This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsystem. More...

Inheritance diagram for SimTK::DecorationSubsystem:

Public Member Functions
	DecorationSubsystem ()

	DecorationSubsystem (MultibodySystem &)

void	addBodyFixedDecoration (MobilizedBodyIndex bodyNum, const Transform &X_GD, const DecorativeGeometry &)

void	addRubberBandLine (MobilizedBodyIndex b1, const Vec3 &station1, MobilizedBodyIndex b2, const Vec3 &station2, const DecorativeLine &)

void	addDecorationGenerator (Stage stage, DecorationGenerator *generator)
	Add a DecorationGenerator that will be invoked to add dynamically generated geometry to the scene. More...

	SimTK_PIMPL_DOWNCAST (DecorationSubsystem, Subsystem)

class DecorationSubsystemGuts &	updGuts ()

const DecorationSubsystemGuts &	getGuts () const

Public Member Functions inherited from SimTK::Subsystem
	Subsystem ()
	Default constructor creates and empty handle with a null Subsystem::Guts pointer. More...

	Subsystem (const Subsystem &)
	Copy constructor clones the Subsystem::Guts object if there is one and makes this the owner handle of the new clone. More...

Subsystem &	operator= (const Subsystem &)
	Copy assignment deletes the Subsystem::Guts object if there is one and then behaves like the copy constructor. More...

	~Subsystem ()
	Destructor deletes the referenced Subsystem::Guts object if this is the owner handle of that object, otherwise does nothing. More...

QIndex	allocateQ (State &s, const Vector &qInit) const

UIndex	allocateU (State &s, const Vector &uInit) const

ZIndex	allocateZ (State &s, const Vector &zInit) const

DiscreteVariableIndex	allocateDiscreteVariable (State &s, Stage g, AbstractValue *v) const

DiscreteVariableIndex	allocateAutoUpdateDiscreteVariable (State &s, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const

CacheEntryIndex	allocateCacheEntry (const State &s, Stage dependsOn, Stage computedBy, AbstractValue *v) const

CacheEntryIndex	allocateCacheEntry (const State &state, Stage g, AbstractValue *v) const

CacheEntryIndex	allocateLazyCacheEntry (const State &state, Stage earliest, AbstractValue *v) const

QErrIndex	allocateQErr (const State &s, int nqerr) const

UErrIndex	allocateUErr (const State &s, int nuerr) const

UDotErrIndex	allocateUDotErr (const State &s, int nudoterr) const

EventTriggerByStageIndex	allocateEventTriggersByStage (const State &s, Stage g, int ntriggers) const

const Vector &	getQ (const State &s) const

const Vector &	getU (const State &s) const

const Vector &	getZ (const State &s) const

const Vector &	getUWeights (const State &s) const

const Vector &	getZWeights (const State &s) const

Vector &	updQ (State &s) const

Vector &	updU (State &s) const

Vector &	updZ (State &s) const

const Vector &	getQDot (const State &s) const

const Vector &	getUDot (const State &s) const

const Vector &	getZDot (const State &s) const

const Vector &	getQDotDot (const State &s) const

Vector &	updQDot (const State &s) const

Vector &	updUDot (const State &s) const

Vector &	updZDot (const State &s) const

Vector &	updQDotDot (const State &s) const

const Vector &	getQErr (const State &s) const

const Vector &	getUErr (const State &s) const

const Vector &	getQErrWeights (const State &s) const

const Vector &	getUErrWeights (const State &s) const

const Vector &	getUDotErr (const State &s) const

const Vector &	getMultipliers (const State &s) const

const Vector &	getEventTriggersByStage (const State &s, Stage g) const

Vector &	updQErr (const State &s) const

Vector &	updUErr (const State &s) const

Vector &	updUDotErr (const State &s) const

Vector &	updMultipliers (const State &s) const

Vector &	updEventTriggersByStage (const State &s, Stage g) const

SystemQIndex	getQStart (const State &s) const

int	getNQ (const State &s) const

SystemUIndex	getUStart (const State &s) const

int	getNU (const State &s) const

SystemZIndex	getZStart (const State &s) const

int	getNZ (const State &s) const

SystemQErrIndex	getQErrStart (const State &s) const

int	getNQErr (const State &s) const

SystemUErrIndex	getUErrStart (const State &s) const

int	getNUErr (const State &s) const

SystemUDotErrIndex	getUDotErrStart (const State &s) const

int	getNUDotErr (const State &s) const

SystemMultiplierIndex	getMultipliersStart (const State &s) const

int	getNMultipliers (const State &s) const

SystemEventTriggerByStageIndex	getEventTriggerStartByStage (const State &s, Stage g) const

int	getNEventTriggersByStage (const State &s, Stage g) const

void	setQ (State &s, const Vector &q) const

void	setU (State &s, const Vector &u) const

void	setZ (State &s, const Vector &z) const

Stage	getStage (const State &s) const

void	advanceToStage (const State &s, Stage g) const

const AbstractValue &	getDiscreteVariable (const State &s, DiscreteVariableIndex index) const

