A Subsystem is expected to be part of a larger System and to have interdependencies with other subsystems of that same System. More...

Inheritance diagram for SimTK::Subsystem:

Classes
class	Guts
	The abstract parent of all Subsystem implementation classes. More...

Public Member Functions
	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...

State access methods
These convenience methods are inline pass-throughs to the State methods of the same name but insert this Subsystem's SubsystemIndex as the first argument. That is the value returned by the getMySubsystemIndex() method. An exception will be thrown if this Subsystem is not contained in a System. See the SimTK::State documentation for the meaning of these methods; the behavior is identical here.
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

Miscellaneous bookkeeping
These methods are not commonly used by end users. They are concerned with the mechanics of creating and managing a Subsystem, typically a concern of Subsystem developers. These are mostly inline pass-throughs to the Subsystem::Guts object pointed to by this handle.
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...

Friends
class	Guts

Detailed Description

A Subsystem is expected to be part of a larger System and to have interdependencies with other subsystems of that same System.

It must NOT have dependencies on objects which are outside the System. Consequently construction of any concrete Subsystem requires specification of a System at that time. Subsystems go through an extended construction phase in which their contents and interdependencies are created. Thus all of a System's Subsystems generally need to be available simultaneously during construction, so that they can reference each other.

There are three distinct users of this class:

the System class
the concrete Subsystems derived from this class
the end user of a concrete Subsystem

Only end user methods are public here. Methods intended for use by the concrete Subsystem class implementation can be found in the Subsystem::Guts class which is defined in a separate header file. End users need not look over there.

Constructor & Destructor Documentation

SimTK::Subsystem::Subsystem ( )

inline

Default constructor creates and empty handle with a null Subsystem::Guts pointer.

SimTK::Subsystem::Subsystem ( const Subsystem & )

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

This is typically not very useful.

SimTK::Subsystem::~Subsystem ( )

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

Note that Subsystem::Guts objects are not reference counted so any other handles pointing to the same object will be invalid after the owner handle is destructed.

SimTK::Subsystem::Subsystem ( Subsystem::Guts * g )

inlineexplicit

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

Member Function Documentation

Subsystem& SimTK::Subsystem::operator= ( const Subsystem & )

Copy assignment deletes the Subsystem::Guts object if there is one and then behaves like the copy constructor.

Probably not useful in most cases.

QIndex SimTK::Subsystem::allocateQ	(	State &	s,
		const Vector &	qInit
	)		const

inline

UIndex SimTK::Subsystem::allocateU	(	State &	s,
		const Vector &	uInit
	)		const

inline

ZIndex SimTK::Subsystem::allocateZ	(	State &	s,
		const Vector &	zInit
	)		const

inline

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

inline

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

inline

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

inline

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

inline

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

inline

QErrIndex SimTK::Subsystem::allocateQErr	(	const State &	s,
		int	nqerr
	)		const

inline

UErrIndex SimTK::Subsystem::allocateUErr	(	const State &	s,
		int	nuerr
	)		const

inline

UDotErrIndex SimTK::Subsystem::allocateUDotErr	(	const State &	s,
		int	nudoterr
	)		const

inline

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

inline

const Vector& SimTK::Subsystem::getQ ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getU ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getZ ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getUWeights ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getZWeights ( const State & s ) const

inline

Vector& SimTK::Subsystem::updQ ( State & s ) const

inline

Vector& SimTK::Subsystem::updU ( State & s ) const

inline

Vector& SimTK::Subsystem::updZ ( State & s ) const

inline

const Vector& SimTK::Subsystem::getQDot ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getUDot ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getZDot ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getQDotDot ( const State & s ) const

inline

Vector& SimTK::Subsystem::updQDot ( const State & s ) const

inline

Vector& SimTK::Subsystem::updUDot ( const State & s ) const

inline

Vector& SimTK::Subsystem::updZDot ( const State & s ) const

inline

Vector& SimTK::Subsystem::updQDotDot ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getQErr ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getUErr ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getQErrWeights ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getUErrWeights ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getUDotErr ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getMultipliers ( const State & s ) const

inline

const Vector& SimTK::Subsystem::getEventTriggersByStage	(	const State &	s,
		Stage	g
	)		const

inline

Vector& SimTK::Subsystem::updQErr ( const State & s ) const

inline

Vector& SimTK::Subsystem::updUErr ( const State & s ) const

inline

Vector& SimTK::Subsystem::updUDotErr ( const State & s ) const

inline

Vector& SimTK::Subsystem::updMultipliers ( const State & s ) const

inline

Vector& SimTK::Subsystem::updEventTriggersByStage	(	const State &	s,
		Stage	g
	)		const

inline

SystemQIndex SimTK::Subsystem::getQStart ( const State & s ) const

inline

int SimTK::Subsystem::getNQ ( const State & s ) const

inline

SystemUIndex SimTK::Subsystem::getUStart ( const State & s ) const

inline

int SimTK::Subsystem::getNU ( const State & s ) const

inline

SystemZIndex SimTK::Subsystem::getZStart ( const State & s ) const

inline

int SimTK::Subsystem::getNZ ( const State & s ) const

inline

SystemQErrIndex SimTK::Subsystem::getQErrStart ( const State & s ) const

inline

int SimTK::Subsystem::getNQErr ( const State & s ) const

inline

SystemUErrIndex SimTK::Subsystem::getUErrStart ( const State & s ) const

inline

int SimTK::Subsystem::getNUErr ( const State & s ) const

inline

SystemUDotErrIndex SimTK::Subsystem::getUDotErrStart ( const State & s ) const

inline

int SimTK::Subsystem::getNUDotErr ( const State & s ) const

inline

SystemMultiplierIndex SimTK::Subsystem::getMultipliersStart ( const State & s ) const

