1 #ifndef SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_ 2 #define SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_ 43 class ParticleConSurfaceSystem;
62 :
Guts(), geom(geom) {
106 const ContactGeometryImpl& geom;
123 return SimTK_DYNAMIC_CAST_DEBUG<const ParticleConSurfaceSystemGuts&>
128 return SimTK_DYNAMIC_CAST_DEBUG<ParticleConSurfaceSystemGuts&>
Vector & updQ(SubsystemIndex)
ParticleConSurfaceSystemGuts * cloneImpl() const
Definition: ParticleConSurfaceSystem.h:72
int realizeInstanceImpl(const State &) const
const System & getSystem() const
int realizePositionImpl(const State &) const
bool prescribeQImpl(State &) const
Definition: ParticleConSurfaceSystem.h:97
void multiplyByNPInvImpl(const State &state, const Vector &dq, Vector &u) const
Definition: ParticleConSurfaceSystem.h:91
Unique integer type for Subsystem-local uDotErr indexing.
SubsystemIndex getMySubsystemIndex() const
Return the SubsystemIndex within the containing System.
Definition: SubsystemGuts.h:493
Definition: ParticleConSurfaceSystem.h:111
Unique integer type for Subsystem-local u indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
int realizeModelImpl(State &) const
Unique integer type for Subsystem-local uErr indexing.
Unique integer type for Subsystem-local qErr indexing.
State & updDefaultState()
bool prescribeUImpl(State &) const
Definition: ParticleConSurfaceSystem.h:98
Definition: ParticleConSurfaceSystem.h:44
This file defines the BicubicSurface class, and the BicubicFunction class that uses it to create a tw...
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
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
void setHasTimeAdvancedEvents(bool hasEm)
void multiplyByNImpl(const State &state, const Vector &u, Vector &dq) const
Definition: ParticleConSurfaceSystem.h:87
Results for advanced users of project() methods.
Definition: System.h:1067
Vector & updU(SubsystemIndex)
Options for the advanced project() methods.
Definition: System.h:950
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
void setDefaultTimeAndState(Real t, const Vector &q, const Vector &u)
Definition: ParticleConSurfaceSystem.h:132
void multiplyByNPInvTransposeImpl(const State &state, const Vector &fu, Vector &fq) const
Definition: ParticleConSurfaceSystem.h:93
SubsystemIndex getSubsysIndex() const
Definition: ParticleConSurfaceSystem.h:68
void projectQImpl(State &, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
ParticleConSurfaceSystem(const ContactGeometryImpl &geom)
Definition: ParticleConSurfaceSystem.h:113
Real & updTime()
You can call these as long as System stage >= Model, but the stage will be backed up if necessary to ...
Unique integer type for Subsystem-local q indexing.
void projectUImpl(State &, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
int realizeAccelerationImpl(const State &) const
This is the declaration for the System::Guts class, the abstract object to which a System handle poin...
Definition: SystemGuts.h:71
ParticleConSurfaceSystemGuts & updGuts()
Definition: ParticleConSurfaceSystem.h:127
ParticleConSurfaceSystemGuts(const ContactGeometryImpl &geom)
Definition: ParticleConSurfaceSystem.h:61
const ParticleConSurfaceSystem & getParticleConSurfaceSystem() const
Definition: ParticleConSurfaceSystem.h:144
This unique integer type is for selecting discrete variables.
void multiplyByNTransposeImpl(const State &state, const Vector &fq, Vector &fu) const
Definition: ParticleConSurfaceSystem.h:89
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
Provide a unique integer type for identifying Subsystems.
This is a concrete Subsystem that is part of every System. It provides a variety of services for the ...
Definition: System.h:910
int realizeTopologyImpl(State &) const
Guts(const String &name="<NONAME>", const String &version="0.0.0")
int realizeDynamicsImpl(const State &) const
Unique integer type for Subsystem-local, per-stage event indexing.
const ParticleConSurfaceSystemGuts & getGuts() const
Definition: ParticleConSurfaceSystem.h:122
int realizeVelocityImpl(const State &) const