1 #ifndef SimTK_SimTKCOMMON_SYSTEM_GUTS_H_ 2 #define SimTK_SimTKCOMMON_SYSTEM_GUTS_H_ 35 class DecorativeGeometry;
80 const String& version=
"0.0.0");
83 const String& getName()
const;
84 const String& getVersion()
const;
86 void setHasTimeAdvancedEvents(
bool hasEm);
87 bool hasTimeAdvancedEvents()
const;
95 const State& getDefaultState()
const;
96 State& updDefaultState();
102 int getNumSubsystems()
const;
107 const System& getSystem()
const;
110 void setOwnerHandle(
System&);
111 bool hasOwnerHandle()
const;
113 explicit Guts(
class GutsRep* r) : rep(r) { }
115 const GutsRep&
getRep()
const {assert(rep);
return *rep;}
116 GutsRep&
updRep()
const {assert(rep);
return *rep;}
118 bool systemTopologyHasBeenRealized()
const;
120 void setSystemTopologyCacheVersion(
StageVersion topoVersion)
const;
121 void invalidateSystemTopologyCache()
const;
131 const State& realizeTopology()
const;
132 void realizeModel(
State&)
const;
133 void realizeInstance (
const State& s)
const;
134 void realizeTime (
const State& s)
const;
135 void realizePosition (
const State& s)
const;
136 void realizeVelocity (
const State& s)
const;
137 void realizeDynamics (
const State& s)
const;
138 void realizeAcceleration(
const State& s)
const;
139 void realizeReport (
const State& s)
const;
142 void multiplyByN(
const State& state,
const Vector& u,
144 void multiplyByNTranspose(
const State& state,
const Vector& fq,
146 void multiplyByNPInv(
const State& state,
const Vector& dq,
148 void multiplyByNPInvTranspose(
const State& state,
const Vector& fu,
151 bool prescribeQ(
State&)
const;
152 bool prescribeU(
State&)
const;
167 void calcTimeOfNextScheduledEvent(
const State&,
Real& tNextEvent,
Array_<EventId>& eventIds,
bool includeCurrentTime)
const;
168 void calcTimeOfNextScheduledReport(
const State&,
Real& tNextEvent,
Array_<EventId>& eventIds,
bool includeCurrentTime)
const;
170 void calcDecorativeGeometryAndAppend(
const State&,
Stage,
200 virtual void multiplyByNImpl(
const State& state,
const Vector& u,
202 virtual void multiplyByNTransposeImpl(
const State& state,
const Vector& fq,
204 virtual void multiplyByNPInvImpl(
const State& state,
const Vector& dq,
206 virtual void multiplyByNPInvTransposeImpl(
const State& state,
const Vector& fu,
223 virtual void handleEventsImpl
230 virtual int calcEventTriggerInfoImpl(
const State& state,
233 virtual int calcTimeOfNextScheduledEventImpl
235 bool includeCurrentTime)
const;
236 virtual int calcTimeOfNextScheduledReportImpl
238 bool includeCurrentTime)
const;
242 virtual void getFreeQIndexImpl
244 const unsigned nq = (unsigned)s.
getNQ();
246 for (
unsigned i=0; i<nq; ++i)
249 virtual void getFreeUIndexImpl
251 const unsigned nu = (unsigned)s.
getNU();
253 for (
unsigned i=0; i<nu; ++i)
260 class EventTriggerInfoRep;
267 #endif // SimTK_SimTKCOMMON_SYSTEM_GUTS_H_ A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
virtual int realizeInstanceImpl(const State &state) const
Definition: SystemGuts.h:192
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
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:2091
const GutsRep & getRep() const
Definition: SystemGuts.h:115
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
virtual void projectUImpl(State &state, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
Definition: SystemGuts.h:219
ProjectResults & clear()
Restore this object to its default-constructed state, with the return status set to Invalid...
Definition: System.h:1089
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:606
bool hasRep() const
Definition: SystemGuts.h:114
long long StageVersion
This is the type to use for Stage version numbers that get incremented whenever a state variable chan...
Definition: Stage.h:44
virtual bool prescribeUImpl(State &) const
Definition: SystemGuts.h:211
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Results for advanced users of project() methods.
Definition: System.h:1067
These are all the possible causes for events.
Definition: Event.h:126
virtual bool prescribeQImpl(State &) const
Definition: SystemGuts.h:210
Options for the advanced project() methods.
Definition: System.h:950
virtual int realizePositionImpl(const State &state) const
Definition: SystemGuts.h:194
The project() was successful either because no projection was necessary or projection was able to ach...
Definition: System.h:1076
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
This unique integer type is for indexing global "q-like" arrays, that is, arrays that inherently have...
virtual int realizeAccelerationImpl(const State &state) const
Definition: SystemGuts.h:197
Guts(class GutsRep *r)
Definition: SystemGuts.h:113
GutsRep & updRep() const
Definition: SystemGuts.h:116
virtual void projectQImpl(State &state, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
Definition: SystemGuts.h:216
ProjectResults & setExitStatus(Status status)
Definition: System.h:1109
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
This is the declaration for the System::Guts class, the abstract object to which a System handle poin...
Definition: SystemGuts.h:71
int getNQ() const
Get total number of shared q's (generalized coordinates; second order state variables).
virtual int realizeReportImpl(const State &state) const
Definition: SystemGuts.h:198
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.
int getNU() const
Get total number of shared u's (generalized speeds; mobilities).
Results returned by the handleEvent() method.
Definition: Event.h:345
This is the header which should be included in user programs that would like to make use of all the S...
This unique integer type is for indexing global "u-like" arrays, that is, arrays that inherently have...
Includes internal headers providing declarations for the basic SimTK Core classes.
virtual int realizeDynamicsImpl(const State &state) const
Definition: SystemGuts.h:196
virtual int realizeTopologyImpl(State &state) const
Definition: SystemGuts.h:190
virtual int realizeModelImpl(State &state) const
Definition: SystemGuts.h:191
virtual int realizeTimeImpl(const State &state) const
Definition: SystemGuts.h:193
Options for the handleEvent() method.
Definition: Event.h:269
virtual int realizeVelocityImpl(const State &state) const
Definition: SystemGuts.h:195