Public declaration of internals for ForceSubsystem extension. More...

#include <ForceSubsystemGuts.h>

Inheritance diagram for SimTK::ForceSubsystem::Guts:

Public Member Functions
	Guts (const String &name, const String &version)

virtual	~Guts ()

const MultibodySystem &	getMultibodySystem () const

virtual Real	calcPotentialEnergy (const State &state) const =0
	Get this subsystem's contribution to the potential energy. More...

	SimTK_DOWNCAST (ForceSubsystem::Guts, Subsystem::Guts)

Public Member Functions inherited from SimTK::Subsystem::Guts
	Guts (const Guts &)

Guts &	operator= (const Guts &)

	Guts (const String &name="<NONAME>", const String &version="0.0.0")

const String &	getName () const

const String &	getVersion () const

QIndex	allocateQ (State &s, const Vector &qInit) const

UIndex	allocateU (State &s, const Vector &uInit) const

ZIndex	allocateZ (State &s, const Vector &zInit) const

DiscreteVariableIndex	allocateDiscreteVariable (State &s, Stage g, AbstractValue *v) const

DiscreteVariableIndex	allocateAutoUpdateDiscreteVariable (State &, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const

CacheEntryIndex	allocateCacheEntry (const State &, Stage dependsOn, Stage computedBy, AbstractValue *v) const

CacheEntryIndex	allocateCacheEntry (const State &state, Stage g, AbstractValue *v) const

CacheEntryIndex	allocateLazyCacheEntry (const State &state, Stage earliest, AbstractValue *v) const

QErrIndex	allocateQErr (const State &s, int nqerr) const

UErrIndex	allocateUErr (const State &s, int nuerr) const

UDotErrIndex	allocateUDotErr (const State &s, int nudoterr) const

EventTriggerByStageIndex	allocateEventTriggersByStage (const State &, Stage, int ntriggers) const

const Vector &	getQ (const State &) const

const Vector &	getU (const State &) const

const Vector &	getZ (const State &) const

const Vector &	getUWeights (const State &) const

const Vector &	getZWeights (const State &) const

const Vector &	getQDot (const State &) const

const Vector &	getUDot (const State &) const

const Vector &	getZDot (const State &) const

const Vector &	getQDotDot (const State &) const

const Vector &	getQErr (const State &) const

const Vector &	getUErr (const State &) const

const Vector &	getQErrWeights (const State &) const

const Vector &	getUErrWeights (const State &) const

const Vector &	getUDotErr (const State &) const

const Vector &	getMultipliers (const State &) const

const Vector &	getEventTriggersByStage (const State &, Stage) const

Vector &	updQ (State &) const

Vector &	updU (State &) const

Vector &	updZ (State &) const

void	setQ (State &s, const Vector &q) const

void	setU (State &s, const Vector &u) const

void	setZ (State &s, const Vector &z) const

Vector &	updQDot (const State &) const

Vector &	updUDot (const State &) const

Vector &	updZDot (const State &) const

Vector &	updQDotDot (const State &) const

Vector &	updQErr (const State &) const

Vector &	updUErr (const State &) const

Vector &	updUDotErr (const State &) const

Vector &	updMultipliers (const State &) const

Vector &	updEventTriggersByStage (const State &, Stage) const

Stage	getStage (const State &) const

const AbstractValue &	getDiscreteVariable (const State &, DiscreteVariableIndex) const

Real	getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const

CacheEntryIndex	getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const

const AbstractValue &	getDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

bool	isDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

void	markDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVariable (State &, DiscreteVariableIndex) const

const AbstractValue &	getCacheEntry (const State &, CacheEntryIndex) const

AbstractValue &	updCacheEntry (const State &, CacheEntryIndex) const

bool	isCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueNotRealized (const State &, CacheEntryIndex) const

SystemQIndex	getQStart (const State &) const

int	getNQ (const State &) const

SystemUIndex	getUStart (const State &) const

int	getNU (const State &) const

SystemZIndex	getZStart (const State &) const

int	getNZ (const State &) const

SystemQErrIndex	getQErrStart (const State &) const

int	getNQErr (const State &) const

SystemUErrIndex	getUErrStart (const State &) const

int	getNUErr (const State &) const

SystemUDotErrIndex	getUDotErrStart (const State &) const

int	getNUDotErr (const State &) const

SystemMultiplierIndex	getMultipliersStart (const State &) const

int	getNMultipliers (const State &) const

SystemEventTriggerByStageIndex	getEventTriggerStartByStage (const State &, Stage) const

int	getNEventTriggersByStage (const State &, Stage) const

MeasureIndex	adoptMeasure (AbstractMeasure &m)

AbstractMeasure	getMeasure (MeasureIndex) const

template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const

bool	isInSystem () const

bool	isInSameSystem (const Subsystem &otherSubsystem) const

const System &	getSystem () const

System &	updSystem ()

SubsystemIndex	getMySubsystemIndex () const

const Subsystem &	getOwnerSubsystemHandle () const

Subsystem &	updOwnerSubsystemHandle ()

void	setOwnerSubsystemHandle (Subsystem &)

bool	hasOwnerSubsystemHandle () const

void	setSystem (System &, SubsystemIndex)

	Guts (GutsRep *r)

bool	hasRep () const

const GutsRep &	getRep () const

GutsRep &	updRep () const

void	setRep (GutsRep &r)

bool	subsystemTopologyHasBeenRealized () const

void	invalidateSubsystemTopologyCache () const

Subsystem::Guts *	clone () const

void	realizeSubsystemTopology (State &) const

void	realizeSubsystemModel (State &) const

void	realizeSubsystemInstance (const State &) const

void	realizeSubsystemTime (const State &) const

void	realizeSubsystemPosition (const State &) const

void	realizeSubsystemVelocity (const State &) const

void	realizeSubsystemDynamics (const State &) const

void	realizeSubsystemAcceleration (const State &) const

void	realizeSubsystemReport (const State &) const

void	calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const

void	createScheduledEvent (const State &state, EventId &eventId) const

void	createTriggeredEvent (const State &state, EventId &eventId, EventTriggerByStageIndex &triggerFunctionIndex, Stage stage) const

void	calcEventTriggerInfo (const State &, Array_< EventTriggerInfo > &) const

void	calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const

void	calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const

void	handleEvents (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const

void	reportEvents (const State &, Event::Cause, const Array_< EventId > &eventIds) const

Additional Inherited Members
Protected Member Functions inherited from SimTK::Subsystem::Guts
virtual Subsystem::Guts *	cloneImpl () const =0

virtual int	realizeSubsystemTopologyImpl (State &s) const

virtual int	realizeSubsystemModelImpl (State &s) const

virtual int	realizeSubsystemInstanceImpl (const State &s) const

virtual int	realizeSubsystemTimeImpl (const State &s) const

virtual int	realizeSubsystemPositionImpl (const State &s) const

virtual int	realizeSubsystemVelocityImpl (const State &s) const

virtual int	realizeSubsystemDynamicsImpl (const State &s) const

virtual int	realizeSubsystemAccelerationImpl (const State &s) const

virtual int	realizeSubsystemReportImpl (const State &s) const

virtual int	calcDecorativeGeometryAndAppendImpl (const State &, Stage, Array_< DecorativeGeometry > &) const

virtual void	calcEventTriggerInfoImpl (const State &, Array_< EventTriggerInfo > &) const

virtual void	calcTimeOfNextScheduledEventImpl (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const

virtual void	calcTimeOfNextScheduledReportImpl (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const

virtual void	handleEventsImpl (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const

virtual void	reportEventsImpl (const State &, Event::Cause, const Array_< EventId > &eventIds) const

void	advanceToStage (const State &s, Stage g) const

Detailed Description

Public declaration of internals for ForceSubsystem extension.

Constructor & Destructor Documentation

SimTK::ForceSubsystem::Guts::Guts	(	const String &	name,
		const String &	version
	)

inline

virtual SimTK::ForceSubsystem::Guts::~Guts ( )

inlinevirtual

Reimplemented from SimTK::Subsystem::Guts.

Member Function Documentation

const MultibodySystem& SimTK::ForceSubsystem::Guts::getMultibodySystem ( ) const

inline

virtual Real SimTK::ForceSubsystem::Guts::calcPotentialEnergy ( const State & state ) const

pure virtual

Get this subsystem's contribution to the potential energy.

The state must be at Dynamics stage or later.

SimTK::ForceSubsystem::Guts::SimTK_DOWNCAST	(	ForceSubsystem::Guts	,
		Subsystem::Guts
	)

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

ForceSubsystemGuts.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation