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34 changes: 18 additions & 16 deletions src/SoftRobots/component/behavior/SoftRobotsConstraint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,12 +71,7 @@ class SoftRobotsConstraint : public softrobots::behavior::SoftRobotsBaseConstrai
///< if false, the constraint does nothing
virtual bool isActive() const;

/// Construct the constraint violations vector of each constraint
///
/// \param resV is the result vector that contains the whole constraint violations
/// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
void getConstraintViolation(const sofa::core::ConstraintParams* cParams,
BaseVector *resV) override;


/// Construct the constraint violations vector of each constraint
///
Expand All @@ -90,16 +85,6 @@ class SoftRobotsConstraint : public softrobots::behavior::SoftRobotsBaseConstrai
BaseVector *resV,
const BaseVector *Jdx) = 0;

/// Construct the Jacobian Matrix
///
/// \param cId is the result constraint sparse matrix Id
/// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
/// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
///
/// Warning: is constraint matrix is built with the current position. Free configuration available in cParams
void buildConstraintMatrix(const sofa::core::ConstraintParams* cParams,
sofa::core::MultiMatrixDerivId cId,
unsigned int &cIndex) override;

/// Construct the Jacobian Matrix
///
Expand All @@ -126,6 +111,23 @@ class SoftRobotsConstraint : public softrobots::behavior::SoftRobotsBaseConstrai

sofa::core::behavior::MechanicalState<DataTypes> *m_state { nullptr }; ///< Associated mechanical state

/// Construct the constraint violations vector of each constraint
///
/// \param resV is the result vector that contains the whole constraint violations
/// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
void doGetConstraintViolation(const sofa::core::ConstraintParams* cParams,
BaseVector *resV) override;

/// Construct the Jacobian Matrix
///
/// \param cId is the result constraint sparse matrix Id
/// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
/// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
///
/// Warning: is constraint matrix is built with the current position. Free configuration available in cParams
void doBuildConstraintMatrix(const sofa::core::ConstraintParams* cParams,
sofa::core::MultiMatrixDerivId cId,
unsigned int &cIndex) override;
private:
void storeLambda(const sofa::core::ConstraintParams* cParams, sofa::Data<VecDeriv>& resId, const sofa::Data<MatrixDeriv>& jacobian, const sofa::linearalgebra::BaseVector* lambda);
};
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4 changes: 2 additions & 2 deletions src/SoftRobots/component/behavior/SoftRobotsConstraint.inl
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Expand Up @@ -76,7 +76,7 @@ void SoftRobotsConstraint<DataTypes>::init()


template<class DataTypes>
void SoftRobotsConstraint<DataTypes>::getConstraintViolation(const sofa::core::ConstraintParams* cParams,
void SoftRobotsConstraint<DataTypes>::doGetConstraintViolation(const sofa::core::ConstraintParams* cParams,
BaseVector *resV)
{
if (cParams)
Expand Down Expand Up @@ -107,7 +107,7 @@ void SoftRobotsConstraint<DataTypes>::getConstraintViolation(const sofa::core::C


template<class DataTypes>
void SoftRobotsConstraint<DataTypes>::buildConstraintMatrix(const sofa::core::ConstraintParams* cParams,
void SoftRobotsConstraint<DataTypes>::doBuildConstraintMatrix(const sofa::core::ConstraintParams* cParams,
sofa::core::MultiMatrixDerivId cId,
unsigned int &cIndex)
{
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