|
| Guts (const String &name, const String &version) |
|
virtual | ~Guts () |
| Destructor is virtual to permit cleanup of derived classes. More...
|
|
const MultibodySystem & | getMultibodySystem () const |
|
virtual Real | calcPotentialEnergy (const State &state) const =0 |
| Get this subsystem's contribution to the potential energy. More...
|
|
| SimTK_DOWNCAST (ForceSubsystem::Guts, Subsystem::Guts) |
|
| Guts (const String &name="<NONAME>", const String &version="0.0.0") |
| This constructor is for use in the constructors of derived Subsystems. More...
|
|
| Guts (const Guts &) |
| Copy constructor results in a default-constructed object though with the name and version string copied. More...
|
|
const String & | getName () const |
| Report back the name supplied on construction; this is not interpreted in any way by Simbody. More...
|
|
const String & | getVersion () const |
| Report back the version string supplied on construction; this i not interpreted in any way by Simbody. More...
|
|
MeasureIndex | adoptMeasure (AbstractMeasure &m) |
| Add a new Measure to this Subsystem. More...
|
|
template<class T > |
Measure_< T > | getMeasure_ (MeasureIndex mx) const |
| Return the Measure whose index within this Subsystem is given. More...
|
|
AbstractMeasure | getMeasure (MeasureIndex mx) const |
| Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is, its value type is not specified). More...
|
|
bool | isInSystem () const |
|
bool | isInSameSystem (const Subsystem &otherSubsystem) const |
|
const System & | getSystem () const |
|
System & | updSystem () |
|
void | setSystem (System &sys, SubsystemIndex id) |
|
SubsystemIndex | getMySubsystemIndex () const |
|
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...
|
|
Subsystem::Guts * | clone () const |
|
void | realizeSubsystemTopology (State &) const |
|
void | realizeSubsystemModel (State &) const |
|
void | realizeSubsystemInstance (const State &) const |
|
void | realizeSubsystemTime (const State &) const |
|
void | realizeSubsystemPosition (const State &) const |
|
void | realizeSubsystemVelocity (const State &) const |
|
void | realizeSubsystemDynamics (const State &) const |
|
void | realizeSubsystemAcceleration (const State &) const |
|
void | realizeSubsystemReport (const State &) const |
|
void | calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const |
|
void | createScheduledEvent (const State &state, EventId &eventId) const |
|
void | createTriggeredEvent (const State &state, EventId &eventId, EventTriggerByStageIndex &triggerFunctionIndex, Stage stage) const |
|
void | calcEventTriggerInfo (const State &, Array_< EventTriggerInfo > &) const |
|
void | calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const |
|
void | calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const |
|
void | handleEvents (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const |
|
void | reportEvents (const State &, Event::Cause, const Array_< EventId > &eventIds) const |
|
const Subsystem & | getOwnerSubsystemHandle () const |
| Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
|
|
Subsystem & | updOwnerSubsystemHandle () |
| Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
|
|
void | setOwnerSubsystemHandle (Subsystem &subsys) |
| Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
|
|
bool | hasOwnerSubsystemHandle () const |
| Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object. 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 |
|
Public declaration of internals for ForceSubsystem extension.