1 #ifndef SimTK_SimTKCOMMON_SYSTEM_H_ 2 #define SimTK_SimTKCOMMON_SYSTEM_H_ 37 class DecorativeGeometry;
38 class DefaultSystemSubsystem;
39 class ScheduledEventHandler;
40 class ScheduledEventReporter;
41 class TriggeredEventHandler;
42 class TriggeredEventReporter;
134 System& setUseUniformBackground(
bool useUniformBackground);
165 void setHasTimeAdvancedEvents(
bool);
171 bool getUseUniformBackground()
const;
174 Real getDefaultTimeScale()
const;
177 Real getDefaultLengthScale()
const;
180 bool hasTimeAdvancedEvents()
const;
235 const State& realizeTopology()
const;
251 const State& getDefaultState()
const;
254 State& updDefaultState();
274 void realizeModel(
State& state)
const;
368 void project(
State& state,
Real accuracy=-1)
const;
385 void projectQ(
State& state,
Real accuracy=-1)
const;
404 void projectU(
State& state,
Real accuracy=-1)
const;
513 bool prescribeQ(
State& state)
const;
530 bool prescribeU(
State& state)
const;
587 void handleEvents(
State& state,
596 void reportEvents(
const State& state,
608 void calcEventTriggerInfo(
const State& state,
616 void calcTimeOfNextScheduledEvent(
const State& state,
619 bool includeCurrentTime)
const;
624 void calcTimeOfNextScheduledReport(
const State& state,
627 bool includeCurrentTime)
const;
685 void multiplyByN(
const State& state,
const Vector& u,
688 void multiplyByNTranspose(
const State& state,
const Vector& fq,
691 void multiplyByNPInv(
const State& state,
const Vector& dq,
694 void multiplyByNPInvTranspose(
const State& state,
const Vector& fu,
709 void resetAllCountersToZero();
716 int getNumRealizationsOfThisStage(
Stage)
const;
721 int getNumRealizeCalls()
const;
726 int getNumPrescribeQCalls()
const;
728 int getNumPrescribeUCalls()
const;
734 int getNumProjectQCalls()
const;
736 int getNumFailedProjectQCalls()
const;
739 int getNumQProjections()
const;
742 int getNumQErrorEstimateProjections()
const;
746 int getNumProjectUCalls()
const;
748 int getNumFailedProjectUCalls()
const;
751 int getNumUProjections()
const;
754 int getNumUErrorEstimateProjections()
const;
761 int getNumHandlerCallsThatChangedStage(
Stage)
const;
765 int getNumHandleEventCalls()
const;
769 int getNumReportEventCalls()
const;
790 const String& getName()
const;
792 const String& getVersion()
const;
799 int getNumSubsystems()
const;
814 inline operator const Subsystem&()
const;
824 bool systemTopologyHasBeenRealized()
const;
840 void setSystemTopologyCacheVersion(
StageVersion topoVersion)
const;
851 void invalidateSystemTopologyCache()
const;
860 void calcDecorativeGeometryAndAppend(
const State&,
Stage,
866 bool isSameSystem(
const System& otherSystem)
const;
889 bool isOwnerHandle()
const;
891 bool isEmptyHandle()
const;
918 void findSubsystemEventIds
927 const Guts& getGuts()
const;
940 inline System::operator
const Subsystem&()
const {
return getDefaultSubsystem();}
941 inline System::operator
Subsystem&() {
return updDefaultSubsystem();}
993 { optionSet=0; setAccuracyDefaults();
return *
this; }
1000 requiredAccuracy = accuracy > 0 ? accuracy
1008 assert(0 < overshoot && overshoot <= 1);
1009 desiredOvershoot = overshoot;
1017 projectionLimit = limit;
1024 { optionSet &= ~(unsigned)opt;
return *
this; }
1027 { optionSet |= (unsigned)opt;
return *
this; }
1044 { optionSet |= opts.optionSet;
return *
this; }
1046 { optionSet &= opts.optionSet;
return *
this; }
1048 { optionSet &= ~opts.optionSet;
return *
this; }
1054 Real requiredAccuracy;
1055 Real desiredOvershoot;
1056 Real projectionLimit;
1059 void setAccuracyDefaults() {
1091 m_anyChangeMade = m_projectionLimitExceeded =
false;
1092 m_numIterations = 0;
1094 m_normOnEntrance = m_normOnExit =
NaN;
1105 { assert(
isValid());
return m_worstError; }
1107 { assert(
isValid());
return m_projectionLimitExceeded; }
1110 { m_exitStatus=status;
return *
this; }
1112 { m_anyChangeMade=changeMade;
return *
this; }
1114 { m_projectionLimitExceeded=limitExceeded;
return *
this; }
1116 { m_numIterations=numIterations;
return *
this; }
1118 { m_normOnEntrance=
norm; m_worstError=worstError;
return *
this; }
1120 { m_normOnExit=
norm;
return *
this; }
1123 bool m_anyChangeMade;
1124 bool m_projectionLimitExceeded;
1125 int m_numIterations;
1127 Real m_normOnEntrance;
1138 unsigned int optionSet;
1154 operator bool()
const {
return optionSet != 0;}
1179 #endif // SimTK_SimTKCOMMON_SYSTEM_H_ DefaultSystemSubsystem & updDefaultSubsystem()
Get writable access to the default subsystem which is present in every system.
ScheduledEventReporter is a subclass of EventReporter for events that occur at a particular time that...
Definition: EventReporter.h:72
System(System::Guts *g)
Constructor for internal use only.
Definition: System.h:884
ScheduledEventHandler is a subclass of EventHandler for events that occur at a particular time that i...
Definition: EventHandler.h:84
Definition: System.h:1144
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
ProjectResults()
Definition: System.h:1069
void addEventReporter(ScheduledEventReporter *handler) const
Add a ScheduledEventReporter to this System, which takes over ownership of the event reporter object...
Definition: System.h:935
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
Normally a project() method will return immediately after evaluating the norm if it is already at or ...
Definition: System.h:970
A project() method is free to use an out-of-date Jacobian when solving the nonlinear system...
Definition: System.h:974
ProjectResults & setNumIterations(int numIterations)
Definition: System.h:1115
ProjectOptions & operator|=(const ProjectOptions &opts)
Definition: System.h:1043
const Guts & getSystemGuts() const
Obtain a const reference to the System::Guts object to which this handle refers.
Definition: System.h:872
ProjectOptions & operator-=(const ProjectOptions &opts)
Definition: System.h:1047
RealizeOptions & operator|=(RealizeOptions opts)
Definition: System.h:1163
(NOT USED YET) Results for advanced users of realize() methods.
Definition: System.h:1171
ProjectOptions(Real accuracy)
This constructor allows the default accuracy to be overridden while leaving all other options at thei...
Definition: System.h:982
const DefaultSystemSubsystem & getDefaultSubsystem() const
Get read-only access to the default subsystem which is present in every system.
bool hasGuts() const
Return true if this System handle is not empty.
Definition: System.h:886
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
void addEventHandler(ScheduledEventHandler *handler)
Definition: System.h:1143
A CoordinateDirection is a CoordinateAxis plus a direction indicating the positive or negative direct...
Definition: CoordinateAxis.h:244
ProjectOptions(Option opt)
This constructor creates default options except one setting one non-default Option.
Definition: System.h:986
Status getExitStatus() const
Definition: System.h:1098
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
bool isOptionSet(Option opt) const
Definition: System.h:1157
ProjectOptions & setProjectionLimit(Real limit)
Project will fail immediately if the initial norm is greater than the projection limit, with status FailureToConverge.
Definition: System.h:1015
int getWorstErrorOnEntrance() const
Definition: System.h:1104
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
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
ProjectOptions & clear()
Restore this object to its default-constructed state (no options selected, default accuracy and overs...
Definition: System.h:992
static Real getDefaultOvershootFactor()
Definition: System.h:1040
System()
Default constructor creates an empty handle.
Definition: System.h:780
ProjectResults & setNormOnExit(Real norm)
Definition: System.h:1119
Guts & updSystemGuts()
Obtain a writable reference to the System::Guts object to which this handle refers.
Definition: System.h:876
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
const Real NaN
This is the IEEE "not a number" constant for this implementation of the default-precision Real type; ...
ProjectOptions & operator &=(const ProjectOptions &opts)
Definition: System.h:1045
Results for advanced users of project() methods.
Definition: System.h:1067
These are all the possible causes for events.
Definition: Event.h:126
static Real getDefaultRequiredAccuracy()
Definition: System.h:1039
bool getProjectionLimitExceeded() const
Definition: System.h:1106
Options for the advanced project() methods.