inline

int SimTK::Subsystem::getNMultipliers ( const State & s ) const

inline

SystemEventTriggerByStageIndex SimTK::Subsystem::getEventTriggerStartByStage	(	const State &	s,
		Stage	g
	)		const

inline

int SimTK::Subsystem::getNEventTriggersByStage	(	const State &	s,
		Stage	g
	)		const

inline

void SimTK::Subsystem::setQ	(	State &	s,
		const Vector &	q
	)		const

inline

void SimTK::Subsystem::setU	(	State &	s,
		const Vector &	u
	)		const

inline

void SimTK::Subsystem::setZ	(	State &	s,
		const Vector &	z
	)		const

inline

Stage SimTK::Subsystem::getStage ( const State & s ) const

inline

void SimTK::Subsystem::advanceToStage	(	const State &	s,
		Stage	g
	)		const

inline

const AbstractValue& SimTK::Subsystem::getDiscreteVariable	(	const State &	s,
		DiscreteVariableIndex	index
	)		const

inline

AbstractValue& SimTK::Subsystem::updDiscreteVariable	(	State &	s,
		DiscreteVariableIndex	index
	)		const

inline

const AbstractValue& SimTK::Subsystem::getCacheEntry	(	const State &	s,
		CacheEntryIndex	index
	)		const

inline

AbstractValue& SimTK::Subsystem::updCacheEntry	(	const State &	s,
		CacheEntryIndex	index
	)		const

inline

Real SimTK::Subsystem::getDiscreteVarLastUpdateTime	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

CacheEntryIndex SimTK::Subsystem::getDiscreteVarUpdateIndex	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

const AbstractValue& SimTK::Subsystem::getDiscreteVarUpdateValue	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

AbstractValue& SimTK::Subsystem::updDiscreteVarUpdateValue	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

bool SimTK::Subsystem::isDiscreteVarUpdateValueRealized	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

void SimTK::Subsystem::markDiscreteVarUpdateValueRealized	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

inline

bool SimTK::Subsystem::isCacheValueRealized	(	const State &	s,
		CacheEntryIndex	cx
	)		const

inline

void SimTK::Subsystem::markCacheValueRealized	(	const State &	s,
		CacheEntryIndex	cx
	)		const

inline

void SimTK::Subsystem::markCacheValueNotRealized	(	const State &	s,
		CacheEntryIndex	cx
	)		const

inline

const String & SimTK::Subsystem::getName ( ) const

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

const String & SimTK::Subsystem::getVersion ( ) const

inline

Obtain the Subsystem version string if one was given on construction.

Simbody does not interpret this in any way.

bool SimTK::Subsystem::isInSystem ( ) const

inline

Return true if this Subsystem is contained in a System.

bool SimTK::Subsystem::isInSameSystem ( const Subsystem & otherSubsystem ) const

inline

Return true if this Subsystem is contained in the same System as contains the given otherSubsystem.

Returns false if either Subsystem is not contained in a System, or if the Systems don't match.

const System & SimTK::Subsystem::getSystem ( ) const

inline

Return a const reference to the System that contains this Subsystem.

Throws an exception if this is not contained in a System; call isInSystem() first if you aren't sure.

System & SimTK::Subsystem::updSystem ( )

inline

Return a writable reference to the System that contains this Subsystem.

Throws an exception if this is not contained in a System; call isInSystem() first if you aren't sure.

void SimTK::Subsystem::setSystem	(	System &	system,
		SubsystemIndex	subx
	)

inline

Inform this Subsystem of the System that contains it, as well as the SubsystemIndex which the System has assigned to it.

SubsystemIndex SimTK::Subsystem::getMySubsystemIndex ( ) const

inline

Return the SubsystemIndex within the containing System.

An exception will be thrown (in Debug mode at least) if this Subsystem is not in a System.

bool SimTK::Subsystem::isEmptyHandle ( ) const

inline

Return true if this handle has a null Subsystem::Guts pointer.

bool SimTK::Subsystem::isSameSubsystem ( const Subsystem & otherSubsystem ) const

inline

Determine if this Subsystem handle refers to the same Subsystem::Guts object as handle otherSubsystem.

There can be multiple handles on the same underlying Subsystem::Guts object but at most one can be the owner.

bool SimTK::Subsystem::isOwnerHandle ( ) const

inline

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.

bool SimTK::Subsystem::subsystemTopologyHasBeenRealized ( ) const

inline

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

void SimTK::Subsystem::invalidateSubsystemTopologyCache ( ) const

inline

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

If the Subsystem belongs to a System, the System's overall topology will also be invalidated, since its Stage::Topology cannot be valid if any of its Subsystem topology stages are not valid. However, the stages of other Subsystems in the same System are not affected. A subsequent call to realizeTopology() is required before any computed values may be obtained.

MeasureIndex SimTK::Subsystem::adoptMeasure ( AbstractMeasure & m )

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

AbstractMeasure SimTK::Subsystem::getMeasure ( MeasureIndex mx ) const

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

template<class T >

Measure_<T> SimTK::Subsystem::getMeasure_ ( MeasureIndex mx ) const

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

const Subsystem::Guts& SimTK::Subsystem::getSubsystemGuts ( ) const

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

Subsystem::Guts& SimTK::Subsystem::updSubsystemGuts ( )

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

void SimTK::Subsystem::adoptSubsystemGuts ( Subsystem::Guts * g )

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

bool SimTK::Subsystem::hasGuts ( ) const

inline

Obtain the Subsystem name if one was given on construction of the concrete Subsystem.

Simbody does not interpret this in any way.

Friends And Related Function Documentation

friend class Guts

friend

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

Classes

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation