Simbody  3.5
SubsystemGuts.h
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1 #ifndef SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
2 #define SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKcommon *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2006-14 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon/basics.h"
28 #include "SimTKcommon/Simmatrix.h"
30 
31 #include <cassert>
32 
33 namespace SimTK {
34 
35 class System;
36 class DecorativeGeometry;
37 
38 //==============================================================================
39 // SUBSYSTEM :: GUTS
40 //==============================================================================
48 public:
49 
54 explicit Guts(const String& name="<NONAME>", const String& version="0.0.0");
55 
57 virtual ~Guts();
58 
61 Guts(const Guts&);
62 
65 const String& getName() const {return m_subsystemName;}
68 const String& getVersion() const {return m_subsystemVersion;}
69 
83 QIndex allocateQ(State& s, const Vector& qInit) const
84 { return s.allocateQ(getMySubsystemIndex(), qInit); }
85 UIndex allocateU(State& s, const Vector& uInit) const
86 { return s.allocateU(getMySubsystemIndex(), uInit); }
87 ZIndex allocateZ(State& s, const Vector& zInit) const
88 { return s.allocateZ(getMySubsystemIndex(), zInit); }
89 
92 { return s.allocateDiscreteVariable(getMySubsystemIndex(), g, v); }
93 DiscreteVariableIndex allocateAutoUpdateDiscreteVariable
94  (State& s, Stage invalidates, AbstractValue* v, Stage updateDependsOn) const
96  (getMySubsystemIndex(),invalidates,v,updateDependsOn); }
97 CacheEntryIndex allocateCacheEntry
98  (const State& s, Stage dependsOn, Stage computedBy, AbstractValue* v) const
99 { return s.allocateCacheEntry
100  (getMySubsystemIndex(), dependsOn, computedBy, v); }
101 
102 CacheEntryIndex allocateCacheEntry
103  (const State& state, Stage g, AbstractValue* v) const
104 { return allocateCacheEntry(state, g, g, v); }
105 CacheEntryIndex allocateLazyCacheEntry
106  (const State& state, Stage earliest, AbstractValue* v) const
107 { return allocateCacheEntry(state, earliest, Stage::Infinity, v); }
108 
109 QErrIndex allocateQErr(const State& s, int nqerr) const
110 { return s.allocateQErr(getMySubsystemIndex(), nqerr); }
111 UErrIndex allocateUErr(const State& s, int nuerr) const
112 { return s.allocateUErr(getMySubsystemIndex(), nuerr); }
113 UDotErrIndex allocateUDotErr(const State& s, int nudoterr) const
114 { return s.allocateUDotErr(getMySubsystemIndex(), nudoterr); }
116 allocateEventTriggersByStage(const State& s, Stage g, int ntriggers) const
117 { return s.allocateEventTrigger(getMySubsystemIndex(),g,ntriggers); }
118 
119 const Vector& getQ(const State& s) const
120 { return s.getQ(getMySubsystemIndex()); }
121 const Vector& getU(const State& s) const
122 { return s.getU(getMySubsystemIndex()); }
123 const Vector& getZ(const State& s) const
124 { return s.getZ(getMySubsystemIndex()); }
125 const Vector& getUWeights(const State& s) const
126 { return s.getUWeights(getMySubsystemIndex()); }
127 const Vector& getZWeights(const State& s) const
128 { return s.getZWeights(getMySubsystemIndex()); }
129 
130 Vector& updQ(State& s) const {return s.updQ(getMySubsystemIndex());}
131 Vector& updU(State& s) const {return s.updU(getMySubsystemIndex());}
132 Vector& updZ(State& s) const {return s.updZ(getMySubsystemIndex());}
133 
134 const Vector& getQDot (const State& s) const
135 { return s.getQDot(getMySubsystemIndex()); }
136 const Vector& getUDot (const State& s) const
137 { return s.getUDot(getMySubsystemIndex()); }
138 const Vector& getZDot (const State& s) const
139 { return s.getZDot(getMySubsystemIndex()); }
140 const Vector& getQDotDot(const State& s) const
141 { return s.getQDotDot(getMySubsystemIndex()); }
142 
143 Vector& updQDot (const State& s) const
144 { return s.updQDot(getMySubsystemIndex()); }
145 Vector& updUDot (const State& s) const
146 { return s.updUDot(getMySubsystemIndex()); }
147 Vector& updZDot (const State& s) const
148 { return s.updZDot(getMySubsystemIndex()); }
149 Vector& updQDotDot(const State& s) const
150 { return s.updQDotDot(getMySubsystemIndex()); }
151 
152 const Vector& getQErr(const State& s) const
153 { return s.getQErr(getMySubsystemIndex()); }
154 const Vector& getUErr(const State& s) const
155 { return s.getUErr(getMySubsystemIndex()); }
156 const Vector& getQErrWeights(const State& s) const
157 { return s.getQErrWeights(getMySubsystemIndex()); }
158 const Vector& getUErrWeights(const State& s) const
159 { return s.getUErrWeights(getMySubsystemIndex()); }
160 
161 const Vector& getUDotErr(const State& s) const
162 { return s.getUDotErr(getMySubsystemIndex()); }
163 const Vector& getMultipliers(const State& s) const
164 { return s.getMultipliers(getMySubsystemIndex()); }
165 const Vector& getEventTriggersByStage(const State& s, Stage g) const
166 { return s.getEventTriggersByStage(getMySubsystemIndex(),g); }
167 
168 Vector& updQErr(const State& s) const
169 { return s.updQErr(getMySubsystemIndex()); }
170 Vector& updUErr(const State& s) const
171 { return s.updUErr(getMySubsystemIndex()); }
172 Vector& updUDotErr(const State& s) const
173 { return s.updUDotErr(getMySubsystemIndex()); }
174 Vector& updMultipliers(const State& s) const
175 { return s.updMultipliers(getMySubsystemIndex()); }
177 { return s.updEventTriggersByStage(getMySubsystemIndex(),g); }
178 
179 SystemQIndex getQStart(const State& s) const
180 { return s.getQStart(getMySubsystemIndex()); }
181 int getNQ(const State& s) const
182 { return s.getNQ(getMySubsystemIndex()); }
183 
184 SystemUIndex getUStart(const State& s) const
185 { return s.getUStart(getMySubsystemIndex()); }
186 int getNU(const State& s) const
187 { return s.getNU(getMySubsystemIndex()); }
188 
189 SystemZIndex getZStart(const State& s) const
190 { return s.getZStart(getMySubsystemIndex()); }
191 int getNZ(const State& s) const
192 { return s.getNZ(getMySubsystemIndex()); }
193 
195 { return s.getQErrStart(getMySubsystemIndex()); }
196 int getNQErr(const State& s) const
197 { return s.getNQErr(getMySubsystemIndex()); }
198 
200 { return s.getUErrStart(getMySubsystemIndex()); }
201 int getNUErr(const State& s) const
202 { return s.getNUErr(getMySubsystemIndex()); }
203 
205 { return s.getUDotErrStart(getMySubsystemIndex()); }
206 int getNUDotErr(const State& s) const
207 { return s.getNUDotErr(getMySubsystemIndex()); }
208 
210 { return s.getMultipliersStart(getMySubsystemIndex()); }
211 int getNMultipliers(const State& s) const
212 { return s.getNMultipliers(getMySubsystemIndex()); }
213 
215 { return s.getEventTriggerStartByStage(getMySubsystemIndex(),g); }
216 int getNEventTriggersByStage (const State& s, Stage g) const
217 { return s.getNEventTriggersByStage(getMySubsystemIndex(),g); }
218 
219 
220 // For convenience.
221 void setQ(State& s, const Vector& q) const {
222  SimTK_ASSERT(q.size() == getNQ(s), "Subsystem::Guts::setQ()");
223  updQ(s) = q;
224 }
225 void setU(State& s, const Vector& u) const {
226  SimTK_ASSERT(u.size() == getNU(s), "Subsystem::Guts::setU()");
227  updU(s) = u;
228 }
229 void setZ(State& s, const Vector& z) const {
230  SimTK_ASSERT(z.size() == getNZ(s), "Subsystem::Guts::setZ()");
231  updZ(s) = z;
232 }
233 
234 Stage getStage(const State& s) const
235 { return s.getSubsystemStage(getMySubsystemIndex()); }
236 void advanceToStage(const State& s, Stage g) const
237 { s.advanceSubsystemToStage(getMySubsystemIndex(), g); }
238 
239 const AbstractValue&
241 { return s.getDiscreteVariable(getMySubsystemIndex(), index); }
243 { return s.updDiscreteVariable(getMySubsystemIndex(), index); }
244 const AbstractValue& getCacheEntry(const State& s, CacheEntryIndex index) const
245 { return s.getCacheEntry(getMySubsystemIndex(), index); }
247 { return s.updCacheEntry(getMySubsystemIndex(), index); }
249 { return s.getDiscreteVarLastUpdateTime(getMySubsystemIndex(),dx); }
252 { return s.getDiscreteVarUpdateIndex(getMySubsystemIndex(),dx); }
253 const AbstractValue&
255 { return s.getDiscreteVarUpdateValue(getMySubsystemIndex(),dx); }
258 { return s.updDiscreteVarUpdateValue(getMySubsystemIndex(),dx); }
259 bool isDiscreteVarUpdateValueRealized
260  (const State& s, DiscreteVariableIndex dx) const
261 { return s.isDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
262 void markDiscreteVarUpdateValueRealized
263  (const State& s, DiscreteVariableIndex dx) const
264 { return s.markDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
265 
266 bool isCacheValueRealized(const State& s, CacheEntryIndex cx) const
267 { return s.isCacheValueRealized(getMySubsystemIndex(), cx); }
269 { s.markCacheValueRealized(getMySubsystemIndex(), cx); }
271 { s.markCacheValueNotRealized(getMySubsystemIndex(), cx); }
276 MeasureIndex adoptMeasure(AbstractMeasure& m);
277 
284 template <class T> Measure_<T> getMeasure_(MeasureIndex mx) const
285 { return Measure_<T>::getAs(getMeasure(mx)); }
286 
291 AbstractMeasure getMeasure(MeasureIndex mx) const {
292  SimTK_ASSERT(0 <= mx && mx < m_measures.size(),
293  "Subsystem::Guts::getMeasure()");
294  return AbstractMeasure(m_measures[mx]);
295 }
296 
297 bool isInSystem() const {return m_mySystem != 0;}
298 bool isInSameSystem(const Subsystem& otherSubsystem) const;
299 
300 const System& getSystem() const {
301  SimTK_ASSERT(isInSystem(), "Subsystem::getSystem()");
302  return *m_mySystem;
303 }
305  SimTK_ASSERT(isInSystem(), "Subsystem::updSystem()");
306  return *m_mySystem;
307 }
309  SimTK_ASSERT(!isInSystem(), "Subsystem::setSystem()");
310  SimTK_ASSERT(id.isValid(), "Subsystem::setSystem()");
311  m_mySystem = &sys;
312  m_mySubsystemIndex = id;
313 }
315  SimTK_ASSERT(isInSystem(), "Subsystem::getMySubsystemIndex()");
316  return m_mySubsystemIndex;
317 }
318 
319 
324 { return m_subsystemTopologyRealized; }
325 
334 void invalidateSubsystemTopologyCache() const;
335 
336 // These are wrappers for the virtual methods defined below. They
337 // are used to ensure good behavior. Most of them deal automatically with
338 // the Subsystem's Measures, as well as invoking the corresponding virtual
339 // for the Subsystem's own processing.
340 
341 Subsystem::Guts* clone() const;
342 
343 // Realize this subsystem's part of the State from Stage-1 to Stage
344 // for the indicated stage. After doing some checking, these routines
345 // call the concrete subsystem's corresponding virtual method, and
346 // on return they make sure the stage has been properly updated.
347 // Note that these will do nothing if the Subsystem stage is already
348 // at or greater than the indicated stage.
349 void realizeSubsystemTopology (State&) const;
350 void realizeSubsystemModel (State&) const;
351 void realizeSubsystemInstance (const State&) const;
352 void realizeSubsystemTime (const State&) const;
353 void realizeSubsystemPosition (const State&) const;
354 void realizeSubsystemVelocity (const State&) const;
355 void realizeSubsystemDynamics (const State&) const;
356 void realizeSubsystemAcceleration(const State&) const;
357 void realizeSubsystemReport (const State&) const;
358 
359 // Generate decorative geometry computable at a specific stage. This will
360 // throw an exception if this subsystem's state hasn't already been realized
361 // to that stage. Note that the list is not inclusive -- you have to
362 // request geometry from each stage to get all of it.
363 // The generated geometry will be *appended* to the supplied output vector.
364 void calcDecorativeGeometryAndAppend
365  (const State&, Stage, Array_<DecorativeGeometry>&) const;
366 
367 void createScheduledEvent(const State& state, EventId& eventId) const;
368 void createTriggeredEvent(const State& state, EventId& eventId,
369  EventTriggerByStageIndex& triggerFunctionIndex,
370  Stage stage) const;
371 
372 // These methods are called by the corresponding methods of System.
373 // Each subsystem is responsible for defining its own events, and
374 // System then combines the information from them, and dispatches events
375 // to the appropriate subsystems for handling when they occur.
376 void calcEventTriggerInfo
377  (const State&, Array_<EventTriggerInfo>&) const;
378 void calcTimeOfNextScheduledEvent
379  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
380  bool includeCurrentTime) const;
381 void calcTimeOfNextScheduledReport
382  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
383  bool includeCurrentTime) const;
384 void handleEvents
385  (State&, Event::Cause, const Array_<EventId>& eventIds,
386  const HandleEventsOptions& options, HandleEventsResults& results) const;
387 void reportEvents
388  (const State&, Event::Cause, const Array_<EventId>& eventIds) const;
389 
390 protected:
391 // These virtual methods should be overridden in concrete Subsystems as
392 // necessary. They should never be called directly; instead call the
393 // wrapper routines above, which have the same name but without the "Impl"
394 // (implementation) at the end.
