IMP Reference Guide
develop.63b38c487d,2024/12/24
The Integrative Modeling Platform
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Define and manipulate a kinematic structure over a model. More...
#include <IMP/kinematics/KinematicForest.h>
Define and manipulate a kinematic structure over a model.
The kinematic structure is defined as a forest over model particles at a certain hierarchy, such that a directed edge indicates the propagation of changes in internal coordinates (joint values) to values of external (Cartesian) coordinates.
Definition at line 39 of file KinematicForest.h.
Public Member Functions | |
KinematicForest (Model *m) | |
KinematicForest (Model *m, IMP::atom::Hierarchy hierarchy) | |
Joint * | add_edge (IMP::core::RigidBody parent, IMP::core::RigidBody child) |
void | add_edge (Joint *joint) |
void | add_rigid_bodies_in_chain (IMP::core::RigidBodies rbs) |
void | apply_transform_safely (IMP::algebra::Transformation3D tr) |
apply a rigid body transformation to the entire forest safely More... | |
IMP::algebra::Vector3D | get_coordinates_safe (IMP::core::RigidBody rb) const |
bool | get_is_member (IMP::core::RigidBody rb) const |
Joints | get_ordered_joints () const |
return joints sorted by BFS traversal More... | |
IMP::algebra::ReferenceFrame3D | get_reference_frame_safe (IMP::core::RigidBody rb) const |
virtual std::string | get_type_name () const override |
virtual ::IMP::VersionInfo | get_version_info () const override |
Get information about the module and version of the object. More... | |
void | mark_external_coordinates_changed () |
void | mark_internal_coordinates_changed () |
void | reset_root (IMP::Particle *new_root) |
rebuild tree (same topology but change directionality) More... | |
void | set_coordinates_safe (IMP::core::RigidBody rb, IMP::algebra::Vector3D c) |
void | set_reference_frame_safe (IMP::core::RigidBody rb, IMP::algebra::ReferenceFrame3D r) |
void | transform_safe (IMP::algebra::Transformation3D tr) |
void | update_all_external_coordinates () |
void | update_all_internal_coordinates () |
Public Member Functions inherited from IMP::Object | |
virtual void | clear_caches () |
CheckLevel | get_check_level () const |
LogLevel | get_log_level () const |
void | set_check_level (CheckLevel l) |
void | set_log_level (LogLevel l) |
Set the logging level used in this object. More... | |
void | set_was_used (bool tf) const |
void | show (std::ostream &out=std::cout) const |
const std::string & | get_name () const |
void | set_name (std::string name) |
Friends | |
std::ostream & | operator<< (std::ostream &s, const KinematicForest &kt) |
Additional Inherited Members | |
Protected Member Functions inherited from IMP::Object | |
Object (std::string name) | |
Construct an object with the given name. More... | |
virtual void | do_destroy () |
IMP::kinematics::KinematicForest::KinematicForest | ( | Model * | m, |
IMP::atom::Hierarchy | hierarchy | ||
) |
Builds a kinematic forest automatically from a hierarchy that contains rigid bodies and adds a ScoreState to the model, to make sure the internal and external coordinates are synced before model updating
Joint* IMP::kinematics::KinematicForest::add_edge | ( | IMP::core::RigidBody | parent, |
IMP::core::RigidBody | child | ||
) |
Adds a kinematic edge between parent and child, using a TransformationJoint between them, and decorating them as KinematicNodes if needed.
Definition at line 63 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::add_edge | ( | Joint * | joint | ) |
Adds a kinematic edge between the joint parent and child rigid bodies, decorating them as KinematicNodes if needed. The joint becomes owned by this KinematicForest, such that changes to the joint are synchronized with the KinematicForest
void IMP::kinematics::KinematicForest::add_rigid_bodies_in_chain | ( | IMP::core::RigidBodies | rbs | ) |
adds edges between each pair of consecutive rigid bodies in the list rbs, using default TransformationJoint joints (transforming from one rigid body to the next)
rbs | list of n consecutive rigid bodies |
Definition at line 89 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::apply_transform_safely | ( | IMP::algebra::Transformation3D | tr | ) |
apply a rigid body transformation to the entire forest safely
Apply a rigid body transformation to the entire forest safely, such that the forest will return correct external and internal coordinates if queries through get_coordinates_safe() or get_reference_frame_safe(), or after updating with update_all_external_coordinates() or update_all_internal_coordinates(), respectively.
Definition at line 268 of file KinematicForest.h.
Joints IMP::kinematics::KinematicForest::get_ordered_joints | ( | ) | const |
return joints sorted by BFS traversal
Definition at line 143 of file KinematicForest.h.
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overridevirtual |
Get information about the module and version of the object.
Reimplemented from IMP::Object.
Definition at line 43 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::mark_external_coordinates_changed | ( | ) |
notifies the tree that external Cartesian coordinates have changed and therefore internal (joint) coordinates are not up to date
Definition at line 191 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::mark_internal_coordinates_changed | ( | ) |
notifies the tree that joint (internal) coordinates have changed and therefore external coordinates are not up to date
Definition at line 182 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::reset_root | ( | IMP::Particle * | new_root | ) |
rebuild tree (same topology but change directionality)
Definition at line 96 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::set_coordinates_safe | ( | IMP::core::RigidBody | rb, |
IMP::algebra::Vector3D | c | ||
) |
sets the coordinates of a particle, and makes sure that particles and joints in the tree will return correct external and internal coordinates
rb | a rigid body that was previously added to the tree |
c | new coordinates |
Definition at line 203 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::set_reference_frame_safe | ( | IMP::core::RigidBody | rb, |
IMP::algebra::ReferenceFrame3D | r | ||
) |
sets the reference frame of a rigid body, and makes sure that particles and joints in the tree will return correct internal coordinates when queried directly through the KinematicForest
rb | a rigid body that was previously added to the tree |
r | new reference frame |
Definition at line 251 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::transform_safe | ( | IMP::algebra::Transformation3D | tr | ) |
apply a rigid body transformation to the entire forest safelt, such that the forest will return correct external and internal coordinates if queries through get_coordinates_safe() or get_reference_frame_safe(), or after updating with update_all_external_coordinates() or update_all_internal_coordinates(), respectively.
Definition at line 170 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::update_all_external_coordinates | ( | ) |
update all external coordinates of particles in the forest based on their internal coordinates
Definition at line 118 of file KinematicForest.h.
void IMP::kinematics::KinematicForest::update_all_internal_coordinates | ( | ) |
updated internal coordinates in the forest based on the current cartesian coordinates and the architecture of joints in the tree
Definition at line 104 of file KinematicForest.h.