Simbody  3.5
MeasureImplementation.h
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1 #ifndef SimTK_SimTKCOMMON_MEASURE_IMPLEMENTATION_H_
2 #define SimTK_SimTKCOMMON_MEASURE_IMPLEMENTATION_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) 2008-13 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"
34 
35 #include <cmath>
36 
37 
38 namespace SimTK {
39 
40 
41 //==============================================================================
42 // ABSTRACT MEASURE :: IMPLEMENTATION
43 //==============================================================================
44 
49 protected:
52  Implementation() : copyNumber(0), mySubsystem(0), refCount(0) {}
53 
58  : copyNumber(src.copyNumber+1), mySubsystem(0), refCount(0) {}
59 
64  if (&src != this)
65  { copyNumber=src.copyNumber+1;
66  refCount=0; mySubsystem=0; }
67  return *this;
68  }
69 
70  // destructor is virtual; below
71 
72  // Increment the reference count and return its new value.
73  int incrRefCount() const {return ++refCount;}
74 
75  // Decrement the reference count and return its new value.
76  int decrRefCount() const {return --refCount;}
77 
78  // Get the current value of the reference counter.
79  int getRefCount() const {return refCount;}
80 
81  int getCopyNumber() const {return copyNumber;}
82 
86  Implementation* clone() const {return cloneVirtual();}
87 
88  // realizeTopology() is pure virtual below for Measure_<T> to supply.
89  void realizeModel (State& s) const {realizeMeasureModelVirtual(s);}
90  void realizeInstance (const State& s) const {realizeMeasureInstanceVirtual(s);}
91  void realizeTime (const State& s) const {realizeMeasureTimeVirtual(s);}
92  void realizePosition (const State& s) const {realizeMeasurePositionVirtual(s);}
93  void realizeVelocity (const State& s) const {realizeMeasureVelocityVirtual(s);}
94  void realizeDynamics (const State& s) const {realizeMeasureDynamicsVirtual(s);}
95  void realizeAcceleration(const State& s) const {realizeMeasureAccelerationVirtual(s);}
96  void realizeReport (const State& s) const {realizeMeasureReportVirtual(s);}
97 
101  void initialize(State& s) const {initializeVirtual(s);}
102 
103  int getNumTimeDerivatives() const {return getNumTimeDerivativesVirtual();}
104 
105  Stage getDependsOnStage(int derivOrder) const {
106  SimTK_ERRCHK2(0 <= derivOrder && derivOrder <= getNumTimeDerivatives(),
107  "Measure::getDependsOnStage()",
108  "derivOrder %d was out of range; this Measure allows 0-%d.",
109  derivOrder, getNumTimeDerivatives());
110  return getDependsOnStageVirtual(derivOrder);
111  }
112 
113 
114  void setSubsystem(Subsystem& sub, MeasureIndex mx)
115  { assert(!mySubsystem && mx.isValid());
116  mySubsystem = &sub; myIndex = mx; }
117 
118  bool isInSubsystem() const {return mySubsystem != 0;}
119  const Subsystem& getSubsystem() const {assert(mySubsystem); return *mySubsystem;}
120  Subsystem& updSubsystem() {assert(mySubsystem); return *mySubsystem;}
121  MeasureIndex getSubsystemMeasureIndex() const {assert(mySubsystem); return myIndex;}
123  { return getSubsystem().getMySubsystemIndex(); }
124 
126  { if (isInSubsystem()) getSubsystem().invalidateSubsystemTopologyCache(); }
127 
128  Stage getStage(const State& s) const {return getSubsystem().getStage(s);}
129 
130  // VIRTUALS //
131  // Ordinals must retain the same meaning from release to release
132  // to preserve binary compatibility.
133 
134  /* 0*/virtual ~Implementation() {}
135  /* 1*/virtual Implementation* cloneVirtual() const = 0;
136 
137  /* 2*/virtual void realizeTopology(State&)const = 0;
138 
139  /* 3*/virtual void realizeMeasureModelVirtual(State&) const {}
140  /* 4*/virtual void realizeMeasureInstanceVirtual(const State&) const {}
141  /* 5*/virtual void realizeMeasureTimeVirtual(const State&) const {}
142  /* 6*/virtual void realizeMeasurePositionVirtual(const State&) const {}
143  /* 7*/virtual void realizeMeasureVelocityVirtual(const State&) const {}
144  /* 8*/virtual void realizeMeasureDynamicsVirtual(const State&) const {}
145  /* 9*/virtual void realizeMeasureAccelerationVirtual(const State&) const {}
146  /*10*/virtual void realizeMeasureReportVirtual(const State&) const {}
147 
148  /*11*/virtual void initializeVirtual(State&) const {}
149  /*12*/virtual int
150  getNumTimeDerivativesVirtual() const {return 0;}
151  /*13*/virtual Stage
152  getDependsOnStageVirtual(int order) const = 0;
153 
154 private:
155  int copyNumber; // bumped each time we do a deep copy
156 
157  // These are set when this Measure is adopted by a Subsystem.
158  Subsystem* mySubsystem;
159  MeasureIndex myIndex;
160 
161  // Measures have shallow copy semantics so they share the Implementation
162  // objects, which are only deleted when the refCount goes to zero.
163  mutable int refCount;
164 
165 friend class AbstractMeasure;
166 friend class Subsystem::Guts;
167 };
168 
169 //==============================================================================
170 // ABSTRACT MEASURE DEFINITIONS
171 //==============================================================================
172 // These had to wait for AbstractMeasure::Implementation to be defined.
173 
174 inline AbstractMeasure::
176 : impl(g)
177 { if (impl) impl->incrRefCount(); }
178 
179 inline AbstractMeasure::
181 : impl(g) {
182  SimTK_ERRCHK(hasImpl(), "AbstractMeasure::AbstractMeasure()",
183  "An empty Measure handle can't be put in a Subsystem.");
184  impl->incrRefCount();
185  sub.adoptMeasure(*this);
186 }
187 
188 // Shallow copy constructor.
190 : impl(0) {
191  if (src.impl) {
192  impl = src.impl;
193  impl->incrRefCount();
194  }
195 }
196 
197 // Shallow assignment.
200  if (impl != src.impl) {
201  if (impl && impl->decrRefCount()==0) delete impl;
202  impl = src.impl;
203  impl->incrRefCount();
204  }
205  return *this;
206 }
207 
208 // Note that even if the source and destination are currently pointing
209 // to the same Implementation, we still have to make a new copy so that
210 // afterwards the destination has its own, refcount==1 copy.
213  if (&src != this) {
214  if (impl && impl->decrRefCount()==0) delete impl;
215  if (src.impl) {
216  impl = src.impl->clone();
217  impl->incrRefCount();
218  } else
219  impl = 0;
220  }
221  return *this;
222 }
223 
224 inline AbstractMeasure::
226 { if (impl && impl->decrRefCount()==0) delete impl;}
227 
228 inline bool AbstractMeasure::
230 { return hasImpl() && getImpl().isInSubsystem(); }
231 
232 inline const Subsystem& AbstractMeasure::
234 { return getImpl().getSubsystem(); }
235 
236 inline MeasureIndex AbstractMeasure::
238 { return getImpl().getSubsystemMeasureIndex();}
239 
240 inline int AbstractMeasure::
242 { return getImpl().getNumTimeDerivatives(); }
243 
245 getDependsOnStage(int derivOrder) const
246 { return getImpl().getDependsOnStage(derivOrder); }
247 
248 inline int AbstractMeasure::
249 getRefCount() const
250 { return getImpl().getRefCount(); }
251 
252  // Hide from Doxygen.
254 // This is a helper class that makes it possible to treat Real, Vec, and
255 // Vector objects uniformly.
256 template <class T> class Measure_Num {
257 };
258 
259 template <> class Measure_Num<float> {
260 public:
261  typedef float Element;
262  static int size(const float&) {return 1;}
263  static const float& get(const float& v, int i) {assert(i==0); return v;}
264  static float& upd(float& v, int i) {assert(i==0); return v;}
265  static void makeNaNLike(const float&, float& nanValue)
266  { nanValue = CNT<float>::getNaN();}
267  static void makeZeroLike(const float&, float& zeroValue) {zeroValue=0.f;}
268 };
269 
270 template <> class Measure_Num<double> {
271 public:
272  typedef double Element;
273  static int size(const double&) {return 1;}
274  static const double& get(const double& v, int i) {assert(i==0); return v;}
275  static double& upd(double& v, int i) {assert(i==0); return v;}
276  static void makeNaNLike(const double&, double& nanValue)
277  { nanValue = CNT<double>::getNaN(); }
278  static void makeZeroLike(const double&, double& zeroValue) {zeroValue=0.;}
279 };
280 
281 // We only support stride 1 (densely packed) Vec types.
282 template <int M, class E>
283 class Measure_Num< Vec<M,E,1> > {
284  typedef Vec<M,E,1> T;
285 public:
286  typedef E Element;
287  static int size(const T&) {return M;}
288  static const E& get(const T& v, int i) {return v[i];}
289  static E& upd(T& v, int i) {return v[i];}
290  static void makeNaNLike (const T&, T& nanValue) {nanValue.setToNaN();}
291  static void makeZeroLike(const T&, T& zeroValue) {zeroValue.setToZero();}
292 };
293 
294 // We only support column major (densely packed) Mat types.
295 template <int M, int N, class E>
296 class Measure_Num< Mat<M,N,E> > {
297  typedef Mat<M,N,E> T;
298 public:
299  typedef E Element;
300  static int size(const T&) {return N;} // number of columns
301  static const typename T::TCol& get(const T& m, int j) {return m.col(j);}
302  static typename T::TCol& upd(T& m, int j) {return m.col(j);}
303  static void makeNaNLike (const T&, T& nanValue) {nanValue.setToNaN();}
304  static void makeZeroLike(const T&, T& zeroValue) {zeroValue.setToZero();}
305 };
306 
307 
308 template <class E>
309 class Measure_Num< Vector_<E> > {
310  typedef Vector_<E> T;
311 public:
312  typedef E Element;
313  static int size(const T& v) {return v.size();}
314  static const E& get(const T& v, int i) {return v[i];}
315  static E& upd(T& v, int i) {return v[i];}
316  static void makeNaNLike(const T& v, T& nanValue)
317  { nanValue.resize(v.size()); nanValue.setToNaN(); }
318  static void makeZeroLike(const T& v, T& zeroValue)
319  { zeroValue.resize(v.size()); zeroValue.setToZero(); }
320 };
321 
322 
323 template <class E>
324 class Measure_Num< Rotation_<E> > {
325  typedef Rotation_<E> T;
326 public:
327  typedef T Element;
328  static int size(const T&) {return 1;}
329  static const T& get(const T& v, int i) {assert(i==0); return v;}
330  static T& upd(T& v, int i) {assert(i==0); return v;}
331  static void makeNaNLike(const T&, T& nanValue)
332  { nanValue.setRotationToNaN(); }
333  static void makeZeroLike(const T&, T& zeroValue)
334  { zeroValue.setRotationToIdentityMatrix(); }
335 };
336 
337 template <class E>
338 class Measure_Num< Transform_<E> > {
339  typedef Transform_<E> T;
340 public:
341  typedef T Element;
342  static int size(const T&) {return 1;}
343  static const T& get(const T& v, int i) {assert(i==0); return v;}
344  static T& upd(T& v, int i) {assert(i==0); return v;}
345  static void makeNaNLike(const T&, T& nanValue)
346  { nanValue.setToNaN(); }
347  static void makeZeroLike(const T&, T& zeroValue)
348  { zeroValue.setToZero(); }
349 };
350 
353 //==============================================================================
354 // MEASURE_<T> :: IMPLEMENTATION
355 //==============================================================================
362 template <class T>
364 public:
365  const T& getValue(const State& s, int derivOrder) const {
366  SimTK_ERRCHK2(0 <= derivOrder && derivOrder <= getNumTimeDerivatives(),
367  "Measure_<T>::getValue()",
368  "derivOrder %d was out of range; this Measure allows 0-%d.",
369  derivOrder, getNumTimeDerivatives());
370 
371  // We require the stage to have been advanced to at least the one
372  // before this measure's depends-on stage since this will get called
373  // towards the end of the depends-on stage realization.
374  if (getDependsOnStage(derivOrder) != Stage::Empty) {
375 #ifndef NDEBUG
376  Stage prevStage = getDependsOnStage(derivOrder).prev();
377 #endif
378 
380  ( ( isInSubsystem() && getStage(s)>=prevStage)
381  || (!isInSubsystem() && s.getSystemStage()>=prevStage),
382  "Measure_<T>::getValue()",
383  "Expected State to have been realized to at least stage "
384  "%s but stage was %s.",
385  prevStage.getName().c_str(),
386  (isInSubsystem() ? getStage(s) : s.getSystemStage())
387  .getName().c_str());
388  }
389 
390  if (derivOrder < getNumCacheEntries()) {
391  if (!isCacheValueRealized(s,derivOrder)) {
392  T& value = updCacheEntry(s,derivOrder);
393  calcCachedValueVirtual(s, derivOrder, value);
394  markCacheValueRealized(s,derivOrder);
395  return value;
396  }
397  return getCacheEntry(s,derivOrder);
398  }
399 
400  // We can't handle it here -- punt to the concrete Measure
401  // for higher order derivatives.
402  return getUncachedValueVirtual(s,derivOrder);
403  }
404 
407  void setDefaultValue(const T& defaultValue) {
408  this->defaultValue = defaultValue;
409  Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
410  this->invalidateTopologyCache();
411  }
412 
416  const T& getDefaultValue() const {return defaultValue;}
417 
419  { presumeValidAtDependsOnStage = presume;
420  this->invalidateTopologyCache(); }
421 
423  { return presumeValidAtDependsOnStage; }
424 
425 protected:
426  explicit Implementation(const T& defaultValue, int numCacheEntries=1)
427  : presumeValidAtDependsOnStage(false),
428  defaultValue(defaultValue),
429  derivIx(numCacheEntries)
430  {
431  Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
432  }
433 
437  explicit Implementation(int numCacheEntries=1)
438  : presumeValidAtDependsOnStage(false),
439  defaultValue(),
440  derivIx(numCacheEntries)
441  {
442  Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
443  }
444 
449  : presumeValidAtDependsOnStage(source.presumeValidAtDependsOnStage),
450  defaultValue(source.defaultValue),
451  derivIx(source.derivIx.size())
452  {
453  Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
454  }
455 
456 
459  int size() const {return Measure_Num<T>::size(defaultValue);}
460 
463  int getNumCacheEntries() const {return (int)derivIx.size();}
464 
468  const T& getCacheEntry(const State& s, int derivOrder) const {
469  SimTK_ERRCHK2(0 <= derivOrder && derivOrder < getNumCacheEntries(),
470  "Measure_<T>::Implementation::getCacheEntry()",
471  "Derivative order %d is out of range; only %d cache entries"
472  " were allocated.", derivOrder, getNumCacheEntries());
473 
474  return Value<T>::downcast(
475  this->getSubsystem().getCacheEntry(s, derivIx[derivOrder]));
476  }
477 
481  T& updCacheEntry(const State& s, int derivOrder) const {
482  SimTK_ERRCHK2(0 <= derivOrder && derivOrder < getNumCacheEntries(),
483  "Measure_<T>::Implementation::updCacheEntry()",
484  "Derivative order %d is out of range; only %d cache entries"
485  " were allocated.", derivOrder, getNumCacheEntries());
486 
487  return Value<T>::updDowncast(
488  this->getSubsystem().updCacheEntry(s, derivIx[derivOrder]));
489  }
490 
493  bool isCacheValueRealized(const State& s, int derivOrder) const {
494  SimTK_ERRCHK2(0 <= derivOrder && derivOrder < getNumCacheEntries(),
495  "Measure_<T>::Implementation::isCacheValueRealized()",
496  "Derivative order %d is out of range; only %d cache entries"
497  " were allocated.", derivOrder, getNumCacheEntries());
498 
499  return this->getSubsystem().isCacheValueRealized(s, derivIx[derivOrder]);
500  }
501 
505  void markCacheValueRealized(const State& s, int derivOrder) const {
506  SimTK_ERRCHK2(0 <= derivOrder && derivOrder < getNumCacheEntries(),
507  "Measure_<T>::Implementation::markCacheValueRealized()",
508  "Derivative order %d is out of range; only %d cache entries"
509  " were allocated.", derivOrder, getNumCacheEntries());
510 
511  this->getSubsystem().markCacheValueRealized(s, derivIx[derivOrder]);
512  }
513 
518  void markCacheValueNotRealized(const State& s, int derivOrder) const {
519  SimTK_ERRCHK2(0 <= derivOrder && derivOrder < getNumCacheEntries(),
520  "Measure_<T>::Implementation::markCacheValueNotRealized()",
521  "Derivative order %d is out of range; only %d cache entries"
522  " were allocated.", derivOrder, getNumCacheEntries());
523 
524  this->getSubsystem().markCacheValueNotRealized(s, derivIx[derivOrder]);
525  }
526 
527  // VIRTUALS //
528  // Ordinals must retain the same meaning from release to release
529  // to preserve binary compatibility.
530 
533  /* 0*/virtual void realizeMeasureTopologyVirtual(State&) const
534  {}
535 
538  /* 1*/virtual void
539  calcCachedValueVirtual(const State&, int derivOrder, T& value) const
540  { SimTK_ERRCHK1_ALWAYS(!"implemented",
541  "Measure_<T>::Implementation::calcCachedValueVirtual()",
542  "This method should have been overridden by the derived"
543  " Measure but was not. It is needed to calculate the"
544  " cached value for derivOrder=%d.", derivOrder); }
545 
551  /* 2*/virtual const T&
552  getUncachedValueVirtual(const State&, int derivOrder) const
553  { SimTK_ERRCHK1_ALWAYS(!"implemented",
554  "Measure_<T>::Implementation::getUncachedValueVirtual()",
555  "This method should have been overridden by the derived"
556  " Measure but was not. It is needed to return the uncached"
557  " value at derivOrder=%d.", derivOrder);
558  return *reinterpret_cast<T*>(0);
559  }
560 
563  const T& getValueZero() const {return zeroValue;}
564 
565 private:
566  // Satisfy the realizeTopology() pure virtual here now that we know the
567  // data type T. Allocate lazy- or auto-validated- cache entries depending
568  // on the setting of presumeValidAtDependsOnStage.
569  void realizeTopology(State& s) const FINAL_11 {
570  // Allocate cache entries. Initialize the value cache entry to
571  // the given defaultValue; all the derivative cache entries should be
572  // initialized to a NaN of the same size.
573  if (getNumCacheEntries()) {
574  derivIx[0] = presumeValidAtDependsOnStage
576  (s, getDependsOnStage(0), new Value<T>(defaultValue))
578  (s, getDependsOnStage(0), new Value<T>(defaultValue));
579 
580  if (getNumCacheEntries() > 1) {
581  T nanValue; Measure_Num<T>::makeNaNLike(defaultValue, nanValue);
582  for (int i=1; i < getNumCacheEntries(); ++i) {
583  derivIx[i] = presumeValidAtDependsOnStage
585  (s, getDependsOnStage(i), new Value<T>(nanValue))
587  (s, getDependsOnStage(i), new Value<T>(nanValue));
588  }
589  }
590  }
591 
592  // Call the concrete class virtual if any.
593  realizeMeasureTopologyVirtual(s);
594  }
595 
596 //------------------------------------------------------------------------------
597 private:
598  // TOPOLOGY STATE
599  bool presumeValidAtDependsOnStage;
600  T defaultValue;
601  T zeroValue;
602 
603  // TOPOLOGY CACHE
604  mutable Array_<CacheEntryIndex> derivIx;
605 };
606 
607 
608 
609 //==============================================================================
610 // CONSTANT :: IMPLEMENTATION
611 //==============================================================================
612 template <class T>
614 : public Measure_<T>::Implementation
615 {
616 public:
617  // We don't want the base class to allocate *any* cache entries.
619  explicit Implementation(const T& value)
620  : Measure_<T>::Implementation(value,0) {}
621 
624  void setValue(const T& v) {this->setDefaultValue(v);}
625 
626  // Implementations of virtual methods.
627  // Measure_<T> virtuals:
628  // No cached values.
629 
630  const T& getUncachedValueVirtual(const State&, int derivOrder) const
632  { return derivOrder>0 ? this->getValueZero() : this->getDefaultValue(); }
633 
634  // AbstractMeasure virtuals:
636  { return new Implementation(*this); }
638  { return derivOrder>0 ? Stage::Empty : Stage::Topology; }
640  { return std::numeric_limits<int>::max(); }
641 };
642 
643 
644 
645 //==============================================================================
646 // MEASURE ZERO and ONE
647 //==============================================================================
648 // These had to wait for Constant::Implementation to be declared.
649 
650 template <class T> inline
652 template <class T> inline
654 
656 : Constant(Vector(size, Real(0))) {}
658 : Constant(sub, Vector(size, Real(0))) {}
659 
660 template <class T> inline
662 template <class T> inline
664 
666 : Constant(Vector(size, Real(1))) {}
668 : Constant(sub, Vector(size, Real(1))) {}
669 
670 
671 
672 //==============================================================================
673 // TIME :: IMPLEMENTATION
674 //==============================================================================
675 template <class T>
677 
678 template <>
679 class Measure_<Real>::Time::Implementation
680 : public Measure_<Real>::Implementation
681 {
682 public:
683  // We don't want the base class to allocate *any* cache entries.
685 
686  // Implementations of virtual methods.
687  // Measure_<Real> virtuals:
688  // No cached values.
689 
690  const Real& getUncachedValueVirtual(const State& s, int derivOrder) const
692  { return derivOrder==0 ? s.getTime()
693  : (derivOrder==1 ? SimTK::One
694  : SimTK::Zero); }
695 
696  // AbstractMeasure virtuals:
698  { return new Implementation(*this); }
700  { return derivOrder>0 ? Stage::Empty : Stage::Time; }
701 
702  // Value is t, 1st derivative is 1, the rest are 0.
704  { return std::numeric_limits<int>::max(); }
705 };
706 
707 
708 
709 //==============================================================================
710 // VARIABLE :: IMPLEMENTATION
711 //==============================================================================
712 template <class T>
714 : public Measure_<T>::Implementation
715 {
716 public:
717  // We don't want the base class to allocate *any* cache entries;
718  // we'll use the variable as its own value and zeroes for all
719  // the derivatives.
721  : Measure_<T>::Implementation(0),
722  invalidatedStage(Stage::Empty) {}
723 
724  Implementation(Stage invalidated, const T& defaultValue)
725  : Measure_<T>::Implementation(defaultValue, 0),
726  invalidatedStage(invalidated) {}
727 
728  // Copy constructor should not copy the variable.
730  : Measure_<T>::Implementation(source.getDefaultValue(), 0),
731  invalidatedStage(source.invalidatedStage) {}
732 
733  void setInvalidatedStage(Stage invalidates) {
734  invalidatedStage = invalidates;
735  this->invalidateTopologyCache();
736  }
737 
738  Stage getInvalidatedStage() const {return invalidatedStage;}
739 
743  void setValue(State& state, const T& value) const
744  { updVarValue(state) = value; }
745 
746  // Implementations of virtual methods.
748  { return new Implementation(*this); }
749 
751  { return std::numeric_limits<int>::max(); }
752 
753  // Discrete variable is available after Model stage; but all its
754  // derivatives are zero so are always available.
756  { return derivOrder>0 ? Stage::Empty : Stage::Model;}
757 
758  const T& getUncachedValueVirtual(const State& s, int derivOrder) const
760  { return derivOrder>0 ? this->getValueZero() : getVarValue(s); }
761 
762  // No cached values.
763 
765  discreteVarIndex = this->getSubsystem().allocateDiscreteVariable
766  (s, invalidatedStage, new Value<T>(this->getDefaultValue()));
767  }
768 private:
769  const T& getVarValue(const State& s) const {
770  assert(discreteVarIndex.isValid());
771  return Value<T>::downcast(
772  this->getSubsystem().getDiscreteVariable(s, discreteVarIndex));
773  }
774  T& updVarValue(State& s) const {
775  assert(discreteVarIndex.isValid());
776  return Value<T>::downcast(
777  this->getSubsystem().updDiscreteVariable(s, discreteVarIndex));
778  }
779 
780  // TOPOLOGY STATE
781  Stage invalidatedStage; // TODO this shouldn't be needed
782 
783  // TOPOLOGY CACHE
784  mutable DiscreteVariableIndex discreteVarIndex;
785 };
786 
787 
788 
789 //==============================================================================
790 // RESULT :: IMPLEMENTATION
791 //==============================================================================
792 template <class T>
794 : public Measure_<T>::Implementation
795 {
796 public:
797  // We want the base class to allocate a single cache entry of type T.
799  : Measure_<T>::Implementation(1),
800  dependsOnStage(Stage::Topology), invalidatedStage(Stage::Infinity) {}
801 
802  Implementation(Stage dependsOn, Stage invalidated)
803  : Measure_<T>::Implementation(1),
804  dependsOnStage(dependsOn==Stage::Empty ? Stage::Topology : dependsOn),
805  invalidatedStage(invalidated)
806  { SimTK_ERRCHK2_ALWAYS(invalidated > dependsOn,"Measure::Result::ctor()",
807  "Got invalidated stage %s and dependsOn stage %s which is illegal "
808  "because the invalidated stage must be later than dependsOn.",
809  invalidated.getName().c_str(), dependsOn.getName().c_str());
810  }
811 
812  // Copy constructor will not copy the cache entry index.
814  : Measure_<T>::Implementation(source),
815  dependsOnStage(source.dependsOnStage),
816  invalidatedStage(source.invalidatedStage) {}
817 
818  void setDependsOnStage(Stage dependsOn) {
819  if (dependsOn == Stage::Empty) dependsOn = Stage::Topology;
820  SimTK_ERRCHK2_ALWAYS(dependsOn < getInvalidatedStage(),
821  "Measure::Result::setDependsOnStage()",
822  "The provided dependsOn stage %s is illegal because it is not "
823  "less than the current invalidated stage %s. Change the "
824  "invalidated stage first with setInvalidatedStage().",
825  dependsOn.getName().c_str(),
826  getInvalidatedStage().getName().c_str());
827 
828  dependsOnStage = dependsOn;
829  this->invalidateTopologyCache();
830  }
831 
832  void setInvalidatedStage(Stage invalidated) {
833  SimTK_ERRCHK2_ALWAYS(invalidated > getDependsOnStage(),
834  "Measure::Result::setInvalidatedStage()",
835  "The provided invalidated stage %s is illegal because it is not "
836  "greater than the current dependsOn stage %s. Change the "
837  "dependsOn stage first with setDependsOnStage().",
838  invalidated.getName().c_str(),
839  getDependsOnStage().getName().c_str());
840 
841  invalidatedStage = invalidated;
842  this->invalidateTopologyCache();
843  }
844 
845 
846  Stage getDependsOnStage() const {return dependsOnStage;}
847  Stage getInvalidatedStage() const {return invalidatedStage;}
848 
849 
850  void markAsValid(const State& state) const
851  { const Stage subsystemStage = this->getSubsystem().getStage(state);
852  SimTK_ERRCHK3_ALWAYS(subsystemStage >= getDependsOnStage().prev(),
853  "Measure::Result::markAsValid()",
854  "This Result Measure cannot be marked valid in a State where this "
855  "measure's Subsystem has been realized only to stage %s, because "
856  "its value was declared to depend on stage %s. To mark it valid, "
857  "we require that the State have been realized at least to the "
858  "previous stage (%s in this case); that is, you must at least be "
859  "*working on* the dependsOn stage in order to claim this result is "
860  "available.",
861  subsystemStage.getName().c_str(),
862  getDependsOnStage().getName().c_str(),
863  getDependsOnStage().prev().getName().c_str());
864  this->markCacheValueRealized(state, 0); }
865 
866  bool isValid(const State& state) const
867  { return this->isCacheValueRealized(state, 0); }
868 
869  void markAsNotValid(const State& state) const
870  { this->markCacheValueNotRealized(state, 0);
871  state.invalidateAllCacheAtOrAbove(invalidatedStage); }
872 
873  T& updValue(const State& state) const
874  { markAsNotValid(state); return this->updCacheEntry(state, 0); }
875 
876 
877  // Implementations of virtual methods.
879  { return new Implementation(*this); }
880 
881  int getNumTimeDerivativesVirtual() const OVERRIDE_11 {return 0;}
882 
886  { return derivOrder>0 ? Stage::Empty : dependsOnStage;}
887 
888  void calcCachedValueVirtual(const State&, int derivOrder, T& value) const
890  { SimTK_ERRCHK_ALWAYS(!"calcCachedValueVirtual() implemented",
891  "Measure_<T>::Result::getValue()",
892  "Measure_<T>::Result::getValue() was called when the value was not "
893  "yet valid. For most Measure types, this would have initiated "
894  "computation of the value, but Result measures must have their values "
895  "calculated and set externally, and then marked valid."); }
896 
897 private:
898  // TOPOLOGY STATE
899  Stage dependsOnStage;
900  Stage invalidatedStage;
901 };
902 
903 
904 
905 //==============================================================================
906 // SINUSOID :: IMPLEMENTATION
907 //==============================================================================
908 template <class T>
910 : public Measure_<T>::Implementation
911 {
912  static const int NumDerivs = 3;
913 public:
915  : Measure_<T>::Implementation(NumDerivs+1),
916  a(CNT<T>::getNaN()), w(CNT<T>::getNaN()), p(CNT<T>::getNaN()) {}
917 
918  Implementation(const T& amplitude,
919  const T& frequency,
920  const T& phase=T(0))
921  : Measure_<T>::Implementation(NumDerivs+1),
922  a(amplitude), w(frequency), p(phase) {}
923 
924  // Default copy constructor is fine.
925 
926  // Implementations of virtual methods.
928  { return new Implementation(*this); }
929 
930  int getNumTimeDerivativesVirtual() const OVERRIDE_11 {return NumDerivs;}
931 
933  { return Stage::Time; }
934 
935  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
937  {
938  // We need to allow the compiler to select std::sin or SimTK::sin
939  // based on the argument type.
940  using std::sin; using std::cos;
941 
942  assert(NumDerivs == 3);
943  const Real t = s.getTime();
944  const T arg = w*t + p;
945 
946  switch (derivOrder) {
947  case 0: value = a*sin(arg); break;
948  case 1: value = w*a*cos(arg); break;
949  case 2: value = -w*w*a*sin(arg); break;
950  case 3: value = -w*w*w*a*cos(arg); break;
951  default: SimTK_ASSERT1_ALWAYS(!"out of range",
952  "Measure::Sinusoid::Implementation::calcCachedValueVirtual():"
953  " derivOrder %d is out of range 0-3.", derivOrder);
954  }
955  }
956 
957  // There are no uncached values.
958 
959 private:
960  // TOPOLOGY STATE
961  T a, w, p;
962 
963  // TOPOLOGY CACHE
964  // nothing
965 };
966 
967 
968 
969 //==============================================================================
970 // PLUS :: IMPLEMENTATION
971 //==============================================================================
972 template <class T>
974 public:
975  // TODO: Currently allocates just one cache entry.
976  // left and right will be empty handles.
978 
980  const Measure_<T>& right)
981  : left(left), right(right) {}
982 
983  // Default copy constructor gives us a new Implementation object,
984  // but with references to the *same* operand measures.
985 
986  // Implementations of virtual methods.
987 
988  // This uses the default copy constructor.
990  { return new Implementation(*this); }
991 
992  // TODO: Let this be settable up to the min number of derivatives
993  // provided by the arguments.
994  int getNumTimeDerivativesVirtual() const OVERRIDE_11 {return 0;}
995  //{ return std::min(left.getNumTimeDerivatives(),
996  // right.getNumTimeDerivatives()); }
997 
999  { return Stage(std::max(left.getDependsOnStage(order),
1000  right.getDependsOnStage(order))); }
1001 
1002 
1003  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
1004  OVERRIDE_11
1005  {
1006  value = left.getValue(s,derivOrder) + right.getValue(s,derivOrder);
1007  }
1008 
1009  // There are no uncached values.
1010 
1011 private:
1012  // TOPOLOGY STATE
1013  Measure_<T> left;
1014  Measure_<T> right;
1015 
1016  // TOPOLOGY CACHE
1017  // nothing
1018 };
1019 
1020 
1021 
1022 //==============================================================================
1023 // MINUS :: IMPLEMENTATION
1024 //==============================================================================
1025 template <class T>
1027 public:
1028  // TODO: Currently allocates just one cache entry.
1029  // left and right will be empty handles.
1031 
1033  const Measure_<T>& right)
1034  : left(left), right(right) {}
1035 
1036  // Default copy constructor gives us a new Implementation object,
1037  // but with references to the *same* operand measures.
1038 
1039  // Implementations of virtual methods.
1040 
1041  // This uses the default copy constructor.
1043  { return new Implementation(*this); }
1044 
1045  // TODO: Let this be settable up to the min number of derivatives
1046  // provided by the arguments.
1048  //{ return std::min(left.getNumTimeDerivatives(),
1049  // right.getNumTimeDerivatives()); }
1050 
1052  { return Stage(std::max(left.getDependsOnStage(order),
1053  right.getDependsOnStage(order))); }
1054 
1055 
1056  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
1057  OVERRIDE_11
1058  {
1059  value = left.getValue(s,derivOrder) - right.getValue(s,derivOrder);
1060  }
1061 
1062  // There are no uncached values.
1063 
1064 private:
1065  // TOPOLOGY STATE
1066  Measure_<T> left;
1067  Measure_<T> right;
1068 
1069  // TOPOLOGY CACHE
1070  // nothing
1071 };
1072 
1073 
1074 
1075 //==============================================================================
1076 // SCALE :: IMPLEMENTATION
1077 //==============================================================================
1078 template <class T>
1080 : public Measure_<T>::Implementation
1081 {
1082 public:
1083  // TODO: Currently allocates just one cache entry.
1084  // scale will be uninitialized, operand will be empty handle.
1085  Implementation() : factor(NaN) {}
1086 
1087  Implementation(Real factor, const Measure_<T>& operand)
1088  : factor(factor), operand(operand) {}
1089 
1090  // Default copy constructor gives us a new Implementation object,
1091  // but with references to the *same* operand measure.
1092 
1093  void setScaleFactor(Real sf) {
1094  factor = sf;
1095  this->invalidateTopologyCache();
1096  }
1097 
1099  {
1100  return operand;
1101  }
1102 
1103  // Implementations of virtual methods.
1104 
1105  // This uses the default copy constructor.
1107  { return new Implementation(*this); }
1108 
1109  // TODO: Let this be settable up to the min number of derivatives
1110  // provided by the arguments.
1112  //{ return std::min(left.getNumTimeDerivatives(),
1113  // right.getNumTimeDerivatives()); }
1114 
1116  { return operand.getDependsOnStage(order); }
1117 
1118 
1119  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
1120  OVERRIDE_11
1121  {
1122  value = factor * operand.getValue(s,derivOrder);
1123  }
1124 
1125  // There are no uncached values.
1126 
1127 private:
1128  // TOPOLOGY STATE
1129  Real factor;
1130  Measure_<T> operand;
1131 
1132  // TOPOLOGY CACHE
1133  // nothing
1134 };
1135 
1136 
1137 
1138 //==============================================================================
1139 // INTEGRATE :: IMPLEMENTATION
1140 //==============================================================================
1147 template <class T>
1149 : public Measure_<T>::Implementation {
1150 public:
1154 
1157  Implementation(const Measure_<T>& deriv, const Measure_<T>& ic,
1158  const T& defaultValue)
1159  : Measure_<T>::Implementation(defaultValue, 1),
1160  derivMeasure(deriv), icMeasure(ic) {}
1161 
1165  : Measure_<T>::Implementation(source.getDefaultValue(), 1),
1166  derivMeasure(source.derivMeasure), icMeasure(source.icMeasure) {}
1167 
1171  void setValue(State& s, const T& value) const
1172  { assert(zIndex >= 0);
1173  for (int i=0; i < this->size(); ++i)
1174  this->getSubsystem().updZ(s)[zIndex+i] =
1175  Measure_Num<T>::get(value, i); }
1176 
1178  { SimTK_ERRCHK(!derivMeasure.isEmptyHandle(),
1179  "Measure_<T>::Integrate::getDerivativeMeasure()",
1180  "No derivative measure is available for this integrated measure.");
1181  return derivMeasure; }
1182 
1184  { SimTK_ERRCHK(!icMeasure.isEmptyHandle(),
1185  "Measure_<T>::Integrate::getInitialConditionMeasure()",
1186  "No initial condition measure is available for this "
1187  "integrated measure.");
1188  return icMeasure; }
1189 
1191  { derivMeasure = d; this->invalidateTopologyCache(); }
1193  { icMeasure = ic; this->invalidateTopologyCache(); }
1194 
1195  // Implementations of virtuals.
1196 
1197  // This uses the copy constructor defined above.
1199  { return new Implementation(*this); }
1200 
1203  { int integralDerivs = getDerivativeMeasure().getNumTimeDerivatives();
1204  // Careful - can't add 1 to max int and stay an int.
1205  if (integralDerivs < std::numeric_limits<int>::max())
1206  ++integralDerivs;
1207  return integralDerivs; }
1208 
1209  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
1210  OVERRIDE_11
1211  { assert(derivOrder == 0); // only one cache entry
1212  assert(Measure_Num<T>::size(value) == this->size());
1213  assert(zIndex.isValid());
1214  const Vector& allZ = this->getSubsystem().getZ(s);
1215  for (int i=0; i < this->size(); ++i)
1216  Measure_Num<T>::upd(value,i) = allZ[zIndex+i];
1217  }
1218 
1219  const T& getUncachedValueVirtual(const State& s, int derivOrder) const
1220  OVERRIDE_11
1221  { assert(derivOrder > 0); // 0th entry is cached
1222  return getDerivativeMeasure().getValue(s, derivOrder-1);
1223  }
1224 
1226  { return derivOrder>0
1227  ? getDerivativeMeasure().getDependsOnStage(derivOrder-1)
1228  : Stage::Time; }
1229 
1233  assert(zIndex.isValid());
1234  Vector& allZ = this->getSubsystem().updZ(s);
1235  if (!icMeasure.isEmptyHandle()) {
1236  this->getSubsystem().getSystem()
1237  .realize(s, icMeasure.getDependsOnStage());
1238  const T& ic = icMeasure.getValue(s);
1239  for (int i=0; i < this->size(); ++i)
1240  allZ[zIndex+i] = Measure_Num<T>::get(ic,i);
1241  } else {
1242  for (int i=0; i < this->size(); ++i)
1243  allZ[zIndex+i] = Measure_Num<T>::get(this->getDefaultValue(),i);
1244  }
1245  }
1246 
1252  Vector init(this->size());
1253  for (int i=0; i < this->size(); ++i)
1254  init[i] = Measure_Num<T>::get(this->getDefaultValue(),i);
1255  zIndex = this->getSubsystem().allocateZ(s, init);
1256  }
1257 
1261  assert(zIndex.isValid());
1262  Vector& allZDot = this->getSubsystem().updZDot(s);
1263  if (!derivMeasure.isEmptyHandle()) {
1264  const T& deriv = derivMeasure.getValue(s);
1265  for (int i=0; i < this->size(); ++i)
1266  allZDot[zIndex+i] = Measure_Num<T>::get(deriv,i);
1267  } else {
1268  allZDot(zIndex,this->size()) = 0; // derivative is zero
1269  }
1270  }
1271 
1272 private:
1273  // TOPOLOGY STATE
1274  Measure_<T> derivMeasure; // just handles
1275  Measure_<T> icMeasure;
1276 
1277  // TOPOLOGY CACHE
1278  mutable ZIndex zIndex; // This is the first index if more than one z.
1279 };
1280 
1281 
1282 
1283 //==============================================================================
1284 // DIFFERENTIATE :: IMPLEMENTATION
1285 //==============================================================================
1286  // Hide from Doxygen.
1288 // This helper class is the contents of the discrete state variable and
1289 // corresponding cache entry maintained by this measure. The variable is
1290 // auto-update, meaning the value of the cache entry replaces the state
1291 // variable at the start of each step.
1292 // TODO: This was a local class in Measure_<T>::Differentiate::Implementation
1293 // but VC++ 8 (2005) failed to properly instantiate the templatized operator<<()
1294 // in that case; doing it this way is a workaround.
1295 template <class T>
1296 class Measure_Differentiate_Result {
1297 public:
1298  Measure_Differentiate_Result() : derivIsGood(false) {}
1299  T operand; // previous value of operand
1300  T operandDot; // previous value of derivative
1301  bool derivIsGood; // do we think the deriv is a good one?
1302 };
1305 template <class T>
1307 : public Measure_<T>::Implementation
1308 {
1309  typedef Measure_Differentiate_Result<T> Result;
1310 public:
1311  // Don't allocate any cache entries in the base class.
1313 
1314  Implementation(const Measure_<T>& operand)
1315  : Measure_<T>::Implementation(0),
1316  operand(operand), forceUseApprox(false), isApproxInUse(false) {}
1317 
1318  // Default copy constructor gives us a new Implementation object,
1319  // but with reference to the *same* operand measure.
1320 
1321  void setForceUseApproximation(bool mustApproximate) {
1322  forceUseApprox = mustApproximate;
1323  this->invalidateTopologyCache();
1324  }
1325 
1326  void setOperandMeasure(const Measure_<T>& operand) {
1327  this->operand = operand;
1328  this->invalidateTopologyCache();
1329  }
1330 
1331  bool getForceUseApproximation() const {return forceUseApprox;}
1332  bool isUsingApproximation() const {return isApproxInUse;}
1333  const Measure_<T>& getOperandMeasure() const {return operand;}
1334 
1335  // Implementations of virtual methods.
1336 
1337  // This uses the default copy constructor.
1339  { return new Implementation(*this); }
1340 
1341  // This has one fewer than the operand.
1343  { if (!isApproxInUse) return operand.getNumTimeDerivatives()-1;
1344  else return 0; }
1345 
1347  { if (!isApproxInUse) return operand.getDependsOnStage(order+1);
1348  else return operand.getDependsOnStage(order); }
1349 
1350 
1351  // We're not using the Measure_<T> base class cache services, but
1352  // we do have one of our own. It looks uncached from the base class
1353  // point of view which is why we're implementing it here.
1354  const T& getUncachedValueVirtual(const State& s, int derivOrder) const
1355  OVERRIDE_11
1356  { if (!isApproxInUse)
1357  return operand.getValue(s, derivOrder+1);
1358 
1359  ensureDerivativeIsRealized(s);
1360  const Subsystem& subsys = this->getSubsystem();
1361  const Result& result = Value<Result>::downcast
1362  (subsys.getDiscreteVarUpdateValue(s,resultIx));
1363  return result.operandDot; // has a value but might not be a good one
1364  }
1365 
1367  if (!isApproxInUse) return;
1368 
1369  assert(resultIx.isValid());
1370  const Subsystem& subsys = this->getSubsystem();
1371  Result& result = Value<Result>::updDowncast
1372  (subsys.updDiscreteVariable(s,resultIx));
1373  this->getSubsystem().getSystem().realize(s,operand.getDependsOnStage());
1374  result.operand = operand.getValue(s);
1375  result.operandDot = this->getValueZero();
1376  result.derivIsGood = false;
1377  }
1378 
1380  isApproxInUse = (forceUseApprox || operand.getNumTimeDerivatives()==0);
1381  if (!isApproxInUse)
1382  return;
1383 
1384  resultIx = this->getSubsystem()
1385  .allocateAutoUpdateDiscreteVariable(s, operand.getDependsOnStage(0),
1386  new Value<Result>(), operand.getDependsOnStage(0));
1387  }
1388 
1392  ensureDerivativeIsRealized(s);
1393  }
1394 
1395  void ensureDerivativeIsRealized(const State& s) const {
1396  assert(resultIx.isValid());
1397  const Subsystem& subsys = this->getSubsystem();
1398  if (subsys.isDiscreteVarUpdateValueRealized(s,resultIx))
1399  return;
1400 
1401  const Real t0 = subsys.getDiscreteVarLastUpdateTime(s,resultIx);
1402  const Result& prevResult = Value<Result>::downcast
1403  (subsys.getDiscreteVariable(s,resultIx));
1404  const T& f0 = prevResult.operand;
1405  const T& fdot0 = prevResult.operandDot; // may be invalid
1406  const bool good0 = prevResult.derivIsGood;
1407 
1408  const Real t = s.getTime();
1409  Result& result = Value<Result>::updDowncast
1410  (subsys.updDiscreteVarUpdateValue(s,resultIx));
1411  T& f = result.operand; // renaming
1412  T& fdot = result.operandDot;
1413  bool& good = result.derivIsGood;
1414 
1415  f = operand.getValue(s);
1416  good = false;
1417  if (!isFinite(t0))
1418  fdot = this->getValueZero();
1419  else if (t == t0) {
1420  fdot = fdot0;
1421  good = good0;
1422  } else {
1423  fdot = (f-f0)/(t-t0); // 1st order
1424  if (good0)
1425  fdot = Real(2)*fdot - fdot0; // now 2nd order
1426  good = true; // either 1st or 2nd order estimate
1427  }
1428  subsys.markDiscreteVarUpdateValueRealized(s,resultIx);
1429  }
1430 private:
1431  // TOPOLOGY STATE
1432  Measure_<T> operand;
1433  bool forceUseApprox;
1434 
1435  // TOPOLOGY CACHE
1436  mutable bool isApproxInUse;
1437  mutable DiscreteVariableIndex resultIx; // auto-update
1438 };
1439 
1440 
1441 
1442 //==============================================================================
1443 // EXTREME :: IMPLEMENTATION
1444 //==============================================================================
1445 template <class T>
1447 {
1448  typedef typename Measure_<T>::Extreme Extreme;
1449  typedef typename Extreme::Operation Operation;
1450 public:
1454  : Measure_<T>::Implementation(0), operation(Extreme::MaxAbs) {}
1455 
1458  Implementation(const Measure_<T>& operand, Operation op)
1459  : Measure_<T>::Implementation(0), operand(operand), operation(op) {}
1460 
1461  // Default copy constructor gives us a new Implementation object,
1462  // but with reference to the *same* operand measure.
1463 
1467  void setOperandMeasure(const Measure_<T>& operand) {
1468  this->operand = operand;
1469  this->invalidateTopologyCache();
1470  }
1471 
1475  void setOperation(Operation op) {
1476  this->operation = op;
1477  this->invalidateTopologyCache();
1478  }
1479 
1481  const Measure_<T>& getOperandMeasure() const {return operand;}
1482 
1485  Operation getOperation() const {return operation;}
1486 
1489  void setValue(State& s, const T& value) const {
1490  assert(extremeIx.isValid());
1491  const Subsystem& subsys = this->getSubsystem();
1492  T& prevMin = Value<T>::updDowncast
1493  (subsys.updDiscreteVariable(s,extremeIx));
1494  prevMin = value;
1495  }
1496 
1500  Real getTimeOfExtremeValue(const State& s) const {
1501  const Subsystem& subsys = this->getSubsystem();
1502  const bool hasNewExtreme = ensureExtremeHasBeenUpdated(s);
1503  Real tUpdate;
1504  if (hasNewExtreme)
1505  tUpdate = s.getTime(); // i.e., now
1506  else
1507  tUpdate = subsys.getDiscreteVarLastUpdateTime(s,extremeIx);
1508  return tUpdate;
1509  }
1510 
1511  // Implementations of virtual methods.
1512 
1513  // This uses the default copy constructor.
1515  { return new Implementation(*this); }
1516 
1520  { return operand.getNumTimeDerivatives(); }
1521 
1525  { return operand.getDependsOnStage(order); }
1526 
1527 
1531  const T& getUncachedValueVirtual(const State& s, int derivOrder) const
1532  OVERRIDE_11
1533  {
1534  const Subsystem& subsys = this->getSubsystem();
1535  const bool hasNewExtreme = ensureExtremeHasBeenUpdated(s);
1536  if (derivOrder > 0) {
1537  // TODO: should be handled elementwise and zero unless the
1538  // derivative is acting in the direction that changes the
1539  // extreme.
1540  return hasNewExtreme ? operand.getValue(s, derivOrder)
1541  : this->getValueZero();
1542  }
1543  if (hasNewExtreme) {
1544  const T& newExt = Value<T>::downcast
1545  (subsys.getDiscreteVarUpdateValue(s,extremeIx));
1546  return newExt;
1547  } else {
1548  const T& currentExt = Value<T>::downcast
1549  (subsys.getDiscreteVariable(s,extremeIx));
1550  return currentExt;
1551  }
1552  }
1553 
1557  this->getSubsystem().getSystem().realize(s,operand.getDependsOnStage());
1558  setValue(s, operand.getValue(s));
1559  }
1560 
1569  // TODO: this should be NaN once initialization is working properly.
1570  T initVal = this->getDefaultValue();
1571  switch(operation) {
1572  case Minimum: initVal = Infinity; break;
1573  case Maximum: initVal = -Infinity; break;
1574  case MinAbs: initVal = Infinity; break;
1575  case MaxAbs: initVal = 0; break;
1576  };
1577 
1578  extremeIx = this->getSubsystem()
1580  new Value<T>(initVal), operand.getDependsOnStage(0));
1581 
1582  isNewExtremeIx = this->getSubsystem()
1584  new Value<bool>(false), operand.getDependsOnStage(0));
1585  }
1586 
1590  ensureExtremeHasBeenUpdated(s);
1591  }
1592 
1598  bool ensureExtremeHasBeenUpdated(const State& s) const {
1599  assert(extremeIx.isValid() && isNewExtremeIx.isValid());
1600  const Subsystem& subsys = this->getSubsystem();
1601 
1602  // We may have already determined whether we're at a new extreme in
1603  // which case we don't need to do it again.
1604  if (subsys.isDiscreteVarUpdateValueRealized(s, isNewExtremeIx))
1605  return Value<bool>::downcast
1606  (subsys.getDiscreteVarUpdateValue(s,isNewExtremeIx));
1607 
1608  // We're going to have to decide if we're at a new extreme, and if
1609  // so record the new extreme value in the auto-update cache entry of
1610  // the extreme value state variable.
1611 
1612  // Get the previous extreme value and the current operand value.
1613  const T& prevExtreme = Value<T>::downcast
1614  (subsys.getDiscreteVariable(s,extremeIx));
1615  const T& currentVal = operand.getValue(s);
1616 
1617  // Search to see if any element has reached a new extreme.
1618  bool foundNewExt = false;
1619  for (int i=0; i < this->size() && !foundNewExt; ++i)
1620  foundNewExt = isNewExtreme(Measure_Num<T>::get(currentVal,i),
1621  Measure_Num<T>::get(prevExtreme,i));
1622 
1623  // Record the result and mark the auto-update cache entry valid
1624  // so we won't have to recalculate. When the integrator advances to the
1625  // next step this cache entry will be swapped with the corresponding
1626  // state and marked invalid so we'll be sure to recalculate each step.
1628  (subsys.updDiscreteVarUpdateValue(s,isNewExtremeIx)) = foundNewExt;
1629  subsys.markDiscreteVarUpdateValueRealized(s,isNewExtremeIx);
1630 
1631  // Don't update the auto-update cache entry if we didn't see a new
1632  // extreme. That way no auto-update will occur and the state variable
1633  // will remain unchanged with the existing update time preserved.
1634  if (!foundNewExt)
1635  return false;
1636 
1637  // We have encountered a new extreme. We'll record the new extreme
1638  // in the auto-update cache entry which will be used as the current
1639  // result until the integrator advances to the next step at which time
1640  // this will be swapped with the state variable to serve as the previous
1641  // extreme value until a further extreme is encountered.
1642  T& newExtreme = Value<T>::updDowncast
1643  (subsys.updDiscreteVarUpdateValue(s,extremeIx));
1644 
1645  for (int i=0; i < this->size(); ++i)
1646  Measure_Num<T>::upd(newExtreme,i) =
1647  extremeOf(Measure_Num<T>::get(currentVal,i),
1648  Measure_Num<T>::get(prevExtreme,i));
1649 
1650  // Marking this valid is what ensures that an auto-update occurs later.
1651  subsys.markDiscreteVarUpdateValueRealized(s,extremeIx);
1652  return true;
1653  }
1654 private:
1655  // Return true if newVal is "more extreme" than oldExtreme, according
1656  // to the operation we're performing.
1657  bool isNewExtreme(const typename Measure_Num<T>::Element& newVal,
1658  const typename Measure_Num<T>::Element& oldExtreme) const
1659  {
1660  switch (operation) {
1661  case Extreme::Maximum: return newVal > oldExtreme;
1662  case Extreme::Minimum: return newVal < oldExtreme;
1663  case Extreme::MaxAbs: return std::abs(newVal) > std::abs(oldExtreme);
1664  case Extreme::MinAbs: return std::abs(newVal) < std::abs(oldExtreme);
1665  };
1666  SimTK_ASSERT1_ALWAYS(!"recognized",
1667  "Measure::Extreme::Implementation::isNewExtreme(): "
1668  "unrecognized operation %d", (int)operation);
1669  return false; /*NOTREACHED*/
1670  }
1671 
1672  // Given the value of one element of the operand, and that value's time
1673  // derivative, determine whether the derivative is moving the element
1674  // into the "more extreme" direction, according to the operation.
1675  bool isExtremeDir(const typename Measure_Num<T>::Element& value,
1676  const typename Measure_Num<T>::Element& deriv) const
1677  {
1678  const int sv = sign(value), sd = sign(deriv);
1679  if (sd == 0) return false; // derivative is zero; not changing
1680  switch (operation) {
1681  case Extreme::Maximum: return sd == 1; // getting larger
1682  case Extreme::Minimum: return sd == -1; // getting smaller
1683  case Extreme::MaxAbs: return sv==0 || sd==sv; // abs is growing
1684  case Extreme::MinAbs: return sd == -sv;
1685  };
1686  SimTK_ASSERT1_ALWAYS(!"recognized",
1687  "Measure::Extreme::Implementation::isExtremeDir(): "
1688  "unrecognized operation %d", (int)operation);
1689  return false; /*NOTREACHED*/
1690  }
1691 
1692  typename Measure_Num<T>::Element
1693  extremeOf(const typename Measure_Num<T>::Element& newVal,
1694  const typename Measure_Num<T>::Element& oldExtreme) const
1695  {
1696  return isNewExtreme(newVal,oldExtreme) ? newVal : oldExtreme;
1697  }
1698 
1699  // TOPOLOGY STATE
1700  Measure_<T> operand;
1701  Operation operation;
1702 
1703  // TOPOLOGY CACHE
1704  mutable DiscreteVariableIndex extremeIx; // extreme so far; auto-update
1705 
1706  // This auto-update flag records whether the current value is a new
1707  // extreme. We don't really need to save it as a state variable since you
1708  // can figure this out from the timestamp, but we need to to get invalidated
1709  // by the auto-update swap so that we'll figure it out anew each step.
1710  mutable DiscreteVariableIndex isNewExtremeIx;
1711 };
1712 
1713 
1714 
1715 //==============================================================================
1716 // DELAY :: IMPLEMENTATION
1717 //============================================================================== // Hide from Doxygen.
1719 // This helper class is the contents of the discrete state variable and
1720 // corresponding cache entry maintained by this measure. The variable is
1721 // auto-update, meaning the value of the cache entry replaces the state
1722 // variable at the start of each step.
1723 //
1724 // Circular buffers look like this:
1725 //
1726 // oldest=0, n=0
1727 // v
1728 // Empty buffer: | available |
1729 //
1730 // By convention, oldest=0 whenever the buffer is empty.
1731 //
1732 //
1733 // oldest next=(oldest+n)%capacity
1734 // v v
1735 // | available | | | | | | | available |
1736 // ^ n=6 ^
1737 // 0 capacity
1738 // v v
1739 // or | | | | | | available | | | | | | | | n=12
1740 // ^ ^
1741 // next oldest
1742 // = (oldest+n)%capacity
1743 //
1744 // Number of entries = n (called size() below)
1745 // Empty = n==0
1746 // Full = n==capacity()
1747 // Next available = (oldest+n)%capacity()
1748 template <class T>
1749 class Measure_Delay_Buffer {
1750 public:
1751  explicit Measure_Delay_Buffer() {initDataMembers();}
1752  void clear() {initDataMembers();}
1753  int size() const {return m_size;} // # saved entries, *not* size of arrays
1754  int capacity() const {return m_times.size();}
1755  bool empty() const {return size()==0;}
1756  bool full() const {return size()==capacity();}
1757 
1758  double getEntryTime(int i) const
1759  { assert(i < size()); return m_times[getArrayIndex(i)];}
1760  const T& getEntryValue(int i) const
1761  { assert(i < size()); return m_values[getArrayIndex(i)];}
1762 
1763  enum {
1764  InitialAllocation = 8, // smallest allocation
1765  GrowthFactor = 2, // how fast to grow (double)
1766  MaxShrinkProofSize = 16, // won't shrink unless bigger
1767  TooBigFactor = 5 // 5X too much->maybe shrink
1768  };
1769 
1770  // Add a new entry to the end of the list, throwing out old entries that
1771  // aren't needed to answer requests at tEarliest or later.
1772  void append(double tEarliest, double tNow, const T& valueNow) {
1773  forgetEntriesMuchOlderThan(tEarliest);
1774  removeEntriesLaterOrEq(tNow);
1775  if (full())
1776  makeMoreRoom();
1777  else if (capacity() > std::max((int)MaxShrinkProofSize,
1778  (int)TooBigFactor * (size()+1)))
1779  makeLessRoom(); // less than 1/TooBigFactor full
1780  const int nextFree = getArrayIndex(m_size++);
1781  m_times[nextFree] = tNow;
1782  m_values[nextFree] = valueNow;
1783  m_maxSize = std::max(m_maxSize, size());
1784  }
1785 
1786  // Prepend an older entry to the beginning of the list. No cleanup is done.
1787  void prepend(double tNewOldest, const T& value) {
1788  assert(empty() || tNewOldest < m_times[m_oldest]);
1789  if (full()) makeMoreRoom();
1790  m_oldest = empty() ? 0 : getArrayIndex(-1);
1791  m_times[m_oldest] = tNewOldest;
1792  m_values[m_oldest] = value;
1793  ++m_size;
1794  m_maxSize = std::max(m_maxSize, size());
1795  }
1796 
1797  // This is a specialized copy assignment for copying an old buffer
1798  // to a new one with updated contents. We are told the earliest time we'll
1799  // be asked about from now on, and won't copy any entries older than those
1800  // needed to answer that earliest request. We won't copy anything at or
1801  // newer than tNow, and finally we'll push (tNow,valueNow) as the newest
1802  // entry.
1803  void copyInAndUpdate(const Measure_Delay_Buffer& oldBuf, double tEarliest,
1804  double tNow, const T& valueNow) {
1805  // clear all current entries (no heap activity)
1806  m_oldest = m_size = 0;
1807 
1808  // determine how may old entries we have to keep
1809  int firstNeeded = oldBuf.countNumUnneededOldEntries(tEarliest);
1810  int lastNeeded = oldBuf.findLastEarlier(tNow); // might be -1
1811  int numOldEntriesToKeep = lastNeeded-firstNeeded+1;
1812  int newSize = numOldEntriesToKeep+1; // includes the new one
1813 
1814  int newSizeRequest = -1;
1815  if (capacity() < newSize) {
1816  newSizeRequest = std::max((int)InitialAllocation,
1817  (int)GrowthFactor * newSize);
1818  ++m_nGrows;
1819  } else if (capacity() > std::max((int)MaxShrinkProofSize,
1820  (int)TooBigFactor * newSize)) {
1821  newSizeRequest = std::max((int)MaxShrinkProofSize,
1822  (int)GrowthFactor * newSize);
1823  ++m_nShrinks;
1824  }
1825 
1826  // Reallocate space if advisable.
1827  if (newSizeRequest != -1) {
1828  const double dNaN = NTraits<double>::getNaN();
1829  m_values.resize(newSizeRequest);
1830  if (m_values.capacity() > m_values.size())
1831  m_values.resize(m_values.capacity()); // don't waste any
1832  m_times.resize(m_values.size(), dNaN);
1833  }
1834 
1835  m_maxCapacity = std::max(m_maxCapacity, capacity());
1836 
1837  // Copy the entries we need to keep.
1838  int nxt = 0;
1839  for (int i=firstNeeded; i<=lastNeeded; ++i, ++nxt) {
1840  m_times[nxt] = oldBuf.getEntryTime(i);
1841  m_values[nxt] = oldBuf.getEntryValue(i);
1842  }
1843  // Now add the newest entry and set the size.
1844  m_times[nxt] = tNow;
1845  m_values[nxt] = valueNow;
1846  assert(nxt+1==newSize);
1847  m_size = nxt+1;
1848  m_maxSize = std::max(m_maxSize, size());
1849  }
1850 
1851  // Given the current time and value and the earlier time at which the
1852  // value is needed, use the buffer and (if necessary) the current value
1853  // to estimate the delayed value.
1854  T calcValueAtTime(double tDelay, double tNow, const T& valueNow) const;
1855 
1856  // Given the current time but *not* the current value of the source measure,
1857  // provide an estimate for the value at tDelay=tNow-delay using only the
1858  // buffer contents and linear interpolation or extrapolation.
1859  void calcValueAtTimeLinearOnly(double tDelay, T& delayedValue) const {
1860  if (empty()) {
1861  // Nothing in the buffer?? Shouldn't happen. Return empty Vector
1862  // or NaN for fixed-size types.
1863  Measure_Num<T>::makeNaNLike(T(), delayedValue);
1864  return;
1865  }
1866 
1867  int firstLater = findFirstLaterOrEq(tDelay);
1868 
1869  if (firstLater > 0) {
1870  // Normal case: tDelay is between two buffer entries.
1871  int firstEarlier = firstLater-1;
1872  double t0=getEntryTime(firstEarlier), t1=getEntryTime(firstLater);
1873  const T& v0=getEntryValue(firstEarlier);
1874  const T& v1=getEntryValue(firstLater);
1875  Real fraction = Real((tDelay-t0)/(t1-t0));
1876  delayedValue = T(v0 + fraction*(v1-v0));
1877  return;
1878  }
1879 
1880  if (firstLater==0) {
1881  // Startup case: tDelay is at or before the oldest buffer entry.
1882  // Assume the value was flat before that.
1883  delayedValue = getEntryValue(firstLater);
1884  return;
1885  }
1886 
1887  // tDelay is later than the latest entry in the buffer. We are going
1888  // to have to extrapolate (yuck).
1889 
1890  if (size() == 1) {
1891  // Just one entry; we'll have to assume the value is flat.
1892  delayedValue = getEntryValue(0);
1893  return;
1894  }
1895 
1896  // Extrapolate using the last two entries.
1897  double t0=getEntryTime(size()-2), t1=getEntryTime(size()-1);
1898  const T& v0=getEntryValue(size()-2);
1899  const T& v1=getEntryValue(size()-1);
1900  Real fraction = Real((tDelay-t0)/(t1-t0)); // > 1
1901  assert(fraction > 1.0);
1902  delayedValue = T(v0 + fraction*(v1-v0)); // Extrapolate.
1903  }
1904 
1905  // Return the number of times we had to grow the buffer.
1906  int getNumGrows() const {return m_nGrows;}
1907  // Return the number of times we decided the buffer was so overallocated
1908  // that we had to shrink it.
1909  int getNumShrinks() const {return m_nShrinks;}
1910  // Return the largest number of values we ever had in the buffer.
1911  int getMaxSize() const {return m_maxSize;}
1912  // Return the largest capacity the buffer ever had.
1913  int getMaxCapacity() const {return m_maxCapacity;}
1914 
1915 private:
1916  // Return the i'th oldest entry
1917  // (0 -> oldest, size-1 -> newest, size -> first free, -1 -> last free)
1918  int getArrayIndex(int i) const
1919  { assert(-1<=i && i<=size());
1920  const int rawIndex = m_oldest + i;
1921  if (rawIndex < 0) return rawIndex + capacity();
1922  else return rawIndex % capacity(); }
1923 
1924  // Remove all but two entries older than the given time.
1925  void forgetEntriesMuchOlderThan(double tEarliest) {
1926  const int numToRemove = countNumUnneededOldEntries(tEarliest);
1927  if (numToRemove) {
1928  m_oldest = getArrayIndex(numToRemove);
1929  m_size -= numToRemove;
1930  }
1931  }
1932 
1933  // Count up how many old entries at the beginning of the buffer are so old
1934  // that they wouldn't be needed to respond to a request at time tEarliest or
1935  // later. We'll keep no more than two entries earlier than tEarliest.
1936  int countNumUnneededOldEntries(double tEarliest) const {
1937  const int firstLater = findFirstLaterOrEq(tEarliest);
1938  return std::max(0, firstLater-2);
1939  }
1940 
1941  // Given the time now, delete anything at the end of the queue that is
1942  // at that same time or later.
1943  void removeEntriesLaterOrEq(double t) {
1944  int lastEarlier = findLastEarlier(t);
1945  m_size = lastEarlier+1;
1946  if (m_size==0) m_oldest=0; // restart at beginning of array
1947  }
1948 
1949  // Return the entry number (0..size-1) of the first entry whose time
1950  // is >= the given time, or -1 if there is none such.
1951  int findFirstLaterOrEq(double tDelay) const {
1952  for (int i=0; i < size(); ++i)
1953  if (getEntryTime(i) >= tDelay)
1954  return i;
1955  return -1;
1956  }
1957 
1958  // Return the entry number(size-1..0) of the last entry whose time
1959  // is < the given time, or -1 if there is none such.
1960  int findLastEarlier(double t) const {
1961  for (int i=size()-1; i>=0; --i)
1962  if (getEntryTime(i) < t)
1963  return i;
1964  return -1;
1965  }
1966 
1967  // We don't have enough space. This is either the initial allocation or
1968  // we need to double the current space.
1969  void makeMoreRoom() {
1970  const int newSizeRequest = std::max((int)InitialAllocation,
1971  (int)GrowthFactor * size());
1972  resize(newSizeRequest);
1973  ++m_nGrows;
1974  m_maxCapacity = std::max(m_maxCapacity, capacity());
1975  }
1976 
1977  // We are wasting a lot of space, reduce the heap allocation to just
1978  // double what we're using now.
1979  void makeLessRoom() {
1980  const int targetMaxSize = std::max((int)MaxShrinkProofSize,
1981  (int)GrowthFactor * size());
1982  if (capacity() > targetMaxSize) {
1983  resize(targetMaxSize);
1984  ++m_nShrinks;
1985  }
1986  }
1987 
1988  // Reallocate memory to get more space or stop wasting space. The new
1989  // size request must be big enough to hold all the current contents. The
1990  // amount we actually get may be somewhat larger than the request. On
1991  // return, the times and values arrays will have been resized and the
1992  // oldest entry will now be entry 0.
1993  void resize(int newSizeRequest) {
1994  assert(newSizeRequest >= size());
1995  const double dNaN = NTraits<double>::getNaN();
1996  Array_<T,int> newValues(newSizeRequest);
1997  if (newValues.capacity() > newValues.size())
1998  newValues.resize(newValues.capacity()); // don't waste any
1999  Array_<double,int> newTimes(newValues.size(), dNaN);
2000 
2001  // Pack existing values into start of new arrays.
2002  for (int i=0; i < size(); ++i) {
2003  const int ix = getArrayIndex(i);
2004  newTimes[i] = m_times[ix];
2005  newValues[i] = m_values[ix];
2006  }
2007  m_times.swap(newTimes); // switch heap space
2008  m_values.swap(newValues);
2009  m_oldest = 0; // starts at the beginning now; size unchanged
2010  }
2011 
2012  // Initialize everything to its default-constructed state.
2013  void initDataMembers() {
2014  m_times.clear(); m_values.clear();
2015  m_oldest=m_size=0;
2016  m_nGrows=m_nShrinks=m_maxSize=m_maxCapacity=0;
2017  }
2018 
2019  // These are circular buffers of the same size.
2020  Array_<double,int> m_times;
2021  Array_<T,int> m_values;
2022  int m_oldest; // Array index of oldest (time,value)
2023  int m_size; // number of entries in use
2024 
2025  // Statistics.
2026  int m_nGrows, m_nShrinks, m_maxSize, m_maxCapacity;
2027 };
2030 template <class T>
2032  typedef Measure_Delay_Buffer<T> Buffer;
2033 public:
2034  // Allocate one cache entry in the base class for the value; we allocate
2035  // a specialized one for the buffer.
2037  : Measure_<T>::Implementation(1), m_delay(NaN),
2038  m_canUseCurrentValue(false), m_useLinearInterpolationOnly(false) {}
2039 
2040  Implementation(const Measure_<T>& source, Real delay)
2041  : Measure_<T>::Implementation(1), m_source(source), m_delay(delay),
2042  m_canUseCurrentValue(false), m_useLinearInterpolationOnly(false) {}
2043 
2044  // Default copy constructor gives us a new Implementation object,
2045  // but with reference to the *same* source measure.
2046 
2047  void setSourceMeasure(const Measure_<T>& source) {
2048  if (!source.isSameMeasure(this->m_source)) {
2049  this->m_source = source;
2050  this->invalidateTopologyCache();
2051  }
2052  }
2053 
2054  void setDelay(Real delay) {
2055  if (delay != this->m_delay) {
2056  this->m_delay = delay;
2057  this->invalidateTopologyCache();
2058  }
2059  }
2060 
2061  void setUseLinearInterpolationOnly(bool linearOnly) {
2062  if (linearOnly != this->m_useLinearInterpolationOnly) {
2063  this->m_useLinearInterpolationOnly = linearOnly;
2064  this->invalidateTopologyCache();
2065  }
2066  }
2067 
2068  void setCanUseCurrentValue(bool canUseCurrentValue) {
2069  if (canUseCurrentValue != this->m_canUseCurrentValue) {
2070  this->m_canUseCurrentValue = canUseCurrentValue;
2071  this->invalidateTopologyCache();
2072  }
2073  }
2074 
2075  const Measure_<T>& getSourceMeasure() const {return this->m_source;}
2076  Real getDelay() const {return this->m_delay;}
2078  { return this->m_useLinearInterpolationOnly; }
2080  { return this->m_canUseCurrentValue; }
2081 
2082 
2083  // Implementations of virtual methods.
2084 
2085  // This uses the default copy constructor.
2087  { return new Implementation(*this); }
2088 
2089  // Currently no derivative supported.
2091  { return 0; }
2092 
2093  // If we are allowed to use the current value of the source measure to
2094  // determine the delayed value, the depends-on stage here is the same as
2095  // for the source; otherwise it is Stage::Time.
2097  { return this->m_canUseCurrentValue ? m_source.getDependsOnStage(order)
2098  : Stage::Time; }
2099 
2100  // Calculate the delayed value and return it to the Measure base class to
2101  // be put in a cache entry.
2102  void calcCachedValueVirtual(const State& s, int derivOrder, T& value) const
2103  OVERRIDE_11
2104  { const Subsystem& subsys = this->getSubsystem();
2105  const Buffer& buffer = Value<Buffer>::downcast
2106  (subsys.getDiscreteVariable(s,m_bufferIx));
2107  //TODO: use cubic interpolation if allowed
2108  buffer.calcValueAtTimeLinearOnly(s.getTime()-m_delay, value);
2109  }
2110 
2112  assert(m_bufferIx.isValid());
2113  const Subsystem& subsys = this->getSubsystem();
2114  Buffer& buffer = Value<Buffer>::updDowncast
2115  (subsys.updDiscreteVariable(s,m_bufferIx));
2116  buffer.clear();
2117  this->getSubsystem().getSystem().realize(s,m_source.getDependsOnStage());
2118  buffer.append(s.getTime()-m_delay, s.getTime(), m_source.getValue(s));
2119  }
2120 
2122  m_bufferIx = this->getSubsystem()
2124  new Value<Buffer>(), getDependsOnStageVirtual(0));
2125  }
2126 
2130  updateBuffer(s);
2131  }
2132 
2133  // This uses the buffer from the state to update the one in the
2134  // corresponding cache entry. The update adds the current value of the
2135  // source to the end of the buffer and tosses out unneeded old entries.
2136  void updateBuffer(const State& s) const {
2137  assert(m_bufferIx.isValid());
2138  const Subsystem& subsys = this->getSubsystem();
2139 
2140  const Buffer& prevBuffer = Value<Buffer>::downcast
2141  (subsys.getDiscreteVariable(s,m_bufferIx));
2142 
2143  Buffer& nextBuffer = Value<Buffer>::updDowncast
2144  (subsys.updDiscreteVarUpdateValue(s,m_bufferIx));
2145 
2146  const Real t = s.getTime();
2147  nextBuffer.copyInAndUpdate(prevBuffer, t-m_delay,
2148  t, m_source.getValue(s));
2149 
2150  subsys.markDiscreteVarUpdateValueRealized(s,m_bufferIx);
2151  }
2152 private:
2153  // TOPOLOGY STATE
2154  Measure_<T> m_source;
2155  Real m_delay;
2156  bool m_canUseCurrentValue;
2157  bool m_useLinearInterpolationOnly;
2158 
2159  // TOPOLOGY CACHE
2160  mutable DiscreteVariableIndex m_bufferIx; // auto-update
2161 };
2162 
2163 
2164 } // namespace SimTK
2165 
2166 
2167 
2168 
2169 #endif // SimTK_SimTKCOMMON_MEASURE_IMPLEMENTATION_H_
void calcCachedValueVirtual(const State &, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:888
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:1514
virtual void realizeMeasureModelVirtual(State &) const
Definition: MeasureImplementation.h:139
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:998
Definition: MeasureImplementation.h:2031
virtual void realizeMeasureReportVirtual(const State &) const
Definition: MeasureImplementation.h:146
void setIsPresumedValidAtDependsOnStage(bool presume)
Definition: MeasureImplementation.h:418
Definition: MeasureImplementation.h:613
Implementation()
Definition: MeasureImplementation.h:914
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:703
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:2096
const Measure_< T > & getOperandMeasure() const
Definition: MeasureImplementation.h:1098
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
void setOperandMeasure(const Measure_< T > &operand)
Set the operand measure for this Extreme measure; this is a Topology stage change so you&#39;ll have to c...
Definition: MeasureImplementation.h:1467
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:930
int getNumTimeDerivativesVirtual() const override
Extreme(f(t)) has the same number of derivatives as f except that they are all zero unless f(t) is a ...
Definition: MeasureImplementation.h:1519
void initializeVirtual(State &s) const override
Definition: MeasureImplementation.h:1366
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:218
bool isUsingApproximation() const
Definition: MeasureImplementation.h:1332
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(State &s, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const
Definition: Subsystem.h:99
virtual void realizeMeasureTimeVirtual(const State &) const
Definition: MeasureImplementation.h:141
#define SimTK_ASSERT1_ALWAYS(cond, msg, a1)
Definition: ExceptionMacros.h:351
This is the vector class intended to appear in user code for large, variable size column vectors...
Definition: BigMatrix.h:171
Implementation(Stage invalidated, const T &defaultValue)
Definition: MeasureImplementation.h:724
Definition: MeasureImplementation.h:676
Modeling choices made.
Definition: Stage.h:55
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:2086
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:750
Implementation(const Implementation &src)
Base class copy constructor removes the Subsystem and sets the reference count to zero...
Definition: MeasureImplementation.h:57
Implementation(const Implementation &source)
Copy constructor copies the number of cache entries from the source, but not the cache indices themse...
Definition: MeasureImplementation.h:448
friend class Implementation
Definition: Measure.h:251
bool getIsPresumedValidAtDependsOnStage() const
Definition: MeasureImplementation.h:422
bool isInSubsystem() const
Definition: MeasureImplementation.h:118
MeasureIndex adoptMeasure(AbstractMeasure &)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:507
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:1119
void realizeMeasureAccelerationVirtual(const State &s) const override
In case no one has updated the value of this measure yet, we have to make sure it gets updated before...
Definition: MeasureImplementation.h:1589
Implementation(const Measure_< T > &operand)
Definition: MeasureImplementation.h:1314
int decrRefCount() const
Definition: MeasureImplementation.h:76
Implementation * clone() const
This is a deep copy of the concrete Implementation object, except the Subsystem will have been remove...
Definition: MeasureImplementation.h:86
void initializeVirtual(State &s) const override
Initialize the state to the current value of the initial condition measure, if there is one...
Definition: MeasureImplementation.h:1232
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:932
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
void setValue(State &s, const T &value) const
Set the value of the state variables(s) that hold the integral.
Definition: MeasureImplementation.h:1171
Implementation(const T &defaultValue, int numCacheEntries=1)
Definition: MeasureImplementation.h:426
Stage prev() const
Return the Stage before this one, with Stage::Empty returned if this Stage is already at its lowest v...
Definition: Stage.h:123
const Stage & getSystemStage() const
This returns the *global* stage for this State.
int size() const
Return the number of elements in the data type of this Measure; for Vector measures this is determine...
Definition: MeasureImplementation.h:459
void resize(size_type n)
Change the size of this Array, preserving all the elements that will still fit, and default construct...
Definition: Array.h:2053
void setInvalidatedStage(Stage invalidated)
Definition: MeasureImplementation.h:832
const Subsystem & getSubsystem() const
Definition: MeasureImplementation.h:119
virtual ~Implementation()
Definition: MeasureImplementation.h:134
Real getDiscreteVarLastUpdateTime(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:253
void realize(const State &state, Stage stage=Stage::HighestRuntime) const
Realize the given state to the indicated stage.
Lower than any legitimate Stage.
Definition: Stage.h:53
virtual void realizeMeasureVelocityVirtual(const State &) const
Definition: MeasureImplementation.h:143
const Real Zero
Real(0)
void setOperandMeasure(const Measure_< T > &operand)
Definition: MeasureImplementation.h:1326
const T & getUncachedValueVirtual(const State &s, int derivOrder) const override
We&#39;re not using the Measure_<T> base class cache services, but we do have one of our own...
Definition: MeasureImplementation.h:1531
void setCanUseCurrentValue(bool canUseCurrentValue)
Definition: MeasureImplementation.h:2068
virtual void realizeMeasurePositionVirtual(const State &) const
Definition: MeasureImplementation.h:142
void setInitialConditionMeasure(const Measure_< T > &ic)
Definition: MeasureImplementation.h:1192
The Rotation class is a Mat33 that guarantees that the matrix can be interpreted as a legitimate 3x3 ...
Definition: Quaternion.h:40
void realizeDynamics(const State &s) const
Definition: MeasureImplementation.h:94
Implementation(const Measure_< T > &source, Real delay)
Definition: MeasureImplementation.h:2040
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
void realizeMeasureTopologyVirtual(State &s) const override
Concrete measures can override this to allocate Topology-stage resources.
Definition: MeasureImplementation.h:2121
int getNumTimeDerivativesVirtual() const override
This measure has one more time derivative than the integrand.
Definition: MeasureImplementation.h:1202
void realizeInstance(const State &s) const
Definition: MeasureImplementation.h:90
Track the value of the operand that is of maximum absolute value.
Definition: Measure.h:903
virtual const T & getUncachedValueVirtual(const State &, int derivOrder) const
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:552
The abstract parent of all Measure Implementation classes.
Definition: MeasureImplementation.h:48
const T & getUncachedValueVirtual(const State &s, int derivOrder) const override
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:758
MeasureIndex getSubsystemMeasureIndex() const
Return the MeasureIndex by which this Measure is known to the Subsystem that owns it...
Definition: MeasureImplementation.h:237
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:881
#define SimTK_ERRCHK2_ALWAYS(cond, whereChecked, fmt, a1, a2)
Definition: ExceptionMacros.h:289
void ensureDerivativeIsRealized(const State &s) const
Definition: MeasureImplementation.h:1395
This is the base Implementation class for all Measures whose value type is known. ...
Definition: MeasureImplementation.h:363
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:697
Definition: MeasureImplementation.h:793
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:1338
String getName() const
Return a printable name corresponding to the stage level currently stored in this Stage...
Definition: Stage.h:128
void setValue(State &state, const T &value) const
Change the value of this Measure in the given state.
Definition: MeasureImplementation.h:743
bool isCacheValueRealized(const State &s, int derivOrder) const
Determine whether a particular one of this Measure&#39;s cache entries has already been realized since th...
Definition: MeasureImplementation.h:493
const T & getDefaultValue() const
Obtain a reference to the default value associated with this Measure.
Definition: Measure.h:288
Implementation()
The derivative and initialConditions Measures will be empty handles if this is default constructed...
Definition: MeasureImplementation.h:1153
void setDelay(Real delay)
Definition: MeasureImplementation.h:2054
int incrRefCount() const
Definition: MeasureImplementation.h:73
size_type size() const
Return the current number of elements stored in this array.
Definition: Array.h:2037
const AbstractValue & getDiscreteVariable(const State &s, DiscreteVariableIndex index) const
Definition: Subsystem.h:245
This is the base class for all Measure handle classes.
Definition: Measure.h:151
Stage getDependsOnStageVirtual(int order) const override
The depends-on stage for this measure is the same as for its operand.
Definition: MeasureImplementation.h:1524
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:2090
Implementation()
This default constructor is for use by concrete measure implementation classes.
Definition: MeasureImplementation.h:52
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
#define SimTK_ERRCHK2(cond, whereChecked, fmt, a1, a2)
Definition: ExceptionMacros.h:328
virtual void realizeMeasureTopologyVirtual(State &) const
Concrete measures can override this to allocate Topology-stage resources.
Definition: MeasureImplementation.h:533
#define SimTK_ERRCHK_ALWAYS(cond, whereChecked, msg)
Definition: ExceptionMacros.h:281
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:747
bool isInSubsystem() const
Test whether this Measure object has been adopted by a Subsystem.
Definition: MeasureImplementation.h:229
This Measure tracks extreme values attained by the elements of its source operand since the last init...
Definition: Measure.h:835
Vector & updZ(State &s) const
Definition: Subsystem.h:137
CacheEntryIndex allocateCacheEntry(const State &s, Stage dependsOn, Stage computedBy, AbstractValue *v) const
Definition: Subsystem.h:103
Track the minimum value of the operand (signed).
Definition: Measure.h:883
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
bool getCanUseCurrentValue() const
Definition: MeasureImplementation.h:2079
This file declares the base class AbstractMeasure for all derived Measure handle classes, and the handle classes for built-in Measures.
int getRefCount() const
Definition: MeasureImplementation.h:79
const Real NaN
This is the IEEE "not a number" constant for this implementation of the default-precision Real type; ...
Definition: MeasureImplementation.h:1026
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:1346
const Measure_< T > & getDerivativeMeasure() const
Definition: MeasureImplementation.h:1177
Real getTimeOfExtremeValue(const State &s) const
Return the time at which the extreme was last updated.
Definition: MeasureImplementation.h:1500
void markAsNotValid(const State &state) const
Definition: MeasureImplementation.h:869
Stage getStage(const State &s) const
Definition: Subsystem.h:239
Implementation(const T &amplitude, const T &frequency, const T &phase=T(0))
Definition: MeasureImplementation.h:918
Stage getDependsOnStageVirtual(int derivOrder) const override
Definition: MeasureImplementation.h:637
Implementation()
Definition: MeasureImplementation.h:1312
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:994
bool isFinite(const negator< float > &x)
Definition: negator.h:287
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:1056
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:1342
Stage getDependsOnStage(int derivOrder) const
Definition: MeasureImplementation.h:105
void setValue(const T &v)
Changing the value of a Constant measure is a topological change; if this is a Vector measure you can...
Definition: MeasureImplementation.h:624
void setSourceMeasure(const Measure_< T > &source)
Definition: MeasureImplementation.h:2047
void markCacheValueNotRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:275
Implementation(const Implementation &source)
Definition: MeasureImplementation.h:729
const Measure_< T > & getOperandMeasure() const
Return a reference to the operand measure for this Extreme measure.
Definition: MeasureImplementation.h:1481
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:605
Report-only quantities evaluated.
Definition: Stage.h:62
ZIndex allocateZ(State &s, const Vector &zInit) const
Definition: Subsystem.h:92
int getCopyNumber() const
Definition: MeasureImplementation.h:81
#define SimTK_ERRCHK1_ALWAYS(cond, whereChecked, fmt, a1)
Definition: ExceptionMacros.h:285
bool isSameMeasure(const AbstractMeasure &other) const
There can be multiple handles on the same Measure.
Definition: Measure.h:220
const Measure_< T > & getOperandMeasure() const
Definition: MeasureImplementation.h:1333
bool isCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:271
Definition: MeasureImplementation.h:973
void markAsValid(const State &state) const
Definition: MeasureImplementation.h:850
const AbstractValue & getDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:259
Definition: MeasureImplementation.h:1079
const T & getCacheEntry(const State &s, int derivOrder) const
Get a const reference to the value stored in one of this Measure&#39;s cache entries, indexed by the deri...
Definition: MeasureImplementation.h:468
System topology realized.
Definition: Stage.h:54
SubsystemIndex getSubsystemIndex() const
Definition: MeasureImplementation.h:122
#define OVERRIDE_11
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:267
bool hasImpl() const
Definition: Measure.h:242
DiscreteVariableIndex allocateDiscreteVariable(State &s, Stage g, AbstractValue *v) const
Definition: Subsystem.h:96
bool getForceUseApproximation() const
Definition: MeasureImplementation.h:1331
void realizeMeasureAccelerationVirtual(const State &s) const override
Set the zdots to the integrand (derivative measure) value.
Definition: MeasureImplementation.h:1260
Implementation(Stage dependsOn, Stage invalidated)
Definition: MeasureImplementation.h:802
Implementation()
Definition: MeasureImplementation.h:720
Forces calculated.
Definition: Stage.h:60
Implementation()
Definition: MeasureImplementation.h:2036
Implementation()
Definition: MeasureImplementation.h:1030
The SimTK::Array_<T> container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
void realizeAcceleration(const State &s) const
Definition: MeasureImplementation.h:95
void realizeMeasureAccelerationVirtual(const State &s) const override
In case no one has updated the value of this measure yet, we have to make sure it gets updated before...
Definition: MeasureImplementation.h:1391
void setOperation(Operation op)
Set the particular operation to be performed by this Extreme measure; this is a Topology stage change...
Definition: MeasureImplementation.h:1475
int getNumTimeDerivatives() const
Every Measure can produce a value, and some can provide one or more total derivatives with respect to...
Definition: MeasureImplementation.h:241
Unique integer type for Subsystem-local z indexing.
CacheEntryIndex allocateLazyCacheEntry(const State &state, Stage earliest, AbstractValue *v) const
Definition: Subsystem.h:111
void initialize(State &s) const
This should be called at the start of a time stepping study to cause this Measure to set its state va...
Definition: MeasureImplementation.h:101
Implementation(const Measure_< T > &left, const Measure_< T > &right)
Definition: MeasureImplementation.h:1032
Implementation & operator=(const Implementation &src)
Base class copy assignment operator removes the Subsystem, and sets the reference count to zero...
Definition: MeasureImplementation.h:63
Stage getInvalidatedStage() const
Definition: MeasureImplementation.h:847
Operation getOperation() const
Return the particular operation being performed by this Extreme measure.
Definition: MeasureImplementation.h:1485
Implementation()
Definition: MeasureImplementation.h:684
int getRefCount() const
Definition: MeasureImplementation.h:249
virtual void realizeMeasureDynamicsVirtual(const State &) const
Definition: MeasureImplementation.h:144
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:1106
void realizeMeasureTopologyVirtual(State &s) const override
Concrete measures can override this to allocate Topology-stage resources.
Definition: MeasureImplementation.h:1379
const Subsystem & getSubsystem() const
Return a reference to the Subsystem that owns this Measure.
Definition: MeasureImplementation.h:233
This class represents the rotate-and-shift transform which gives the location and orientation of a ne...
Definition: Transform.h:43
void markCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:273
ELEM max(const VectorBase< ELEM > &v)
Definition: VectorMath.h:251
const Real & getUncachedValueVirtual(const State &s, int derivOrder) const override
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:690
void invalidateTopologyCache() const
Definition: MeasureImplementation.h:125
Implementation(const Measure_< T > &left, const Measure_< T > &right)
Definition: MeasureImplementation.h:979
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:2102
This creates a Measure whose value is a Topology-stage constant of any type T.
Definition: Measure.h:339
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:1051
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:989
void updateBuffer(const State &s) const
Definition: MeasureImplementation.h:2136
virtual void calcCachedValueVirtual(const State &, int derivOrder, T &value) const
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:539
Stage getDependsOnStageVirtual(int derivOrder) const override
Definition: MeasureImplementation.h:1225
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:935
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:1111
void realizeReport(const State &s) const
Definition: MeasureImplementation.h:96
void setForceUseApproximation(bool mustApproximate)
Definition: MeasureImplementation.h:1321
#define SimTK_ERRCHK(cond, whereChecked, msg)
Definition: ExceptionMacros.h:324
Subsystem & updSubsystem()
Definition: MeasureImplementation.h:120
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
const Vector & getZ(const State &s) const
Definition: Subsystem.h:128
Zero()
Definition: MeasureImplementation.h:651
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:1042
#define SimTK_ERRCHK3_ALWAYS(cond, whereChecked, fmt, a1, a2, a3)
Definition: ExceptionMacros.h:293
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:927
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:1003
virtual void realizeMeasureAccelerationVirtual(const State &) const
Definition: MeasureImplementation.h:145
Stage getDependsOnStageVirtual(int derivOrder) const override
Definition: MeasureImplementation.h:755
MeasureIndex getSubsystemMeasureIndex() const
Definition: MeasureImplementation.h:121
Implementation()
Definition: MeasureImplementation.h:977
~AbstractMeasure()
Destructor decrements the Implementation&#39;s reference count and deletes the object if the count goes t...
Definition: MeasureImplementation.h:225
T & updValue(const State &state) const
Definition: MeasureImplementation.h:873
const System & getSystem() const
Return a const reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:518
RowVectorBase< typename CNT< ELEM >::TAbs > abs(const RowVectorBase< ELEM > &v)
Definition: VectorMath.h:120
const T & getUncachedValueVirtual(const State &s, int derivOrder) const override
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:1354
void initializeVirtual(State &s) const override
At start of a time stepping study, this should be called to set the current extreme value to the curr...
Definition: MeasureImplementation.h:1556
void swap(Array_ &other)
This is a specialized algorithm providing constant time exchange of data with another array that has ...
Definition: Array.h:1946
Stage getStage(const State &s) const
Definition: MeasureImplementation.h:128
const T & getValue(const State &s, int derivOrder) const
Definition: MeasureImplementation.h:365
const Measure_< T > & getSourceMeasure() const
Definition: MeasureImplementation.h:2075
const Measure_< T > & getInitialConditionMeasure() const
Definition: MeasureImplementation.h:1183
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
Specialized information about Composite Numerical Types which allows us to define appropriate templat...
Definition: CompositeNumericalTypes.h:136
Definition: MeasureImplementation.h:909
int getNumCacheEntries() const
Return the number of cache entries allocated for the value and derivatives of this Measure...
Definition: MeasureImplementation.h:463
One()
Definition: MeasureImplementation.h:661
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:1198
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:878
const Real One
Real(1)
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
Definition: MeasureImplementation.h:1446
bool isValid(const State &state) const
Definition: MeasureImplementation.h:866
const T & getDefaultValue() const
Return a reference to the value that this Measure will use to initialize its value-level state resour...
Definition: MeasureImplementation.h:416
Implementation(const Measure_< T > &deriv, const Measure_< T > &ic, const T &defaultValue)
Here we&#39;re shallow-copying the Measure handles so we&#39;ll be referring to the original Measures...
Definition: MeasureImplementation.h:1157
This unique integer type is for selecting discrete variables.
The implementation for Integrate measures allocates a continuous state variable or variables from the...
Definition: MeasureImplementation.h:1148
Implementation(const T &value)
Definition: MeasureImplementation.h:619
void realizeVelocity(const State &s) const
Definition: MeasureImplementation.h:93
T & updCacheEntry(const State &s, int derivOrder) const
Get a writable reference to the value stored in one of this Measure&#39;s cache entries, indexed by the derivative order (with the value treated as the 0th derivative).
Definition: MeasureImplementation.h:481
unsigned int sign(unsigned char u)
Definition: Scalar.h:311
void initializeVirtual(State &s) const override
Definition: MeasureImplementation.h:2111
Implementation(const Implementation &source)
Definition: MeasureImplementation.h:813
#define FINAL_11
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:268
Implementation()
Default constructor leaves the operand measure unspecified; no base class cache entries are allocated...
Definition: MeasureImplementation.h:1453
void realizeMeasureAccelerationVirtual(const State &s) const override
In case no one has updated the value of this measure yet, we have to make sure it gets updated before...
Definition: MeasureImplementation.h:2129
const T & getUncachedValueVirtual(const State &, int derivOrder) const override
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:630
const T & getValue(const State &s, int derivOrder=0) const
Retrieve the Value of this Measure or one of its time derivatives, assuming the supplied State has be...
Definition: Measure.h:274
void setDerivativeMeasure(const Measure_< T > &d)
Definition: MeasureImplementation.h:1190
void realizeMeasureTopologyVirtual(State &s) const override
Allocate the auto-updated state variable that holds the extreme seen so far.
Definition: MeasureImplementation.h:1568
Track the maximum value of the operand (signed).
Definition: Measure.h:893
AbstractMeasure & deepAssign(const AbstractMeasure &source)
Deep assignment clones the Implementation object pointed to by the source handle, so that this handle...
Definition: MeasureImplementation.h:212
Implementation(int numCacheEntries=1)
Argument numCacheEntries should be one greater than the number of derivatives; that is...
Definition: MeasureImplementation.h:437
Provide a unique integer type for identifying Subsystems.
const Implementation & getImpl() const
Definition: Measure.h:240
void setUseLinearInterpolationOnly(bool linearOnly)
Definition: MeasureImplementation.h:2061
void realizeMeasureTopologyVirtual(State &s) const override
Concrete measures can override this to allocate Topology-stage resources.
Definition: MeasureImplementation.h:764
int getNumTimeDerivatives() const
Definition: MeasureImplementation.h:103
Implementation(const Measure_< T > &operand, Operation op)
Construct a measure that returns the extreme value taken on by the operand measure during a time step...
Definition: MeasureImplementation.h:1458
Implementation * cloneVirtual() const override
Definition: MeasureImplementation.h:635
Operation
Definition: Measure.h:839
Track the value of the operand that is of minimum absolute value (not very useful).
Definition: Measure.h:914
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607
Implementation()
Definition: MeasureImplementation.h:1085
An object of this type is used as a dummy argument to make sure the automatically-generated handle co...
Definition: Measure.h:156
const Real & getTime() const
You can call these as long as *system* stage >= Model.
void setScaleFactor(Real sf)
Definition: MeasureImplementation.h:1093
void setDependsOnStage(Stage dependsOn)
Definition: MeasureImplementation.h:818
Implementation(Real factor, const Measure_< T > &operand)
Definition: MeasureImplementation.h:1087
void setSubsystem(Subsystem &sub, MeasureIndex mx)
Definition: MeasureImplementation.h:114
AbstractMeasure(Implementation *g=0)
Provide an Implementation for this AbstractMeasure and bump its reference count.
Definition: MeasureImplementation.h:175
void setDefaultValue(const T &defaultValue)
Set a new default value for this Measure.
Definition: MeasureImplementation.h:407
AbstractMeasure & shallowAssign(const AbstractMeasure &)
Shallow assignment operator destructs the current Implementation object (meaning its reference count ...
Definition: MeasureImplementation.h:199
Definition: MeasureImplementation.h:713
Constant & setValue(const T &value)
Change the value returned by this Measure.
Definition: Measure.h:356
Stage getInvalidatedStage() const
Definition: MeasureImplementation.h:738
void realizeTime(const State &s) const
Definition: MeasureImplementation.h:91
A new time has been realized.
Definition: Stage.h:57
const T & getValueZero() const
Return a reference to a zero of the same type and size as this Measure&#39;s value.
Definition: MeasureImplementation.h:563
This is the header which should be included in user programs that would like to make use of all the S...
static K getNaN()
Definition: CompositeNumericalTypes.h:246
Implementation(const Implementation &source)
Copy constructor shallow-copies the referenced measures, but we don&#39;t want to share our state variabl...
Definition: MeasureImplementation.h:1164
virtual void realizeMeasureInstanceVirtual(const State &) const
Definition: MeasureImplementation.h:140
bool getUseLinearInterpolationOnly() const
Definition: MeasureImplementation.h:2077
const T & getUncachedValueVirtual(const State &s, int derivOrder) const override
This is only called when derivOrder >= the number of cache entries we have, but still <= the number o...
Definition: MeasureImplementation.h:1219
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:639
Includes internal headers providing declarations for the basic SimTK Core classes.
size_type capacity() const
Return the number of elements this array can currently hold without requiring reallocation.
Definition: Array.h:2047
void setValue(State &s, const T &value) const
Set the current extreme value stored in this Extreme measure&#39;s state variable.
Definition: MeasureImplementation.h:1489
Stage getDependsOnStageVirtual(int derivOrder) const override
Cache value is available after its "depends on" stage has been realized; but all its derivatives are ...
Definition: MeasureImplementation.h:885
void setInvalidatedStage(Stage invalidates)
Definition: MeasureImplementation.h:733
void realizeMeasureTopologyVirtual(State &s) const override
Allocate one Real continuous state variable z per element of this Measure&#39;s data type T...
Definition: MeasureImplementation.h:1251
bool ensureExtremeHasBeenUpdated(const State &s) const
Here we make sure that the cache entry is updated if the current value of the operand is more extreme...
Definition: MeasureImplementation.h:1598
void invalidateAllCacheAtOrAbove(Stage) const
If any subsystem or the system stage is currently at or higher than the passed-in one...
Real getDelay() const
Definition: MeasureImplementation.h:2076
int getNumTimeDerivativesVirtual() const override
Definition: MeasureImplementation.h:1047
Stage getDependsOnStage() const
Definition: MeasureImplementation.h:846
virtual void initializeVirtual(State &) const
Definition: MeasureImplementation.h:148
void realizePosition(const State &s) const
Definition: MeasureImplementation.h:92
void realizeModel(State &s) const
Definition: MeasureImplementation.h:89
Vector & updZDot(const State &s) const
Definition: Subsystem.h:152
Definition: MeasureImplementation.h:1306
Implementation()
Definition: MeasureImplementation.h:798
Definition: negator.h:64
Stage getDependsOnStage(int derivOrder=0) const
At what Stage can we expect the value of this AbstractMeasure or one of its time derivatives to be av...
Definition: MeasureImplementation.h:245
void calcCachedValueVirtual(const State &s, int derivOrder, T &value) const override
Concrete measures must override this if the state cache is used for precalculated values or derivativ...
Definition: MeasureImplementation.h:1209
void markCacheValueNotRealized(const State &s, int derivOrder) const
Invalidate one of this Measure&#39;s cache entries.
Definition: MeasureImplementation.h:518
void markCacheValueRealized(const State &s, int derivOrder) const
Mark one of this Measure&#39;s cache entries up to date; call this after you have calculated a value or d...
Definition: MeasureImplementation.h:505
Stage getDependsOnStageVirtual(int order) const override
Definition: MeasureImplementation.h:1115
This is the base handle class for all Measures whose value type is known, including all the Simbody b...
Definition: Measure.h:261
virtual int getNumTimeDerivativesVirtual() const
Definition: MeasureImplementation.h:150
Stage getDependsOnStageVirtual(int derivOrder) const override
Definition: MeasureImplementation.h:699
Implementation()
Definition: MeasureImplementation.h:618
Templatized version of the abstract class, providing generic type-specific functionality that does no...
Definition: Value.h:67