Definition: System.h:950
This object has not been filled in yet and holds no results.
Definition: System.h:1073
Real getProjectionLimit() const
Return the maximum norm we're allowed to attempt to correct.
Definition: System.h:1035
Option
Definition: System.h:1142
The project() was successful either because no projection was necessary or projection was able to ach...
Definition: System.h:1076
ProjectResults & setProjectionLimitExceeded(bool limitExceeded)
Definition: System.h:1113
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
Real getOvershootFactor() const
Return the factor by which a project() method should try to do better than the required accuracy...
Definition: System.h:1033
Option
Definition: System.h:952
(NOT USED YET) Options for the advanced realize() methods.
Definition: System.h:1137
Real getNormOnExit() const
Definition: System.h:1103
Normally failure to meet the accuracy requirements throws an exception.
Definition: System.h:963
bool isOptionSet(Option opt) const
Definition: System.h:1037
RealizeOptions()
Definition: System.h:1148
ProjectOptions & operator-=(Option opt)
Definition: System.h:1051
Spatial configuration available.
Definition: Stage.h:74
int getNumIterations() const
Definition: System.h:1101
ProjectOptions & setRequiredAccuracy(Real accuracy)
The norm of the constraint errors must be driven to below this value for a project() to be considered...
Definition: System.h:999
void prescribe(State &state) const
Set values for prescribed positions q and velocities u.
Definition: System.h:488
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
float norm(const conjugate< float > &c)
Definition: conjugate.h:486
The Newton iterations were diverging.
Definition: System.h:1084
This option says we expect the state to be close to a solution already and restricts projection to mo...
Definition: System.h:959
RealizeOptions & operator-=(Option opt)
Definition: System.h:1167
void addEventHandler(ScheduledEventHandler *handler)
Add a ScheduledEventHandler to this System, which takes over ownership of the event handler object...
Definition: System.h:931
ProjectResults & setAnyChangeMade(bool changeMade)
Definition: System.h:1111
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
ProjectResults & setExitStatus(Status status)
Definition: System.h:1109
Use the stricter infinity (max absolute value) norm rather than the default RMS norm to determine whe...
Definition: System.h:966
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
Real getNormOnEntrance() const
Definition: System.h:1102
Status
Definition: System.h:1071
TriggeredEventHandler is a subclass of EventHandler for events that occur when some condition is sati...
Definition: EventHandler.h:109
RealizeOptions & operator &=(RealizeOptions opts)
Definition: System.h:1164
bool isValid() const
Definition: System.h:1097
ProjectOptions & setOption(Option opt)
Set a particular option.
Definition: System.h:1026
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
void clear()
Definition: System.h:1158
void clearOption(Option opt)
Definition: System.h:1159
bool getAnyChangeMade() const
Definition: System.h:1100
ProjectOptions()
Default constructor sets options to their default values.
Definition: System.h:978
bool isEmpty() const
Definition: System.h:1155
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
Real getRequiredAccuracy() const
Return the current value for the required accuracy option.
Definition: System.h:1030
Results returned by the handleEvent() method.
Definition: Event.h:345
A new time has been realized.
Definition: Stage.h:73
This is the header which should be included in user programs that would like to make use of all the S...
Take all defaults.
Definition: System.h:954
void addEventReporter(ScheduledEventReporter *handler) const
TriggeredEventReporter is a subclass of EventReporter for events that occur when some condition is sa...
Definition: EventReporter.h:96
Includes internal headers providing declarations for the basic SimTK Core classes.
ProjectOptions & setOvershootFactor(Real overshoot)
Project will attempt to reach accuracy*overshoot but settle for just accuracy.
Definition: System.h:1007
ProjectOptions & clearOption(Option opt)
Remove a given option from the set.
Definition: System.h:1023
RealizeOptions(Option opt)
Definition: System.h:1151
RealizeOptions & operator|=(Option opt)
Definition: System.h:1166
ProjectOptions & operator|=(Option opt)
Definition: System.h:1050
ProjectResults & setNormOnEntrance(Real norm, int worstError)
Definition: System.h:1117
void setOption(Option opt)
Definition: System.h:1160
Options for the handleEvent() method.
Definition: Event.h:269
Projection converged but was unable to achieve the required accuracy.
Definition: System.h:1079
This is a class to represent unique IDs for events in a type-safe way.