395 
396 // The "realize..." wrappers will call the "realize...Impl" methods below
397 // only when the current stage for the Subsystem is the one just prior
398 // to the stage being realized. For example, realizeSubsystemVelocityImpl()
399 // is called by realizeSubsystemVelocity() only when the passed-in State
400 // shows this subsystem's stage to be exactly Stage::Position.
401 //
402 // The default implementations provided here do nothing. That means the
403 // wrappers will simply check that the current stage is correct and
404 // advance it if necessary.
405 
406 // The destructor is already virtual; see above.
407 
408 virtual Subsystem::Guts* cloneImpl() const = 0;
409 
410 virtual int realizeSubsystemTopologyImpl(State& s) const {return 0;}
411 virtual int realizeSubsystemModelImpl (State& s) const {return 0;}
412 virtual int realizeSubsystemInstanceImpl(const State& s) const {return 0;}
413 virtual int realizeSubsystemTimeImpl (const State& s) const {return 0;}
414 virtual int realizeSubsystemPositionImpl(const State& s) const {return 0;}
415 virtual int realizeSubsystemVelocityImpl(const State& s) const {return 0;}
416 virtual int realizeSubsystemDynamicsImpl(const State& s) const {return 0;}
417 virtual int realizeSubsystemAccelerationImpl(const State& s)const{return 0;}
418 virtual int realizeSubsystemReportImpl (const State& s) const {return 0;}
419 
420 virtual int calcDecorativeGeometryAndAppendImpl
421  (const State&, Stage, Array_<DecorativeGeometry>&) const {return 0;}
422 
423 virtual void calcEventTriggerInfoImpl
424  (const State&, Array_<EventTriggerInfo>&) const {}
425 virtual void calcTimeOfNextScheduledEventImpl
426  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
427  bool includeCurrentTime) const {}
428 virtual void calcTimeOfNextScheduledReportImpl
429  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
430  bool includeCurrentTime) const {}
431 virtual void handleEventsImpl
432  (State&, Event::Cause, const Array_<EventId>& eventIds,
433  const HandleEventsOptions& options,
434  HandleEventsResults& results) const {}
435 virtual void reportEventsImpl
436  (const State&, Event::Cause, const Array_<EventId>& eventIds) const {}
437 
438 
439 public:
443  SimTK_ASSERT(m_myHandle, "Subsystem::getOwnerSubsystemHandle()");
444  return *m_myHandle;
445 }
449  SimTK_ASSERT(m_myHandle, "Subsystem::getOwnerSubsystemHandle()");
450  return *m_myHandle;
451 }
452 
457 void setOwnerSubsystemHandle(Subsystem& subsys) {m_myHandle=&subsys;}
458 
461 bool hasOwnerSubsystemHandle() const {return m_myHandle != 0;}
462 
463 private:
464 // Suppressed.
465 Guts& operator=(const Guts&);
466 
467 //------------------------------------------------------------------------------
468  private:
469 
470  // TOPOLOGY STATE INFORMATION
471 String m_subsystemName;
472 String m_subsystemVersion;
473 System* m_mySystem; // the System to which this Subsystem belongs
474 SubsystemIndex m_mySubsystemIndex; // Subsystem # within System
475 
476 friend class Subsystem;
477 Subsystem* m_myHandle; // the owner handle of this Guts object
478 
479 // This is the list of Measures belonging to this Subsystem.
481  m_measures;
482 
483  // TOPOLOGY CACHE INFORMATION
484 mutable bool m_subsystemTopologyRealized;
485 };
486 
487 
488 //==============================================================================
489 // SUBSYSTEM INLINES
490 //==============================================================================
491 // These had to wait for Subsystem::Guts to be defined.
492 
494 { return getSubsystemGuts().getMySubsystemIndex(); }
495 
496 inline const String& Subsystem::getName() const {return getSubsystemGuts().getName();}
497 inline const String& Subsystem::getVersion() const {return getSubsystemGuts().getVersion();}
498 
500  return getSubsystemGuts().subsystemTopologyHasBeenRealized();
501 }
502 
504  getSubsystemGuts().invalidateSubsystemTopologyCache(); // mutable
505 }
506 
508 { return updSubsystemGuts().adoptMeasure(m); }
509 inline AbstractMeasure Subsystem::getMeasure(MeasureIndex mx) const
510 { return getSubsystemGuts().getMeasure(mx); }
511 
512 
513 inline bool Subsystem::isInSystem() const
514 { return getSubsystemGuts().isInSystem(); }
515 inline bool Subsystem::isInSameSystem(const Subsystem& otherSubsystem) const
516 { return getSubsystemGuts().isInSameSystem(otherSubsystem); }
517 
518 inline const System& Subsystem::getSystem() const
519 { return getSubsystemGuts().getSystem(); }
521 { return updSubsystemGuts().updSystem(); }
523 { updSubsystemGuts().setSystem(sys,id); }
524 
525 inline bool Subsystem::isOwnerHandle() const
526 { return guts==0 || &guts->getOwnerSubsystemHandle()==this; }
527 
528 } // namespace SimTK
529 
530 #endif // SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
const Vector & getQErrWeights(const State &s) const
Definition: SubsystemGuts.h:156
const Vector & getMultipliers(SubsystemIndex) const
SystemYIndex getZStart() const
Returns the y index at which the z&#39;s begin. Callable at Model stage.
Vector & updQDotDot(const State &s) const
Definition: SubsystemGuts.h:149
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
Vector & updQ(SubsystemIndex)
virtual int realizeSubsystemTimeImpl(const State &s) const
Definition: SubsystemGuts.h:413
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:218
const AbstractValue & getDiscreteVariable(const State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:240
SubsystemIndex getMySubsystemIndex() const
Return the SubsystemIndex within the containing System.
Definition: SubsystemGuts.h:493
SystemMultiplierIndex getMultipliersStart(SubsystemIndex) const
AbstractMeasure getMeasure(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is...
Definition: SubsystemGuts.h:291
SystemUDotErrIndex getUDotErrStart(const State &s) const
Definition: SubsystemGuts.h:204
const AbstractValue & getDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:254
const AbstractValue & getDiscreteVariable(SubsystemIndex, DiscreteVariableIndex) const
Get the current value of the indicated discrete variable.
DiscreteVariableIndex allocateDiscreteVariable(State &s, Stage g, AbstractValue *v) const
Definition: SubsystemGuts.h:91
Unique integer type for Subsystem-local uDotErr indexing.
Vector & updUDot(const State &s) const
Definition: SubsystemGuts.h:145
AbstractValue & updDiscreteVariable(State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:242
const Vector & getQDotDot(SubsystemIndex) const
const Vector & getUWeights(SubsystemIndex) const
int getNU(const State &s) const
Definition: SubsystemGuts.h:186
void advanceSubsystemToStage(SubsystemIndex, Stage) const
Advance a particular Subsystem&#39;s current stage by one to the indicated stage.
MeasureIndex adoptMeasure(AbstractMeasure &)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:507
int getNQErr(const State &s) const
Definition: SubsystemGuts.h:196
Unique integer type for Subsystem-local u indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
virtual int realizeSubsystemVelocityImpl(const State &s) const
Definition: SubsystemGuts.h:415
virtual int realizeSubsystemModelImpl(State &s) const
Definition: SubsystemGuts.h:411
virtual int realizeSubsystemTopologyImpl(State &s) const
Definition: SubsystemGuts.h:410
int getNUDotErr(const State &s) const
Definition: SubsystemGuts.h:206
Vector & updEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:176
Unique integer type for Subsystem-local uErr indexing.
SubsystemIndex getMySubsystemIndex() const
Definition: SubsystemGuts.h:314
bool subsystemTopologyHasBeenRealized() const
Returns true if this Subsystem&#39;s realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:499
Unique integer type for Subsystem-local qErr indexing.
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
EventTriggerByStageIndex allocateEventTriggersByStage(const State &s, Stage g, int ntriggers) const
Definition: SubsystemGuts.h:116
const String & getName() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:496
SystemZIndex getZStart(const State &s) const
Definition: SubsystemGuts.h:189
const Vector & getUDotErr(SubsystemIndex) const
void setQ(State &s, const Vector &q) const
Definition: SubsystemGuts.h:221
const Vector & getUDot(SubsystemIndex) const
int getNMultipliers(const State &s) const
Definition: SubsystemGuts.h:211
#define SimTK_ASSERT(cond, msg)
Definition: ExceptionMacros.h:374
const Vector & getZDot(const State &s) const
Definition: SubsystemGuts.h:138
int getNUDotErr() const
Return the total number nudotErr=mp+mv+ma of cache entries for acceleration-level constraint errors (...
void setZ(State &s, const Vector &z) const
Definition: SubsystemGuts.h:229
CacheEntryIndex getDiscreteVarUpdateIndex(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the CacheEntryIndex for its associated update cache en...
Vector & updZDot(SubsystemIndex) const
This is the base class for all Measure handle classes.
Definition: Measure.h:151
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
virtual int realizeSubsystemDynamicsImpl(const State &s) const
Definition: SubsystemGuts.h:416
int getNZ() const
Get total number of shared z&#39;s (auxiliary state variables).
This unique integer type is for indexing global "multiplier-like" arrays, that is, arrays that inherently have the same dimension as the total number of Lagrange multipliers in the full System-level view of the State.
const Vector & getQDot(SubsystemIndex) const
Per-subsystem access to the shared cache entries.
Vector & updQ(State &s) const
Definition: SubsystemGuts.h:130
bool isInSameSystem(const Subsystem &otherSubsystem) const
Return true if this Subsystem is contained in the same System as contains the given otherSubsystem...
Definition: SubsystemGuts.h:515
virtual int realizeSubsystemPositionImpl(const State &s) const
Definition: SubsystemGuts.h:414
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
const Vector & getU(SubsystemIndex) const
SystemYErrIndex getQErrStart() const
Returns the yErr index at which the qErr&#39;s begin. Callable at Instance stage.
const AbstractValue & getDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the current value of its associated update cache entry...
const Vector & getZ(const State &s) const
Definition: SubsystemGuts.h:123
SystemYIndex getUStart() const
Returns the y index at which the u&#39;s begin. Callable at Model stage.
void setSystem(System &sys, SubsystemIndex id)
Definition: SubsystemGuts.h:308
const Vector & getZWeights(SubsystemIndex) const
bool isCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Check whether the value in a particular cache entry has been recalculated since the last change to th...
AbstractValue & updDiscreteVariable(SubsystemIndex, DiscreteVariableIndex)
Get a writable reference to the value stored in the indicated discrete state variable dv...
Vector & updU(SubsystemIndex)
Vector & updUErr(SubsystemIndex) const
These are all the possible causes for events.
Definition: Event.h:123
bool isDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Check whether the update value for this auto-update discrete variable has already been computed since...
SystemMultiplierIndex getMultipliersStart(const State &s) const
Definition: SubsystemGuts.h:209
Vector & updQErr(const State &s) const
Definition: SubsystemGuts.h:168
Vector & updUErr(const State &s) const
Definition: SubsystemGuts.h:170
int getNQ(const State &s) const
Definition: SubsystemGuts.h:181
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *, Stage updateDependsOn)
This method allocates a DiscreteVariable whose value should be updated automatically after each time ...
const Vector & getQErr(const State &s) const
Definition: SubsystemGuts.h:152
UDotErrIndex allocateUDotErr(const State &s, int nudoterr) const
Definition: SubsystemGuts.h:113
int getNQErr() const
Return the total number nqerr=mp+nQuaternions of cache entries for position-level constraint errors...
const Vector & getQErrWeights(SubsystemIndex) const
const Vector & getUErrWeights(const State &s) const
Definition: SubsystemGuts.h:158
int getNMultipliers() const
Return the total number of constraint multipliers; necessarily the same as the number of acceleration...
const Vector & getMultipliers(const State &s) const
Definition: SubsystemGuts.h:163
Vector & updZDot(const State &s) const
Definition: SubsystemGuts.h:147
const Vector & getUDot(const State &s) const
Definition: SubsystemGuts.h:136
void markCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Mark the value of a particular cache entry as up to date after it has been recalculated.
SystemYIndex getQStart() const
Returns the y index at which the q&#39;s begin. Callable at Model stage.
The SimTK::Array_<T> container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
virtual int realizeSubsystemInstanceImpl(const State &s) const
Definition: SubsystemGuts.h:412
SystemEventTriggerIndex getEventTriggerStartByStage(Stage) const
Return the index within the global event trigger array at which the first of the event triggers assoc...
This unique integer type is for indexing global "q-like" arrays, that is, arrays that inherently have...
const String & getVersion() const
Report back the version string supplied on construction; this i not interpreted in any way by Simbody...
Definition: SubsystemGuts.h:68
const Vector & getUErr(SubsystemIndex) const
This unique integer type is for indexing global "qErr-like" arrays, that is, arrays that inherently h...
Measure_< T > getMeasure_(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given.
Definition: SubsystemGuts.h:284
Unique integer type for Subsystem-local z indexing.
Subsystem & updOwnerSubsystemHandle()
Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem...
Definition: SubsystemGuts.h:448
QIndex allocateQ(State &s, const Vector &qInit) const
Definition: SubsystemGuts.h:83
Vector & updQDotDot(SubsystemIndex) const
virtual int realizeSubsystemReportImpl(const State &s) const
Definition: SubsystemGuts.h:418
This unique integer type is for indexing global "uErr-like" arrays, that is, arrays that inherently h...
const Vector & getUErrWeights(SubsystemIndex) const
System & updSystem()
Return a writable reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:520
AbstractValue & updDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:257
const AbstractValue & getCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a const reference to the value contained in a particular cache entry.
const Vector & getQDot(const State &s) const
Definition: SubsystemGuts.h:134
QErrIndex allocateQErr(const State &s, int nqerr) const
Definition: SubsystemGuts.h:109
DiscreteVariableIndex allocateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *)
The Stage supplied here in the call is the earliest subsystem stage which is invalidated by a change ...
Unique integer type for Subsystem-local q indexing.
const AbstractValue & getCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:244
void advanceToStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:236
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
Vector & updQDot(SubsystemIndex) const
Vector & updMultipliers(SubsystemIndex) const
void setOwnerSubsystemHandle(Subsystem &subsys)
Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts o...
Definition: SubsystemGuts.h:457
Stage getStage(const State &s) const
Definition: SubsystemGuts.h:234
const Vector & getQErr(SubsystemIndex) const
UErrIndex allocateUErr(const State &s, int nuerr) const
Definition: SubsystemGuts.h:111
Higher than any legitimate Stage.
Definition: Stage.h:63
Vector & updQErr(SubsystemIndex) const
Vector & updQDot(const State &s) const
Definition: SubsystemGuts.h:143
const Vector & getQDotDot(const State &s) const
Definition: SubsystemGuts.h:140
SystemEventTriggerByStageIndex getEventTriggerStartByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:214
const Vector & getZWeights(const State &s) const
Definition: SubsystemGuts.h:127
void setU(State &s, const Vector &u) const
Definition: SubsystemGuts.h:225
AbstractValue & updCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a writable reference to the value contained in a particular cache entry. ...
Vector & updZ(State &s) const
Definition: SubsystemGuts.h:132
This unique integer type is for identifying a triggered event within a particular Stage of the full S...
CacheEntryIndex getDiscreteVarUpdateIndex(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:251
Real getDiscreteVarLastUpdateTime(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:248
void markCacheValueNotRealized(SubsystemIndex, CacheEntryIndex) const
Normally cache entries are invalidated automatically, however this method allows manual invalidation ...
AbstractValue & updDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return a writable reference to the value of its associated up...
ZIndex allocateZ(State &s, const Vector &zInit) const
Definition: SubsystemGuts.h:87
SystemQErrIndex getQErrStart(const State &s) const
Definition: SubsystemGuts.h:194
int getNEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:216
const System & getSystem() const
Return a const reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:518
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
UIndex allocateU(State &s, const Vector &uInit) const
Definition: SubsystemGuts.h:85
Real getDiscreteVarLastUpdateTime(SubsystemIndex, DiscreteVariableIndex) const
Return the time of last update for this discrete variable.
Vector & updUDotErr(SubsystemIndex) const
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
const Vector & getUErr(const State &s) const
Definition: SubsystemGuts.h:154
Abstract base class representing an arbitrary value of self-describing type.
Definition: Value.h:41
SystemYErrIndex getUErrStart() const
Returns the yErr index at which the uErr&#39;s begin. Callable at Instance stage.
This unique integer type is for indexing global "uDotErr-like" arrays, that is, arrays that inherentl...
int getNQ() const
Get total number of shared q&#39;s (generalized coordinates; second order state variables).
QErrIndex allocateQErr(SubsystemIndex, int nqerr) const
Allocate nqerr cache slots to hold the current error for position-level (holonomic) constraint equati...
void setSystem(System &system, SubsystemIndex subx)
Inform this Subsystem of the System that contains it, as well as the SubsystemIndex which the System ...
Definition: SubsystemGuts.h:522
This unique integer type is for selecting discrete variables.
bool isInSystem() const
Definition: SubsystemGuts.h:297
const Vector & getEventTriggersByStage(Stage) const
This unique integer type is for indexing global "z-like" arrays, that is, arrays that inherently have...
const String & getVersion() const
Obtain the Subsystem version string if one was given on construction.
Definition: SubsystemGuts.h:497
const Vector & getUDotErr(const State &s) const
Definition: SubsystemGuts.h:161
Vector & updUDotErr(const State &s) const
Definition: SubsystemGuts.h:172
bool subsystemTopologyHasBeenRealized() const
Returns true if this subsystem&#39;s realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:323
const Subsystem & getOwnerSubsystemHandle() const
Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::G...
Definition: SubsystemGuts.h:442
void markCacheValueNotRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:270
QIndex allocateQ(SubsystemIndex, const Vector &qInit)
Allocate generalized coordinates q, which are second order continuous state variables.
SystemUErrIndex getUErrStart(const State &s) const
Definition: SubsystemGuts.h:199
int size() const
Definition: VectorBase.h:396
const Vector & getEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:165
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody&#39;s...
Definition: System.h:97
const Vector & getU(const State &s) const
Definition: SubsystemGuts.h:121
int getNZ(const State &s) const
Definition: SubsystemGuts.h:191
UIndex allocateU(SubsystemIndex, const Vector &uInit)
Allocate generalized speeds u, which are first order continuous state variables related to the deriva...
const String & getName() const
Report back the name supplied on construction; this is not interpreted in any way by Simbody...
Definition: SubsystemGuts.h:65
SystemUDotErrIndex getUDotErrStart(SubsystemIndex) const
bool isCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:266
int getNUErr(const State &s) const
Definition: SubsystemGuts.h:201
virtual int realizeSubsystemAccelerationImpl(const State &s) const
Definition: SubsystemGuts.h:417
Provide a unique integer type for identifying Subsystems.
int getNU() const
Get total number of shared u&#39;s (generalized speeds; mobilities).
Vector & updEventTriggersByStage(Stage) const
const Vector & getQ(const State &s) const
Definition: SubsystemGuts.h:119
void markDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Mark the update value for this auto-update discrete variable as up-to-date with respect to the state ...
ZIndex allocateZ(SubsystemIndex, const Vector &zInit)
Allocate auxiliary first order continuous state variables z.
AbstractMeasure getMeasure(MeasureIndex) const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:509
This unique integer type is for selecting non-shared cache entries.
bool isOwnerHandle() const
Is this Subsystem handle the owner of the Subsystem::Guts object it points to? This is true if the ha...
Definition: SubsystemGuts.h:525
Vector & updZ(SubsystemIndex)
Results returned by the handleEvent() method.
Definition: Event.h:342
const Vector & getZDot(SubsystemIndex) const
This is the header which should be included in user programs that would like to make use of all the S...
Unique integer type for Subsystem-local, per-stage event indexing.
Vector & updUDot(SubsystemIndex) const
Vector & updMultipliers(const State &s) const
Definition: SubsystemGuts.h:174
void invalidateSubsystemTopologyCache() const
Always call this method when a topological change is made to this Subsystem to indicate that any Stag...
Definition: SubsystemGuts.h:503
EventTriggerByStageIndex allocateEventTrigger(SubsystemIndex, Stage stage, int nevent) const
Allocate room for nevent witness function values that will be available at the indicated stage...
SystemQIndex getQStart(const State &s) const
Definition: SubsystemGuts.h:179
CacheEntryIndex allocateCacheEntry(SubsystemIndex, Stage earliest, Stage latest, AbstractValue *) const
There are two Stages supplied explicitly as arguments to this method: earliest and latest...
This unique integer type is for indexing global "u-like" arrays, that is, arrays that inherently have...
Includes internal headers providing declarations for the basic SimTK Core classes.
Vector & updU(State &s) const
Definition: SubsystemGuts.h:131
const Vector & getUWeights(const State &s) const
Definition: SubsystemGuts.h:125
const Stage & getSubsystemStage(SubsystemIndex) const
void markCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:268
const Vector & getZ(SubsystemIndex) const
const System & getSystem() const
Definition: SubsystemGuts.h:300
UDotErrIndex allocateUDotErr(SubsystemIndex, int nudoterr) const
Allocate nudoterr cache slots to hold the current error for acceleration-level (acceleration-only, nonholonomic first derivative, and holonomic second derivative) constraint equations.
bool isInSystem() const
Return true if this Subsystem is contained in a System.
Definition: SubsystemGuts.h:513
bool hasOwnerSubsystemHandle() const
Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object...
Definition: SubsystemGuts.h:461
UErrIndex allocateUErr(SubsystemIndex, int nuerr) const
Allocate nuerr cache slots to hold the current error for velocity-level (nonholonomic and holonomic f...
AbstractValue & updCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:246
Options for the handleEvent() method.
Definition: Event.h:266
This is the base handle class for all Measures whose value type is known, including all the Simbody b...
Definition: Measure.h:261
System & updSystem()
Definition: SubsystemGuts.h:304
int getNUErr() const
Return the total number nuerr=mp+mv of cache entries for velocity-level constraint errors (including ...
int getNEventTriggersByStage(Stage) const
Return the size of the partition of event trigger functions which are evaluated at a given Stage...
SystemUIndex getUStart(const State &s) const
Definition: SubsystemGuts.h:184
This is a class to represent unique IDs for events in a type-safe way.