SimTK::Subsystem::Guts Class Reference

The abstract parent of all Subsystem "Guts" implementation classes. More...

#include <SubsystemGuts.h>

Inheritance diagram for SimTK::Subsystem::Guts:

Public Member Functions
	Guts (const Guts &)
Guts &	operator= (const Guts &)
	Guts (const String &name="<NONAME>", const String &version="0.0.0")
virtual	~Guts ()
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

Protected Member Functions
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

Friends
class	GutsRep

Detailed Description

The abstract parent of all Subsystem "Guts" implementation classes.

Constructor & Destructor Documentation

SimTK::Subsystem::Guts::Guts

(

const Guts &

)

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

explicit

virtual SimTK::Subsystem::Guts::~Guts ( )

virtual

Reimplemented in SimTK::ForceSubsystem::Guts.

SimTK::Subsystem::Guts::Guts ( GutsRep *  r )

inlineexplicit

Member Function Documentation

Guts& SimTK::Subsystem::Guts::operator=

(

const Guts &

)

const String& SimTK::Subsystem::Guts::getName

(

)

const

const String& SimTK::Subsystem::Guts::getVersion

(

)

const

QIndex SimTK::Subsystem::Guts::allocateQ	(	State &	s,
		const Vector &	qInit
	)		const

UIndex SimTK::Subsystem::Guts::allocateU	(	State &	s,
		const Vector &	uInit
	)		const

ZIndex SimTK::Subsystem::Guts::allocateZ	(	State &	s,
		const Vector &	zInit
	)		const

DiscreteVariableIndex SimTK::Subsystem::Guts::allocateDiscreteVariable	(	State &	s,
		Stage	g,
		AbstractValue *	v
	)		const

DiscreteVariableIndex SimTK::Subsystem::Guts::allocateAutoUpdateDiscreteVariable	(	State &	,
		Stage	invalidates,
		AbstractValue *	v,
		Stage	updateDependsOn
	)		const

CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry	(	const State &	,
		Stage	dependsOn,
		Stage	computedBy,
		AbstractValue *	v
	)		const

CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry ( const State &  state, Stage  g, AbstractValue *  v  ) const

inline

CacheEntryIndex SimTK::Subsystem::Guts::allocateLazyCacheEntry ( const State &  state, Stage  earliest, AbstractValue *  v  ) const

inline

QErrIndex SimTK::Subsystem::Guts::allocateQErr	(	const State &	s,
		int	nqerr
	)		const

UErrIndex SimTK::Subsystem::Guts::allocateUErr	(	const State &	s,
		int	nuerr
	)		const

UDotErrIndex SimTK::Subsystem::Guts::allocateUDotErr	(	const State &	s,
		int	nudoterr
	)		const

EventTriggerByStageIndex SimTK::Subsystem::Guts::allocateEventTriggersByStage	(	const State &	,
		Stage	,
		int	ntriggers
	)		const

const Vector& SimTK::Subsystem::Guts::getQ

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getU

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getZ

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getUWeights

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getZWeights

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getQDot

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getUDot

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getZDot

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getQDotDot

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getQErr

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getUErr

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getQErrWeights

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getUErrWeights

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getUDotErr

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getMultipliers

(

const State &

)

const

const Vector& SimTK::Subsystem::Guts::getEventTriggersByStage	(	const State &	,
		Stage
	)		const

Vector& SimTK::Subsystem::Guts::updQ

(

State &

)

const

Vector& SimTK::Subsystem::Guts::updU

(

State &

)

const

Vector& SimTK::Subsystem::Guts::updZ

(

State &

)

const

void SimTK::Subsystem::Guts::setQ ( State &  s, const Vector &  q  ) const

inline

void SimTK::Subsystem::Guts::setU ( State &  s, const Vector &  u  ) const

inline

void SimTK::Subsystem::Guts::setZ ( State &  s, const Vector &  z  ) const

inline

Vector& SimTK::Subsystem::Guts::updQDot

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updUDot

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updZDot

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updQDotDot

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updQErr

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updUErr

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updUDotErr

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updMultipliers

(

const State &

)

const

Vector& SimTK::Subsystem::Guts::updEventTriggersByStage	(	const State &	,
		Stage
	)		const

Stage SimTK::Subsystem::Guts::getStage

(

const State &

)

const

const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVariable	(	const State &	,
		DiscreteVariableIndex
	)		const

Real SimTK::Subsystem::Guts::getDiscreteVarLastUpdateTime ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

CacheEntryIndex SimTK::Subsystem::Guts::getDiscreteVarUpdateIndex ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVarUpdateValue ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

AbstractValue& SimTK::Subsystem::Guts::updDiscreteVarUpdateValue ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

bool SimTK::Subsystem::Guts::isDiscreteVarUpdateValueRealized ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

void SimTK::Subsystem::Guts::markDiscreteVarUpdateValueRealized ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

AbstractValue& SimTK::Subsystem::Guts::updDiscreteVariable	(	State &	,
		DiscreteVariableIndex
	)		const

const AbstractValue& SimTK::Subsystem::Guts::getCacheEntry	(	const State &	,
		CacheEntryIndex
	)		const

AbstractValue& SimTK::Subsystem::Guts::updCacheEntry	(	const State &	,
		CacheEntryIndex
	)		const

bool SimTK::Subsystem::Guts::isCacheValueRealized	(	const State &	,
		CacheEntryIndex
	)		const

void SimTK::Subsystem::Guts::markCacheValueRealized	(	const State &	,
		CacheEntryIndex
	)		const

void SimTK::Subsystem::Guts::markCacheValueNotRealized	(	const State &	,
		CacheEntryIndex
	)		const

SystemQIndex SimTK::Subsystem::Guts::getQStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNQ

(

const State &

)

const

SystemUIndex SimTK::Subsystem::Guts::getUStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNU

(

const State &

)

const

SystemZIndex SimTK::Subsystem::Guts::getZStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNZ

(

const State &

)

const

SystemQErrIndex SimTK::Subsystem::Guts::getQErrStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNQErr

(

const State &

)

const

SystemUErrIndex SimTK::Subsystem::Guts::getUErrStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNUErr

(

const State &

)

const

SystemUDotErrIndex SimTK::Subsystem::Guts::getUDotErrStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNUDotErr

(

const State &

)

const

SystemMultiplierIndex SimTK::Subsystem::Guts::getMultipliersStart

(

const State &

)

const

int SimTK::Subsystem::Guts::getNMultipliers

(

const State &

)

const

SystemEventTriggerByStageIndex SimTK::Subsystem::Guts::getEventTriggerStartByStage	(	const State &	,
		Stage
	)		const

int SimTK::Subsystem::Guts::getNEventTriggersByStage	(	const State &	,
		Stage
	)		const

MeasureIndex SimTK::Subsystem::Guts::adoptMeasure

(

AbstractMeasure &

m

)

AbstractMeasure SimTK::Subsystem::Guts::getMeasure

(

MeasureIndex

)

const

template<class T >

Measure_<T> SimTK::Subsystem::Guts::getMeasure_ ( MeasureIndex  mx ) const

inline

bool SimTK::Subsystem::Guts::isInSystem

(

)

const

bool SimTK::Subsystem::Guts::isInSameSystem

(

const Subsystem &

otherSubsystem

)

const

const System& SimTK::Subsystem::Guts::getSystem

(

)

const

System& SimTK::Subsystem::Guts::updSystem

(

)

SubsystemIndex SimTK::Subsystem::Guts::getMySubsystemIndex

(

)

const

const Subsystem& SimTK::Subsystem::Guts::getOwnerSubsystemHandle

(

)

const

Subsystem& SimTK::Subsystem::Guts::updOwnerSubsystemHandle

(

)

void SimTK::Subsystem::Guts::setOwnerSubsystemHandle

(

Subsystem &

)

bool SimTK::Subsystem::Guts::hasOwnerSubsystemHandle

(

)

const

void SimTK::Subsystem::Guts::setSystem	(	System &	,
		SubsystemIndex
	)

bool SimTK::Subsystem::Guts::hasRep ( ) const

inline

const GutsRep& SimTK::Subsystem::Guts::getRep ( ) const

inline

GutsRep& SimTK::Subsystem::Guts::updRep ( ) const

inline

void SimTK::Subsystem::Guts::setRep ( GutsRep &  r )

inline

bool SimTK::Subsystem::Guts::subsystemTopologyHasBeenRealized

(

)

const

void SimTK::Subsystem::Guts::invalidateSubsystemTopologyCache

(

)

const

Subsystem::Guts* SimTK::Subsystem::Guts::clone

(

)

const

void SimTK::Subsystem::Guts::realizeSubsystemTopology

(

State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemModel

(

State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemInstance

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemTime

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemPosition

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemVelocity

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemDynamics

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemAcceleration

(

const State &

)

const

void SimTK::Subsystem::Guts::realizeSubsystemReport

(

const State &

)

const

void SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		Array_< DecorativeGeometry > &
	)		const

void SimTK::Subsystem::Guts::createScheduledEvent	(	const State &	state,
		EventId &	eventId
	)		const

void SimTK::Subsystem::Guts::createTriggeredEvent	(	const State &	state,
		EventId &	eventId,
		EventTriggerByStageIndex &	triggerFunctionIndex,
		Stage	stage
	)		const

void SimTK::Subsystem::Guts::calcEventTriggerInfo	(	const State &	,
		Array_< EventTriggerInfo > &
	)		const

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

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

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

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

virtual Subsystem::Guts* SimTK::Subsystem::Guts::cloneImpl ( ) const

protectedpure virtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemTopologyImpl ( State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemModelImpl ( State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemInstanceImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemTimeImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemPositionImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemVelocityImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemDynamicsImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemAccelerationImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::realizeSubsystemReportImpl ( const State &  s ) const

inlineprotectedvirtual

virtual int SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppendImpl ( const State &  , Stage  , Array_< DecorativeGeometry > &    ) const

inlineprotectedvirtual

virtual void SimTK::Subsystem::Guts::calcEventTriggerInfoImpl ( const State &  , Array_< EventTriggerInfo > &    ) const

inlineprotectedvirtual

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

inlineprotectedvirtual

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

inlineprotectedvirtual

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

inlineprotectedvirtual

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

inlineprotectedvirtual

void SimTK::Subsystem::Guts::advanceToStage ( const State &  s, Stage  g  ) const

protected

Friends And Related Function Documentation

friend class GutsRep

friend

---

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

• SubsystemGuts.h