Simbody  3.5
SimTK::Subsystem Class Reference

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...
 
Subsystemoperator= (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 VectorgetQ (const State &s) const
 
const VectorgetU (const State &s) const
 
const VectorgetZ (const State &s) const
 
const VectorgetUWeights (const State &s) const
 
const VectorgetZWeights (const State &s) const
 
VectorupdQ (State &s) const
 
VectorupdU (State &s) const
 
VectorupdZ (State &s) const
 
const VectorgetQDot (const State &s) const
 
const VectorgetUDot (const State &s) const
 
const VectorgetZDot (const State &s) const
 
const VectorgetQDotDot (const State &s) const
 
VectorupdQDot (const State &s) const
 
VectorupdUDot (const State &s) const
 
VectorupdZDot (const State &s) const
 
VectorupdQDotDot (const State &s) const
 
const VectorgetQErr (const State &s) const
 
const VectorgetUErr (const State &s) const
 
const VectorgetQErrWeights (const State &s) const
 
const VectorgetUErrWeights (const State &s) const
 
const VectorgetUDotErr (const State &s) const
 
const VectorgetMultipliers (const State &s) const
 
const VectorgetEventTriggersByStage (const State &s, Stage g) const
 
VectorupdQErr (const State &s) const
 
VectorupdUErr (const State &s) const
 
VectorupdUDotErr (const State &s) const
 
VectorupdMultipliers (const State &s) const
 
VectorupdEventTriggersByStage (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 AbstractValuegetDiscreteVariable (const State &s, DiscreteVariableIndex index) const
 
AbstractValueupdDiscreteVariable (State &s, DiscreteVariableIndex index) const
 
const AbstractValuegetCacheEntry (const State &s, CacheEntryIndex index) const
 
AbstractValueupdCacheEntry (const State &s, CacheEntryIndex index) const
 
Real getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const
 
CacheEntryIndex getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const
 
const AbstractValuegetDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const
 
AbstractValueupdDiscreteVarUpdateValue (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 StringgetName () const
 Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...
 
const StringgetVersion () 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 SystemgetSystem () const
 Return a const reference to the System that contains this Subsystem. More...
 
SystemupdSystem ()
 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::GutsgetSubsystemGuts () const
 Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More...
 
Subsystem::GutsupdSubsystemGuts ()
 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: