1 #ifndef SimTK_SimTKCOMMON_MEASURE_IMPLEMENTATION_H_ 2 #define SimTK_SimTKCOMMON_MEASURE_IMPLEMENTATION_H_ 58 : copyNumber(src.copyNumber+1), mySubsystem(0), refCount(0) {}
65 { copyNumber=src.copyNumber+1;
66 refCount=0; mySubsystem=0; }
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);
115 { assert(!mySubsystem && mx.isValid());
116 mySubsystem = ⊂ myIndex = mx; }
123 {
return getSubsystem().getMySubsystemIndex(); }
126 {
if (isInSubsystem()) getSubsystem().invalidateSubsystemTopologyCache(); }
137 virtual void realizeTopology(
State&)
const = 0;
152 getDependsOnStageVirtual(
int order)
const = 0;
159 MeasureIndex myIndex;
163 mutable int refCount;
183 "An empty Measure handle can't be put in a Subsystem.");
200 if (impl != src.impl) {
216 impl = src.impl->
clone();
256 template <
class T>
class Measure_Num {
259 template <>
class Measure_Num<float> {
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)
267 static void makeZeroLike(
const float&,
float& zeroValue) {zeroValue=0.f;}
270 template <>
class Measure_Num<double> {
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)
278 static void makeZeroLike(
const double&,
double& zeroValue) {zeroValue=0.;}
282 template <
int M,
class E>
283 class Measure_Num< Vec<M,E,1> > {
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();}
295 template <
int M,
int N,
class E>
296 class Measure_Num< Mat<M,N,E> > {
300 static int size(
const T&) {
return N;}
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();}
309 class Measure_Num< Vector_<E> > {
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(); }
324 class Measure_Num< Rotation_<E> > {
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(); }
338 class Measure_Num< Transform_<E> > {
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(); }
367 "Measure_<T>::getValue()",
368 "derivOrder %d was out of range; this Measure allows 0-%d.",
382 "Measure_<T>::getValue()",
383 "Expected State to have been realized to at least stage " 384 "%s but stage was %s.",
390 if (derivOrder < getNumCacheEntries()) {
391 if (!isCacheValueRealized(s,derivOrder)) {
392 T& value = updCacheEntry(s,derivOrder);
393 calcCachedValueVirtual(s, derivOrder, value);
394 markCacheValueRealized(s,derivOrder);
397 return getCacheEntry(s,derivOrder);
402 return getUncachedValueVirtual(s,derivOrder);
408 this->defaultValue = defaultValue;
409 Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
410 this->invalidateTopologyCache();
419 { presumeValidAtDependsOnStage = presume;
420 this->invalidateTopologyCache(); }
423 {
return presumeValidAtDependsOnStage; }
427 : presumeValidAtDependsOnStage(false),
428 defaultValue(defaultValue),
429 derivIx(numCacheEntries)
431 Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
438 : presumeValidAtDependsOnStage(false),
440 derivIx(numCacheEntries)
442 Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
449 : presumeValidAtDependsOnStage(source.presumeValidAtDependsOnStage),
450 defaultValue(source.defaultValue),
451 derivIx(source.derivIx.size())
453 Measure_Num<T>::makeZeroLike(defaultValue, zeroValue);
459 int size()
const {
return Measure_Num<T>::size(defaultValue);}
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());
475 this->
getSubsystem().getCacheEntry(s, derivIx[derivOrder]));
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());
488 this->
getSubsystem().updCacheEntry(s, derivIx[derivOrder]));
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());
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());
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());
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); }
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);
573 if (getNumCacheEntries()) {
574 derivIx[0] = presumeValidAtDependsOnStage
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
593 realizeMeasureTopologyVirtual(s);
599 bool presumeValidAtDependsOnStage;
624 void setValue(
const T& v) {this->setDefaultValue(v);}
632 {
return derivOrder>0 ? this->getValueZero() : this->getDefaultValue(); }
650 template <
class T>
inline 652 template <
class T>
inline 660 template <
class T>
inline 662 template <
class T>
inline 692 {
return derivOrder==0 ? s.getTime()
722 invalidatedStage(
Stage::Empty) {}
726 invalidatedStage(invalidated) {}
731 invalidatedStage(source.invalidatedStage) {}
734 invalidatedStage = invalidates;
735 this->invalidateTopologyCache();
744 { updVarValue(state) = value; }
760 {
return derivOrder>0 ? this->getValueZero() : getVarValue(s); }
769 const T& getVarValue(
const State& s)
const {
770 assert(discreteVarIndex.isValid());
772 this->
getSubsystem().getDiscreteVariable(s, discreteVarIndex));
774 T& updVarValue(
State& s)
const {
775 assert(discreteVarIndex.isValid());
777 this->
getSubsystem().updDiscreteVariable(s, discreteVarIndex));
781 Stage invalidatedStage;
804 dependsOnStage(dependsOn==
Stage::Empty ?
Stage::Topology : dependsOn),
805 invalidatedStage(invalidated)
807 "Got invalidated stage %s and dependsOn stage %s which is illegal " 808 "because the invalidated stage must be later than dependsOn.",
815 dependsOnStage(source.dependsOnStage),
816 invalidatedStage(source.invalidatedStage) {}
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().",
826 getInvalidatedStage().getName().c_str());
828 dependsOnStage = dependsOn;
829 this->invalidateTopologyCache();
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().",
841 invalidatedStage = invalidated;
842 this->invalidateTopologyCache();
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 " 861 subsystemStage.
getName().c_str(),
864 this->markCacheValueRealized(state, 0); }
867 {
return this->isCacheValueRealized(state, 0); }
870 { this->markCacheValueNotRealized(state, 0);
874 { markAsNotValid(state);
return this->updCacheEntry(state, 0); }
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."); }
899 Stage dependsOnStage;
900 Stage invalidatedStage;
912 static const int NumDerivs = 3;
916 a(
CNT<T>::getNaN()), w(
CNT<T>::getNaN()), p(
CNT<T>::getNaN()) {}
922 a(amplitude), w(frequency), p(phase) {}
940 using std::sin;
using std::cos;
942 assert(NumDerivs == 3);
943 const Real t = s.getTime();
944 const T arg = w*t + p;
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;
952 "Measure::Sinusoid::Implementation::calcCachedValueVirtual():" 953 " derivOrder %d is out of range 0-3.", derivOrder);
981 : left(left), right(right) {}
1000 right.getDependsOnStage(order))); }
1006 value = left.getValue(s,derivOrder) + right.getValue(s,derivOrder);
1034 : left(left), right(right) {}
1053 right.getDependsOnStage(order))); }
1059 value = left.getValue(s,derivOrder) - right.getValue(s,derivOrder);
1088 : factor(factor), operand(operand) {}
1095 this->invalidateTopologyCache();
1116 {
return operand.getDependsOnStage(order); }
1122 value = factor * operand.getValue(s,derivOrder);
1158 const T& defaultValue)
1160 derivMeasure(deriv), icMeasure(ic) {}
1166 derivMeasure(source.derivMeasure), icMeasure(source.icMeasure) {}
1172 { assert(zIndex >= 0);
1173 for (
int i=0; i < this->size(); ++i)
1175 Measure_Num<T>::get(value, i); }
1179 "Measure_<T>::Integrate::getDerivativeMeasure()",
1180 "No derivative measure is available for this integrated measure.");
1181 return derivMeasure; }
1185 "Measure_<T>::Integrate::getInitialConditionMeasure()",
1186 "No initial condition measure is available for this " 1187 "integrated measure.");
1191 { derivMeasure = d; this->invalidateTopologyCache(); }
1193 { icMeasure = ic; this->invalidateTopologyCache(); }
1203 {
int integralDerivs = getDerivativeMeasure().getNumTimeDerivatives();
1207 return integralDerivs; }
1211 { assert(derivOrder == 0);
1212 assert(Measure_Num<T>::size(value) == this->size());
1213 assert(zIndex.isValid());
1215 for (
int i=0; i < this->size(); ++i)
1216 Measure_Num<T>::upd(value,i) = allZ[zIndex+i];
1221 { assert(derivOrder > 0);
1222 return getDerivativeMeasure().getValue(s, derivOrder-1);
1226 {
return derivOrder>0
1227 ? getDerivativeMeasure().getDependsOnStage(derivOrder-1)
1233 assert(zIndex.isValid());
1235 if (!icMeasure.isEmptyHandle()) {
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);
1242 for (
int i=0; i < this->size(); ++i)
1252 Vector init(this->size());
1253 for (
int i=0; i < this->size(); ++i)
1261 assert(zIndex.isValid());
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);
1268 allZDot(zIndex,this->size()) = 0;
1296 class Measure_Differentiate_Result {
1298 Measure_Differentiate_Result() : derivIsGood(
false) {}
1309 typedef Measure_Differentiate_Result<T> Result;
1316 operand(operand), forceUseApprox(false), isApproxInUse(false) {}
1322 forceUseApprox = mustApproximate;
1323 this->invalidateTopologyCache();
1327 this->operand = operand;
1328 this->invalidateTopologyCache();
1343 {
if (!isApproxInUse)
return operand.getNumTimeDerivatives()-1;
1347 {
if (!isApproxInUse)
return operand.getDependsOnStage(order+1);
1348 else return operand.getDependsOnStage(order); }
1356 {
if (!isApproxInUse)
1357 return operand.getValue(s, derivOrder+1);
1359 ensureDerivativeIsRealized(s);
1363 return result.operandDot;
1367 if (!isApproxInUse)
return;
1369 assert(resultIx.isValid());
1372 (subsys.updDiscreteVariable(s,resultIx));
1374 result.operand = operand.getValue(s);
1375 result.operandDot = this->getValueZero();
1376 result.derivIsGood =
false;
1380 isApproxInUse = (forceUseApprox || operand.getNumTimeDerivatives()==0);
1392 ensureDerivativeIsRealized(s);
1396 assert(resultIx.isValid());
1398 if (subsys.isDiscreteVarUpdateValueRealized(s,resultIx))
1401 const Real t0 = subsys.getDiscreteVarLastUpdateTime(s,resultIx);
1403 (subsys.getDiscreteVariable(s,resultIx));
1404 const T& f0 = prevResult.operand;
1405 const T& fdot0 = prevResult.operandDot;
1406 const bool good0 = prevResult.derivIsGood;
1410 (subsys.updDiscreteVarUpdateValue(s,resultIx));
1411 T& f = result.operand;
1412 T& fdot = result.operandDot;
1413 bool& good = result.derivIsGood;
1415 f = operand.getValue(s);
1418 fdot = this->getValueZero();
1423 fdot = (f-f0)/(t-t0);
1425 fdot =
Real(2)*fdot - fdot0;
1428 subsys.markDiscreteVarUpdateValueRealized(s,resultIx);
1433 bool forceUseApprox;
1436 mutable bool isApproxInUse;
1468 this->operand = operand;
1469 this->invalidateTopologyCache();
1476 this->operation = op;
1477 this->invalidateTopologyCache();
1490 assert(extremeIx.isValid());
1493 (subsys.updDiscreteVariable(s,extremeIx));
1502 const bool hasNewExtreme = ensureExtremeHasBeenUpdated(s);
1520 {
return operand.getNumTimeDerivatives(); }
1525 {
return operand.getDependsOnStage(order); }
1535 const bool hasNewExtreme = ensureExtremeHasBeenUpdated(s);
1536 if (derivOrder > 0) {
1540 return hasNewExtreme ? operand.getValue(s, derivOrder)
1541 : this->getValueZero();
1543 if (hasNewExtreme) {
1575 case MaxAbs: initVal = 0;
break;
1580 new Value<T>(initVal), operand.getDependsOnStage(0));
1584 new Value<bool>(
false), operand.getDependsOnStage(0));
1590 ensureExtremeHasBeenUpdated(s);
1599 assert(extremeIx.isValid() && isNewExtremeIx.isValid());
1604 if (subsys.isDiscreteVarUpdateValueRealized(s, isNewExtremeIx))
1606 (subsys.getDiscreteVarUpdateValue(s,isNewExtremeIx));
1614 (subsys.getDiscreteVariable(s,extremeIx));
1615 const T& currentVal = operand.
