MassSpringRepresentation.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
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13 // See the License for the specific language governing permissions and
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15 
16 #ifndef SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H
17 #define SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Physics/Mass.h"
23 #include "SurgSim/Physics/Spring.h"
24 
25 #include "SurgSim/Math/Vector.h"
26 #include "SurgSim/Math/Matrix.h"
27 
28 namespace SurgSim
29 {
30 
31 namespace Physics
32 {
33 
39 {
40 public:
43  explicit MassSpringRepresentation(const std::string& name);
44 
46  virtual ~MassSpringRepresentation();
47 
52  void addMass(const std::shared_ptr<Mass> mass);
53 
56  void addSpring(const std::shared_ptr<Spring> spring);
57 
60  size_t getNumMasses() const;
61 
64  size_t getNumSprings() const;
65 
71  std::shared_ptr<Mass> getMass(size_t nodeId);
72 
78  std::shared_ptr<Spring> getSpring(size_t springId);
79 
82  double getTotalMass() const;
83 
86  double getRayleighDampingStiffness() const;
87 
90  double getRayleighDampingMass() const;
91 
94  void setRayleighDampingStiffness(double stiffnessCoef);
95 
98  void setRayleighDampingMass(double massCoef);
99 
100  void addExternalGeneralizedForce(std::shared_ptr<Localization> localization,
101  const SurgSim::Math::Vector& generalizedForce,
103  const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override;
104 
107  void beforeUpdate(double dt) override;
108 
109  std::shared_ptr<Localization> createLocalization(const SurgSim::DataStructures::Location& location) override;
110 
111 protected:
123  bool useGlobalStiffnessMatrix = false, bool useGlobalMassMatrix = false,
124  double scale = 1.0);
125 
130  void addSpringsForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0);
131 
137  void addGravityForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0);
138 
142  void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
143  const SurgSim::Math::RigidTransform3d& transform);
144 
145  bool doInitialize() override;
146 
147  void computeF(const SurgSim::Math::OdeState& state) override;
148 
149  void computeM(const SurgSim::Math::OdeState& state) override;
150 
151  void computeD(const SurgSim::Math::OdeState& state) override;
152 
153  void computeK(const SurgSim::Math::OdeState& state) override;
154 
155  void computeFMDK(const SurgSim::Math::OdeState& state) override;
156 
157 private:
159  std::vector<std::shared_ptr<Mass>> m_masses;
160 
162  std::vector<std::shared_ptr<Spring>> m_springs;
163 
167  struct
168  {
172 };
173 
174 } // namespace Physics
175 
176 } // namespace SurgSim
177 
178 #endif // SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H
SurgSim::Physics::MassSpringRepresentation::createLocalization
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
SurgSim::Physics::DeformableRepresentation
Base class for all deformable representations MassSprings, Finite Element Models,....
Definition: DeformableRepresentation.h:53
SurgSim::Physics::MassSpringRepresentation::getMass
std::shared_ptr< Mass > getMass(size_t nodeId)
Retrieves the mass of a given node.
Definition: MassSpringRepresentation.cpp:116
SurgSim::Physics::MassSpringRepresentation::setRayleighDampingMass
void setRayleighDampingMass(double massCoef)
Sets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:153
SurgSim::Physics::MassSpringRepresentation::doInitialize
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: MassSpringRepresentation.cpp:50
Vector.h
Definitions of small fixed-size vector types.
SurgSim::Math::OdeState
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:39
SurgSim::Physics::MassSpringRepresentation::massCoefficient
double massCoefficient
Definition: MassSpringRepresentation.h:169
SurgSim::Physics::MassSpringRepresentation::addSpringsForce
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
SurgSim::Physics::MassSpringRepresentation
MassSpring model is a deformable model (a set of masses connected by springs).
Definition: MassSpringRepresentation.h:39
SurgSim::Physics::MassSpringRepresentation::m_springs
std::vector< std::shared_ptr< Spring > > m_springs
Springs.
Definition: MassSpringRepresentation.h:162
SurgSim::Physics::MassSpringRepresentation::getRayleighDampingStiffness
double getRayleighDampingStiffness() const
Gets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:138
SurgSim::Physics::MassSpringRepresentation::getTotalMass
double getTotalMass() const
Gets the total mass of the mass spring.
Definition: MassSpringRepresentation.cpp:128
SurgSim::Math::RigidTransform3d
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SurgSim::Physics::MassSpringRepresentation::setRayleighDampingStiffness
void setRayleighDampingStiffness(double stiffnessCoef)
Sets the Rayleigh stiffness parameter.
Definition: MassSpringRepresentation.cpp:148
Matrix.h
Definitions of small fixed-size square matrix types.
SurgSim::Physics::MassSpringRepresentation::MassSpringRepresentation
MassSpringRepresentation(const std::string &name)
Constructor.
Definition: MassSpringRepresentation.cpp:35
SurgSim::Physics::MassSpringRepresentation::beforeUpdate
void beforeUpdate(double dt) override
Preprocessing done before the update call.
Definition: MassSpringRepresentation.cpp:182
SurgSim::Physics::MassSpringRepresentation::computeM
void computeM(const SurgSim::Math::OdeState &state) override
Evaluation of the LHS matrix for a given state.
Definition: MassSpringRepresentation.cpp:217
SurgSim::Physics::MassSpringRepresentation::addMass
void addMass(const std::shared_ptr< Mass > mass)
Adds a mass.
Definition: MassSpringRepresentation.cpp:96
SurgSim::Physics::MassSpringRepresentation::computeF
void computeF(const SurgSim::Math::OdeState &state) override
Evaluation of the RHS function for a given state.
Definition: MassSpringRepresentation.cpp:201
SurgSim::Physics::MassSpringRepresentation::computeK
void computeK(const SurgSim::Math::OdeState &state) override
Evaluation of for a given state.
Definition: MassSpringRepresentation.cpp:278
SurgSim::Physics::MassSpringRepresentation::m_masses
std::vector< std::shared_ptr< Mass > > m_masses
Masses.
Definition: MassSpringRepresentation.h:159
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Physics::MassSpringRepresentation::m_rayleighDamping
struct SurgSim::Physics::MassSpringRepresentation::@4 m_rayleighDamping
Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient....
SurgSim::Physics::MassSpringRepresentation::getNumMasses
size_t getNumMasses() const
Gets the number of masses.
Definition: MassSpringRepresentation.cpp:106
SurgSim::Physics::MassSpringRepresentation::computeD
void computeD(const SurgSim::Math::OdeState &state) override
Evaluation of for a given state.
Definition: MassSpringRepresentation.cpp:233
Mass.h
SurgSim::Physics::MassSpringRepresentation::~MassSpringRepresentation
virtual ~MassSpringRepresentation()
Destructor.
Definition: MassSpringRepresentation.cpp:46
SurgSim::Physics::MassSpringRepresentation::addSpring
void addSpring(const std::shared_ptr< Spring > spring)
Adds a spring.
Definition: MassSpringRepresentation.cpp:101
SurgSim::Physics::MassSpringRepresentation::getRayleighDampingMass
double getRayleighDampingMass() const
Gets the Rayleigh mass parameter.
Definition: MassSpringRepresentation.cpp:143
SurgSim::Physics::MassSpringRepresentation::addGravityForce
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
SurgSim::Physics::MassSpringRepresentation::stiffnessCoefficient
double stiffnessCoefficient
Definition: MassSpringRepresentation.h:170
SurgSim::DataStructures::Location
A Location defines a local position w.r.t.
Definition: Location.h:40
SurgSim::Physics::MassSpringRepresentation::transformState
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
DeformableRepresentation.h
Base class for all deformable representations (abstract class)
SurgSim::Math::Vector
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
SurgSim::Physics::MassSpringRepresentation::computeFMDK
void computeFMDK(const SurgSim::Math::OdeState &state) override
Evaluation of , , and .
Definition: MassSpringRepresentation.cpp:295
SurgSim::Physics::MassSpringRepresentation::addRayleighDampingForce
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
SurgSim::Physics::MassSpringRepresentation::getNumSprings
size_t getNumSprings() const
Gets the number of springs.
Definition: MassSpringRepresentation.cpp:111
SurgSim::Physics::MassSpringRepresentation::getSpring
std::shared_ptr< Spring > getSpring(size_t springId)
Retrieves a given spring from its id.
Definition: MassSpringRepresentation.cpp:122
string
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
SurgSim::Physics::MassSpringRepresentation::addExternalGeneralizedForce
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
SurgSim::Math::Matrix
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
Spring.h