AbstractValue &	updDiscreteVariable (State &s, DiscreteVariableIndex index) const

const AbstractValue &	getCacheEntry (const State &s, CacheEntryIndex index) const

AbstractValue &	updCacheEntry (const State &s, CacheEntryIndex index) const

Real	getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const

CacheEntryIndex	getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const

const AbstractValue &	getDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

bool	isDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

void	markDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

bool	isCacheValueRealized (const State &s, CacheEntryIndex cx) const

void	markCacheValueRealized (const State &s, CacheEntryIndex cx) const

void	markCacheValueNotRealized (const State &s, CacheEntryIndex cx) const

const String &	getName () const
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

const String &	getVersion () const
	Obtain the Subsystem version string if one was given on construction. More...

bool	isInSystem () const
	Return `true` if this Subsystem is contained in a System. More...

bool	isInSameSystem (const Subsystem &otherSubsystem) const
	Return `true` if this Subsystem is contained in the same System as contains the given otherSubsystem. More...

const System &	getSystem () const
	Return a const reference to the System that contains this Subsystem. More...

System &	updSystem ()
	Return a writable reference to the System that contains this Subsystem. More...

void	setSystem (System &system, SubsystemIndex subx)
	Inform this Subsystem of the System that contains it, as well as the SubsystemIndex which the System has assigned to it. More...

SubsystemIndex	getMySubsystemIndex () const
	Return the SubsystemIndex within the containing System. More...

bool	isEmptyHandle () const
	Return true if this handle has a null Subsystem::Guts pointer. More...

bool	isSameSubsystem (const Subsystem &otherSubsystem) const
	Determine if `this` Subsystem handle refers to the same Subsystem::Guts object as handle otherSubsystem. More...

bool	isOwnerHandle () const
	Is this Subsystem handle the owner of the Subsystem::Guts object it points to? This is `true` if the handle is empty or if its Guts object points back to this handle. More...

bool	subsystemTopologyHasBeenRealized () const
	Returns `true` if this Subsystem's realizeTopology() method has been called since the last topological change or call to invalidateSubsystemTopologyCache(). More...

void	invalidateSubsystemTopologyCache () const
	Always call this method when a topological change is made to this Subsystem to indicate that any Stage::Topology cache values may need recomputation. More...

MeasureIndex	adoptMeasure (AbstractMeasure &)
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

AbstractMeasure	getMeasure (MeasureIndex) const
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

const Subsystem::Guts &	getSubsystemGuts () const
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

Subsystem::Guts &	updSubsystemGuts ()
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

void	adoptSubsystemGuts (Subsystem::Guts *g)
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

	Subsystem (Subsystem::Guts *g)
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

bool	hasGuts () const
	Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...

Detailed Description

This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsystem.

Any Subsystem can generate decorative geometry, so the methods for extracting the geometry are at the Subsystem level and thus inherited here. So the only significant methods here are those for adding decorative geometry to the System beyond that which is generated by the other subsystems.

Constructor & Destructor Documentation

SimTK::DecorationSubsystem::DecorationSubsystem ( )

SimTK::DecorationSubsystem::DecorationSubsystem ( MultibodySystem & )

explicit

Member Function Documentation

void SimTK::DecorationSubsystem::addBodyFixedDecoration	(	MobilizedBodyIndex	bodyNum,
		const Transform &	X_GD,
		const DecorativeGeometry &
	)

void SimTK::DecorationSubsystem::addRubberBandLine	(	MobilizedBodyIndex	b1,
		const Vec3 &	station1,
		MobilizedBodyIndex	b2,
		const Vec3 &	station2,
		const DecorativeLine &
	)

void SimTK::DecorationSubsystem::addDecorationGenerator	(	Stage	stage,
		DecorationGenerator *	generator
	)

Add a DecorationGenerator that will be invoked to add dynamically generated geometry to the scene.

The DecorationSubsystem assumes ownership of the object passed to this method, and will delete it when the subsystem is deleted.

Parameters

stage	the Stage the generator should be invoked at
generator	the DecorationGenerator to add

SimTK::DecorationSubsystem::SimTK_PIMPL_DOWNCAST	(	DecorationSubsystem	,
		Subsystem
	)

class DecorationSubsystemGuts& SimTK::DecorationSubsystem::updGuts ( )

const DecorationSubsystemGuts& SimTK::DecorationSubsystem::getGuts ( ) const

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

DecorationSubsystem.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation