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Apply template method pattern from main refactoring #82

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2 changes: 1 addition & 1 deletion src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ bool QPInverseProblemSolver_Trampoline::solveSystem()
);
}

bool QPInverseProblemSolver_Trampoline::solveSystem(const sofa::core::ConstraintParams* cParams,
bool QPInverseProblemSolver_Trampoline::doSolveSystem(const sofa::core::ConstraintParams* cParams,
sofa::core::MultiVecId res1,
sofa::core::MultiVecId res2)
{
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2 changes: 1 addition & 1 deletion src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ class QPInverseProblemSolver_Trampoline : public softrobotsinverse::solver::QPIn

bool solveSystem();

bool solveSystem(const sofa::core::ConstraintParams* cParams,
bool doSolveSystem(const sofa::core::ConstraintParams* cParams,
sofa::core::MultiVecId res1,
sofa::core::MultiVecId res2=sofa::core::MultiVecId::null()) override;

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14 changes: 7 additions & 7 deletions src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
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Expand Up @@ -296,12 +296,12 @@ void QPInverseProblemSolver::cleanup()
ConstraintSolver::cleanup();
}

void QPInverseProblemSolver::removeConstraintCorrection(sofa::core::behavior::BaseConstraintCorrection *s)
void QPInverseProblemSolver::doRemoveConstraintCorrection(sofa::core::behavior::BaseConstraintCorrection *s)
{
m_constraintsCorrections.erase(std::remove(m_constraintsCorrections.begin(), m_constraintsCorrections.end(), s), m_constraintsCorrections.end());
}

bool QPInverseProblemSolver::prepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
bool QPInverseProblemSolver::doPrepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
{
SOFA_UNUSED(res1);
SOFA_UNUSED(res2);
Expand Down Expand Up @@ -341,7 +341,7 @@ bool QPInverseProblemSolver::prepareStates(const ConstraintParams *cParams, Mult
return true;
}

bool QPInverseProblemSolver::buildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
bool QPInverseProblemSolver::doBuildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
{
SOFA_UNUSED(res1);
SOFA_UNUSED(res2);
Expand Down Expand Up @@ -469,7 +469,7 @@ inline void QPInverseProblemSolver::buildCompliance(const ConstraintParams *cPar
AdvancedTimer::stepEnd("Get Compliance");
}

void QPInverseProblemSolver::rebuildSystem(double massFactor, double forceFactor)
void QPInverseProblemSolver::doRebuildSystem(double massFactor, double forceFactor)
{
d_graph.beginEdit()->clear();
d_graph.endEdit();
Expand All @@ -482,7 +482,7 @@ void QPInverseProblemSolver::rebuildSystem(double massFactor, double forceFactor
}
}

bool QPInverseProblemSolver::solveSystem(const ConstraintParams * cParams,
bool QPInverseProblemSolver::doSolveSystem(const ConstraintParams * cParams,
MultiVecId res1,
MultiVecId res2)
{
Expand Down Expand Up @@ -564,7 +564,7 @@ bool QPInverseProblemSolver::solveSystem(const ConstraintParams * cParams,
}


void QPInverseProblemSolver::computeResidual(const ExecParams* eparam)
void QPInverseProblemSolver::doComputeResidual(const ExecParams* eparam)
{
for (unsigned int i=0; i<m_constraintsCorrections.size(); i++)
{
Expand All @@ -573,7 +573,7 @@ void QPInverseProblemSolver::computeResidual(const ExecParams* eparam)
}
}

bool QPInverseProblemSolver::applyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
bool QPInverseProblemSolver::doApplyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
{
AdvancedTimer::stepBegin("Compute And Apply Motion Correction");

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14 changes: 7 additions & 7 deletions src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h
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Expand Up @@ -94,27 +94,27 @@ class SOFA_SOFTROBOTS_INVERSE_API QPInverseProblemSolver : public sofa::componen
////////////////////////////////////////////////////////////////////////////////

////////////////////// Inherited from ConstraintSolver ///////////////////////////
bool prepareStates(const ConstraintParams * cParams,
bool doPrepareStates(const ConstraintParams * cParams,
MultiVecId res1,
MultiVecId res2=MultiVecId::null()) override;

bool buildSystem(const ConstraintParams * cParams,
bool doBuildSystem(const ConstraintParams * cParams,
MultiVecId res1,
MultiVecId res2=MultiVecId::null()) override;

void rebuildSystem(double massFactor,
void doRebuildSystem(double massFactor,
double forceFactor) override;

bool solveSystem(const ConstraintParams* cParams,
bool doSolveSystem(const ConstraintParams* cParams,
MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;

bool applyCorrection(const ConstraintParams * cParams,
bool doApplyCorrection(const ConstraintParams * cParams,
MultiVecId res1,
MultiVecId res2=MultiVecId::null()) override;

void computeResidual(const ExecParams* params) override;
void doComputeResidual(const ExecParams* params) override;

void removeConstraintCorrection(BaseConstraintCorrection *s) override;
void doRemoveConstraintCorrection(BaseConstraintCorrection *s) override;

MultiVecDerivId getLambda() const override
{
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