getValue(s);
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));
1628 (subsys.updDiscreteVarUpdateValue(s,isNewExtremeIx)) = foundNewExt;
1629 subsys.markDiscreteVarUpdateValueRealized(s,isNewExtremeIx);
1643 (subsys.updDiscreteVarUpdateValue(s,extremeIx));
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));
1651 subsys.markDiscreteVarUpdateValueRealized(s,extremeIx);
1657 bool isNewExtreme(
const typename Measure_Num<T>::Element& newVal,
1658 const typename Measure_Num<T>::Element& oldExtreme)
const 1660 switch (operation) {
1667 "Measure::Extreme::Implementation::isNewExtreme(): " 1668 "unrecognized operation %d", (
int)operation);
1675 bool isExtremeDir(
const typename Measure_Num<T>::Element& value,
1676 const typename Measure_Num<T>::Element& deriv)
const 1678 const int sv =
sign(value), sd =
sign(deriv);
1679 if (sd == 0)
return false;
1680 switch (operation) {
1687 "Measure::Extreme::Implementation::isExtremeDir(): " 1688 "unrecognized operation %d", (
int)operation);
1692 typename Measure_Num<T>::Element
1693 extremeOf(
const typename Measure_Num<T>::Element& newVal,
1694 const typename Measure_Num<T>::Element& oldExtreme)
const 1696 return isNewExtreme(newVal,oldExtreme) ? newVal : oldExtreme;
1701 Operation operation;
1749 class Measure_Delay_Buffer {
1751 explicit Measure_Delay_Buffer() {initDataMembers();}
1752 void clear() {initDataMembers();}
1753 int size()
const {
return m_size;}
1754 int capacity()
const {
return m_times.size();}
1755 bool empty()
const {
return size()==0;}
1756 bool full()
const {
return size()==capacity();}
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)];}
1764 InitialAllocation = 8,
1766 MaxShrinkProofSize = 16,
1772 void append(
double tEarliest,
double tNow,
const T& valueNow) {
1773 forgetEntriesMuchOlderThan(tEarliest);
1774 removeEntriesLaterOrEq(tNow);
1777 else if (capacity() >
std::max((
int)MaxShrinkProofSize,
1778 (
int)TooBigFactor * (size()+1)))
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());
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;
1794 m_maxSize =
std::max(m_maxSize, size());
1803 void copyInAndUpdate(
const Measure_Delay_Buffer& oldBuf,
double tEarliest,
1804 double tNow,
const T& valueNow) {
1806 m_oldest = m_size = 0;
1809 int firstNeeded = oldBuf.countNumUnneededOldEntries(tEarliest);
1810 int lastNeeded = oldBuf.findLastEarlier(tNow);
1811 int numOldEntriesToKeep = lastNeeded-firstNeeded+1;
1812 int newSize = numOldEntriesToKeep+1;
1814 int newSizeRequest = -1;
1815 if (capacity() < newSize) {
1816 newSizeRequest =
std::max((
int)InitialAllocation,
1817 (
int)GrowthFactor * newSize);
1819 }
else if (capacity() >
std::max((
int)MaxShrinkProofSize,
1820 (
int)TooBigFactor * newSize)) {
1821 newSizeRequest =
std::max((
int)MaxShrinkProofSize,
1822 (
int)GrowthFactor * newSize);
1827 if (newSizeRequest != -1) {
1829 m_values.resize(newSizeRequest);
1830 if (m_values.capacity() > m_values.size())
1831 m_values.resize(m_values.capacity());
1832 m_times.resize(m_values.size(), dNaN);
1835 m_maxCapacity =
std::max(m_maxCapacity, capacity());
1839 for (
int i=firstNeeded; i<=lastNeeded; ++i, ++nxt) {
1840 m_times[nxt] = oldBuf.getEntryTime(i);
1841 m_values[nxt] = oldBuf.getEntryValue(i);
1844 m_times[nxt] = tNow;
1845 m_values[nxt] = valueNow;
1846 assert(nxt+1==newSize);
1848 m_maxSize =
std::max(m_maxSize, size());
1854 T calcValueAtTime(
double tDelay,
double tNow,
const T& valueNow)
const;
1859 void calcValueAtTimeLinearOnly(
double tDelay, T& delayedValue)
const {
1863 Measure_Num<T>::makeNaNLike(T(), delayedValue);
1867 int firstLater = findFirstLaterOrEq(tDelay);
1869 if (firstLater > 0) {
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));
1880 if (firstLater==0) {
1883 delayedValue = getEntryValue(firstLater);
1892 delayedValue = getEntryValue(0);
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));
1901 assert(fraction > 1.0);
1902 delayedValue = T(v0 + fraction*(v1-v0));
1906 int getNumGrows()
const {
return m_nGrows;}
1909 int getNumShrinks()
const {
return m_nShrinks;}
1911 int getMaxSize()
const {
return m_maxSize;}
1913 int getMaxCapacity()
const {
return m_maxCapacity;}
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(); }
1925 void forgetEntriesMuchOlderThan(
double tEarliest) {
1926 const int numToRemove = countNumUnneededOldEntries(tEarliest);
1928 m_oldest = getArrayIndex(numToRemove);
1929 m_size -= numToRemove;
1936 int countNumUnneededOldEntries(
double tEarliest)
const {
1937 const int firstLater = findFirstLaterOrEq(tEarliest);
1943 void removeEntriesLaterOrEq(
double t) {
1944 int lastEarlier = findLastEarlier(t);
1945 m_size = lastEarlier+1;
1946 if (m_size==0) m_oldest=0;
1951 int findFirstLaterOrEq(
double tDelay)
const {
1952 for (
int i=0; i < size(); ++i)
1953 if (getEntryTime(i) >= tDelay)
1960 int findLastEarlier(
double t)
const {
1961 for (
int i=size()-1; i>=0; --i)
1962 if (getEntryTime(i) < t)
1969 void makeMoreRoom() {
1970 const int newSizeRequest =
std::max((
int)InitialAllocation,
1971 (
int)GrowthFactor * size());
1972 resize(newSizeRequest);
1974 m_maxCapacity =
std::max(m_maxCapacity, capacity());
1979 void makeLessRoom() {
1980 const int targetMaxSize =
std::max((
int)MaxShrinkProofSize,
1981 (
int)GrowthFactor * size());
1982 if (capacity() > targetMaxSize) {
1983 resize(targetMaxSize);
1993 void resize(
int newSizeRequest) {
1994 assert(newSizeRequest >= size());
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];
2007 m_times.
swap(newTimes);
2008 m_values.swap(newValues);
2013 void initDataMembers() {
2014 m_times.clear(); m_values.clear();
2016 m_nGrows=m_nShrinks=m_maxSize=m_maxCapacity=0;
2026 int m_nGrows, m_nShrinks, m_maxSize, m_maxCapacity;
2032 typedef Measure_Delay_Buffer<T> Buffer;
2038 m_canUseCurrentValue(false), m_useLinearInterpolationOnly(false) {}
2042 m_canUseCurrentValue(false), m_useLinearInterpolationOnly(false) {}
2049 this->m_source = source;
2050 this->invalidateTopologyCache();
2055 if (delay != this->m_delay) {
2056 this->m_delay = delay;
2057 this->invalidateTopologyCache();
2062 if (linearOnly != this->m_useLinearInterpolationOnly) {
2063 this->m_useLinearInterpolationOnly = linearOnly;
2064 this->invalidateTopologyCache();
2069 if (canUseCurrentValue != this->m_canUseCurrentValue) {
2070 this->m_canUseCurrentValue = canUseCurrentValue;
2071 this->invalidateTopologyCache();
2078 {
return this->m_useLinearInterpolationOnly; }
2080 {
return this->m_canUseCurrentValue; }
2097 {
return this->m_canUseCurrentValue ? m_source.getDependsOnStage(order)
2108 buffer.calcValueAtTimeLinearOnly(s.getTime()-m_delay, value);
2112 assert(m_bufferIx.isValid());
2115 (subsys.updDiscreteVariable(s,m_bufferIx));
2118 buffer.append(s.getTime()-m_delay, s.getTime(), m_source.getValue(s));
2137 assert(m_bufferIx.isValid());
2141 (subsys.getDiscreteVariable(s,m_bufferIx));
2144 (subsys.updDiscreteVarUpdateValue(s,m_bufferIx));
2147 nextBuffer.copyInAndUpdate(prevBuffer, t-m_delay,
2148 t, m_source.getValue(s));
2150 subsys.markDiscreteVarUpdateValueRealized(s,m_bufferIx);
2156 bool m_canUseCurrentValue;
2157 bool m_useLinearInterpolationOnly;
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'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
void setOperandMeasure(const Measure_< T > &operand)
Definition: MeasureImplementation.h:1326
const T & getUncachedValueVirtual(const State &s, int derivOrder) const override
We'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'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 &litude, 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'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
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'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
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're shallow-copying the Measure handles so we'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'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'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'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'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'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
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's cache entries.
Definition: MeasureImplementation.h:518
void markCacheValueRealized(const State &s, int derivOrder) const
Mark one of this Measure'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