ptr< OdeStategetInitialState () const
 Retrieves the ode initial conditions (x0, v0) (i.e. More...
 

Protected Member Functions

void addRayleighDampingForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalMassMatrix=false, bool useGlobalStiffnessMatrix=false, double scale=1.0)
 Adds the Rayleigh damping forces. More...
 
void addFemElementsForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Adds the FemElements forces to f (given a state) More...
 
void addGravityForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Adds the gravity force to f (given a state) More...
 
virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
- Protected Member Functions inherited from SurgSim::Physics::DeformableRepresentation
virtual bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 
virtual void transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)=0
 Transform a state using a given transformation. More...
 
- Protected Member Functions inherited from SurgSim::Physics::Representation
void setNumDof (size_t numDof)
 Set the number of degrees of freedom. More...
 
const SurgSim::Math::Vector3dgetGravity () const
 Get the gravity used by this Representation. More...
 
void driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
 This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 

Protected Attributes

std::vector< double > m_massPerNode
 Useful information per node. More...
 
std::string m_filename
 Filename for loading the fem representation. More...
 
- Protected Attributes inherited from SurgSim::Physics::DeformableRepresentation
std::shared_ptr< SurgSim::Math::OdeStatem_previousState
 The previous state inside the calculation loop, this has no meaning outside of the loop. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_currentState
 The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_newState
 New state is a temporary variable to store the newly computed state. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_finalState
 Last valid state (a.k.a final state) More...
 
SurgSim::Math::Vector m_f
 Force applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_M
 Mass matrix. More...
 
SurgSim::Math::Matrix m_D
 Damping matrix. More...
 
SurgSim::Math::Matrix m_K
 Stiffness matrix. More...
 
size_t m_numDofPerNode
 Number of degrees of freedom per node (varies per deformable model) More...
 
SurgSim::Math::IntegrationScheme m_integrationScheme
 Numerical Integration scheme (dynamic explicit/implicit solver) More...
 
bool m_needToReloadOdeSolver
 Specify if the Ode Solver needs to be (re)loaded (do not exist yet, or integration scheme has changed) More...
 
std::shared_ptr< SurgSim::Math::OdeSolverm_odeSolver
 Ode solver (its type depends on the numerical integration scheme) More...
 
SurgSim::Math::Vector m_externalGeneralizedForce
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedStiffness
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedDamping
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
- Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representationm_collisionRepresentation
 This entity's collision representation, these are usually very specific to the physics representation. More...
 
- Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeStatem_initialState
 The initial state (which defines the ODE initial conditions (x0, v0)) More...
 

Private Member Functions

virtual std::shared_ptr< FemPlyReaderDelegategetDelegate ()=0
 To be implemented by derived classes. More...
 

Private Attributes

std::vector< std::shared_ptr< FemElement > > m_femElements
 FemElements. More...
 
struct {
   double   massCoefficient
 
   double   stiffnessCoefficient
 
m_rayleighDamping
 Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::stringFactoryType
 
- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function< YAML::Node(void)> EncoderType
 
typedef std::function< void(const YAML::Node *)> DecoderType
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 

Detailed Description

Finite Element Model (a.k.a.

fem) is a deformable model (a set of nodes connected by FemElement).

Note
A fem is a DeformableRepresentation (Physics::Representation and Math::OdeEquation)
Therefore, it defines a dynamic system M.a=F(x,v)
The model handles damping through the Rayleigh damping (where damping is a combination of mass and stiffness)

Constructor & Destructor Documentation

SurgSim::Physics::FemRepresentation::FemRepresentation ( const std::string name)
explicit

Constructor.

Parameters
nameThe name of the FemRepresentation
SurgSim::Physics::FemRepresentation::~FemRepresentation ( )
virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::FemRepresentation::addFemElement ( const std::shared_ptr< FemElement element)

Adds a FemElement.

Parameters
elementThe FemElement to add to the representation
void SurgSim::Physics::FemRepresentation::addFemElementsForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
double  scale = 1.0 
)
protected

Adds the FemElements forces to f (given a state)

Parameters
[in,out]fThe force vector to cumulate the FemElements forces into
stateThe state vector containing positions and velocities
scaleA scaling factor to scale the FemElements forces with
void SurgSim::Physics::FemRepresentation::addGravityForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
double  scale = 1.0 
)
protected

Adds the gravity force to f (given a state)

Parameters
[in,out]fThe force vector to cumulate the gravity force into
stateThe state vector containing positions and velocities
scaleA scaling factor to scale the gravity force with
Note
This method does not do anything if gravity is disabled
void SurgSim::Physics::FemRepresentation::addRayleighDampingForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
bool  useGlobalMassMatrix = false,
bool  useGlobalStiffnessMatrix = false,
double  scale = 1.0 
)
protected

Adds the Rayleigh damping forces.

Parameters
[in,out]fThe force vector to cumulate the Rayleigh damping force into
stateThe state vector containing positions and velocities
useGlobalMassMatrix,useGlobalStiffnessMatrixTrue indicates that the global mass and stiffness matrices should be used (F = -c.M.v - d.K.v)
scaleA scaling factor to apply on the damping force
Note
Damping matrix D = c.M + d.K (Rayleigh damping definition)
F = - D.v = -c.M.v - d.K.v
If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is True, {M | K} will be used
If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is False
the {mass|stiffness} component will be computed FemElement by FemElement
void SurgSim::Physics::FemRepresentation::afterUpdate ( double  dt)
overridevirtual

Postprocessing done after the update call.

Parameters
dtThe time step (in seconds)
Note
This method will update all FemElement with the final state
and potentially deactivate/reset the representation if necessary.

Reimplemented from SurgSim::Physics::DeformableRepresentation.

void SurgSim::Physics::FemRepresentation::beforeUpdate ( double  dt)
overridevirtual

Preprocessing done before the update call.

Parameters
dtThe time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeD ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of D = -df/dv (x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the Jacobian matrix with
Returns
The matrix D = -df/dv(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeD() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

SurgSim::Math::Vector & SurgSim::Physics::FemRepresentation::computeF ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of the RHS function f(x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the function f(x,v) with
Returns
The vector containing f(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeF() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

void SurgSim::Physics::FemRepresentation::computeFMDK ( const SurgSim::Math::OdeState state,
SurgSim::Math::Vector **  f,
SurgSim::Math::Matrix **  M,
SurgSim::Math::Matrix **  D,
SurgSim::Math::Matrix **  K 
)
overridevirtual

Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together.

Parameters
state(x, v) the current position and velocity to evaluate the various terms with
[out]fThe RHS f(x,v)
[out]MThe matrix M(x,v)
[out]DThe matrix D = -df/dv(x,v)
[out]KThe matrix K = -df/dx(x,v)
Note
Returns pointers, the internal data will remain unchanged until the next call to computeFMDK() or
computeF(), computeM(), computeD(), computeK()

Implements SurgSim::Math::OdeEquation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeK ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of K = -df/dx (x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the Jacobian matrix with
Returns
The matrix K = -df/dx(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeK() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeM ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of the LHS matrix M(x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the matrix M(x,v) with
Returns
The matrix M(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeM() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

bool SurgSim::Physics::FemRepresentation::doInitialize ( )
overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns
True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

virtual std::shared_ptr<FemPlyReaderDelegate> SurgSim::Physics::FemRepresentation::getDelegate ( )
privatepure virtual

To be implemented by derived classes.

Returns
The delegate to load the corresponding derived class.

Implemented in SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem1DRepresentation, and SurgSim::Physics::Fem2DRepresentation.

std::shared_ptr< FemElement > SurgSim::Physics::FemRepresentation::getFemElement ( size_t  femElementId)

Retrieves a given FemElement from its id.

Parameters
femElementIdThe FemElement id for which the FemElement is requested
Returns
The FemElement for the given femElementId
Note
The FemElement is returned with read/write access
Out of range femElementId will raise an exception
const std::string & SurgSim::Physics::FemRepresentation::getFilename ( ) const

Gets the name of the file to be loaded.

Returns
filename The name of the file to be loaded
size_t SurgSim::Physics::FemRepresentation::getNumFemElements ( ) const

Gets the number of FemElement.

Returns
the number of FemElement
double SurgSim::Physics::FemRepresentation::getRayleighDampingMass ( ) const

Gets the Rayleigh mass parameter.

Returns
The Rayleigh mass parameter
double SurgSim::Physics::FemRepresentation::getRayleighDampingStiffness ( ) const

Gets the Rayleigh stiffness parameter.

Returns
The Rayleigh stiffness parameter
double SurgSim::Physics::FemRepresentation::getTotalMass ( ) const

Gets the total mass of the fem.

Returns
The total mass of the fem (in Kg)
bool SurgSim::Physics::FemRepresentation::isValidCoordinate ( const SurgSim::DataStructures::IndexedLocalCoordinate coordinate) const

Determines whether the associated coordinate is valid.

Parameters
coordinateCoordinate to check
Returns
True if coordinate is valid
bool SurgSim::Physics::FemRepresentation::loadFile ( )

Loads the file.

Returns
true if successful
void SurgSim::Physics::FemRepresentation::setFilename ( const std::string filename)

Sets the name of the file to be loaded.

Parameters
filenameThe name of the file to be loaded
void SurgSim::Physics::FemRepresentation::setRayleighDampingMass ( double  massCoef)

Sets the Rayleigh mass parameter.

Parameters
massCoefThe Rayleigh mass parameter
void SurgSim::Physics::FemRepresentation::setRayleighDampingStiffness ( double  stiffnessCoef)

Sets the Rayleigh stiffness parameter.

Parameters
stiffnessCoefThe Rayleigh stiffness parameter

Member Data Documentation

std::vector<std::shared_ptr<FemElement> > SurgSim::Physics::FemRepresentation::m_femElements
private

FemElements.

std::string SurgSim::Physics::FemRepresentation::m_filename
protected

Filename for loading the fem representation.

std::vector<double> SurgSim::Physics::FemRepresentation::m_massPerNode
protected

Useful information per node.

struct { ... } SurgSim::Physics::FemRepresentation::m_rayleighDamping

Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness.

double SurgSim::Physics::FemRepresentation::massCoefficient
double SurgSim::Physics::FemRepresentation::stiffnessCoefficient

The documentation for this class was generated from the following files: