SimTK::System::Guts Class Reference

This is the declaration for the System::Guts class, the abstract object to which a System handle points. More...

Inheritance diagram for SimTK::System::Guts:

Public Member Functions
	Guts (const String &name="<NONAME>", const String &version="0.0.0")
virtual	~Guts ()
const String &	getName () const
const String &	getVersion () const
void	setHasTimeAdvancedEvents (bool hasEm)
bool	hasTimeAdvancedEvents () const
const State &	getDefaultState () const
State &	updDefaultState ()
void	realize (const State &s, Stage g=Stage::HighestRuntime) const
SubsystemIndex	adoptSubsystem (Subsystem &child)
int	getNumSubsystems () const
const Subsystem &	getSubsystem (SubsystemIndex) const
Subsystem &	updSubsystem (SubsystemIndex)
const System &	getSystem () const
System &	updSystem ()
void	setOwnerHandle (System &)
bool	hasOwnerHandle () const
	Guts (class GutsRep *r)
bool	hasRep () const
const GutsRep &	getRep () const
GutsRep &	updRep () const
bool	systemTopologyHasBeenRealized () const
StageVersion	getSystemTopologyCacheVersion () const
void	setSystemTopologyCacheVersion (StageVersion topoVersion) const
void	invalidateSystemTopologyCache () const
System::Guts *	clone () const
const State &	realizeTopology () const
void	realizeModel (State &) const
void	realizeInstance (const State &s) const
void	realizeTime (const State &s) const
void	realizePosition (const State &s) const
void	realizeVelocity (const State &s) const
void	realizeDynamics (const State &s) const
void	realizeAcceleration (const State &s) const
void	realizeReport (const State &s) const
void	multiplyByN (const State &state, const Vector &u, Vector &dq) const
void	multiplyByNTranspose (const State &state, const Vector &fq, Vector &fu) const
void	multiplyByNPInv (const State &state, const Vector &dq, Vector &u) const
void	multiplyByNPInvTranspose (const State &state, const Vector &fu, Vector &fq) const
bool	prescribeQ (State &) const
bool	prescribeU (State &) const
void	getFreeQIndex (const State &, Array_< SystemQIndex > &freeQs) const
void	getFreeUIndex (const State &, Array_< SystemUIndex > &freeUs) const
void	projectQ (State &, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
void	projectU (State &, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) 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
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	calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const

Protected Member Functions
	Guts (const Guts &)
virtual System::Guts *	cloneImpl () const =0
virtual int	realizeTopologyImpl (State &state) const
virtual int	realizeModelImpl (State &state) const
virtual int	realizeInstanceImpl (const State &state) const
virtual int	realizeTimeImpl (const State &state) const
virtual int	realizePositionImpl (const State &state) const
virtual int	realizeVelocityImpl (const State &state) const
virtual int	realizeDynamicsImpl (const State &state) const
virtual int	realizeAccelerationImpl (const State &state) const
virtual int	realizeReportImpl (const State &state) const
virtual void	multiplyByNImpl (const State &state, const Vector &u, Vector &dq) const
virtual void	multiplyByNTransposeImpl (const State &state, const Vector &fq, Vector &fu) const
virtual void	multiplyByNPInvImpl (const State &state, const Vector &dq, Vector &u) const
virtual void	multiplyByNPInvTransposeImpl (const State &state, const Vector &fu, Vector &fq) const
virtual bool	prescribeQImpl (State &) const
virtual bool	prescribeUImpl (State &) const
virtual void	projectQImpl (State &state, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	projectUImpl (State &state, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	handleEventsImpl (State &state, Event::Cause cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
virtual int	reportEventsImpl (const State &state, Event::Cause cause, const Array_< EventId > &eventIds) const
virtual int	calcEventTriggerInfoImpl (const State &state, Array_< EventTriggerInfo > &info) const
virtual int	calcTimeOfNextScheduledEventImpl (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
virtual int	calcTimeOfNextScheduledReportImpl (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
virtual void	getFreeQIndexImpl (const State &s, Array_< SystemQIndex > &freeQs) const
virtual void	getFreeUIndexImpl (const State &s, Array_< SystemUIndex > &freeUs) const

Friends
class	GutsRep

Detailed Description

This is the declaration for the System::Guts class, the abstract object to which a System handle points.

This is in a separate header file from System because only people who are extending the System class to make their own Systems need to be aware of the details. End users access only methods from the System class and classes derived from System, never anything from System::Guts or its derived classes.

Below is the physical layout of memory for a System, and which portions are allocated by the client program and which by the binary library code. For binary compatibility, only the side which allocated a piece of memory can access it. Exception: both the client and library side must agree on the virtual function table (VFT) ordering of the client's virtual functions.

              CLIENT SIDE                    |  LIBRARY SIDE
                                             |
      System              System::Guts       | System::Guts::GutsRep
  ---------------       ------------------   |   -------------
 | System::Guts* | --> | System::GutsRep* | --> |   GutsRep   |
  ---------------       ------------------   |  |             |
         ^             | Concrete Guts    |  |  |  Opaque     |
         |             | class data and   |  |  |  stuff      |
  ===============      | virt func table  |  |  |             |
  Concrete System       ------------------   |  |             |
    adds no data                             |   -------------
      members

If the concrete System::Guts class also has an opaque implementation, as it will for concrete Systems provided by Simbody, then the System author should expose only the data-free handle class derived from System.

Constructor & Destructor Documentation

Guts() [1/3]

SimTK::System::Guts::Guts ( const String &  name = "<NONAME>", const String &  version = "0.0.0"  )

explicit

~Guts()

virtual SimTK::System::Guts::~Guts ( )

virtual

Guts() [2/3]

SimTK::System::Guts::Guts ( class GutsRep *  r )

inlineexplicit

Guts() [3/3]

SimTK::System::Guts::Guts ( const Guts &  )

protected

Member Function Documentation

getName()

const String& SimTK::System::Guts::getName

(

)

const

getVersion()

const String& SimTK::System::Guts::getVersion

(

)

const

setHasTimeAdvancedEvents()

void SimTK::System::Guts::setHasTimeAdvancedEvents

(

bool

hasEm

)

hasTimeAdvancedEvents()

bool SimTK::System::Guts::hasTimeAdvancedEvents

(

)

const

getDefaultState()

const State& SimTK::System::Guts::getDefaultState

(

)

const

updDefaultState()

State& SimTK::System::Guts::updDefaultState

(

)

realize()

void SimTK::System::Guts::realize	(	const State &	s,
		Stage	g = Stage::HighestRuntime
	)		const

adoptSubsystem()

SubsystemIndex SimTK::System::Guts::adoptSubsystem

(

Subsystem &

child

)

getNumSubsystems()

int SimTK::System::Guts::getNumSubsystems

(

)

const

getSubsystem()

const Subsystem& SimTK::System::Guts::getSubsystem

(

SubsystemIndex

)

const

updSubsystem()

Subsystem& SimTK::System::Guts::updSubsystem

(

SubsystemIndex

)

getSystem()

const System& SimTK::System::Guts::getSystem

(

)

const

updSystem()

System& SimTK::System::Guts::updSystem

(

)

setOwnerHandle()

void SimTK::System::Guts::setOwnerHandle

(

System &

)

hasOwnerHandle()

bool SimTK::System::Guts::hasOwnerHandle

(

)

const

hasRep()

bool SimTK::System::Guts::hasRep ( ) const

inline

getRep()

const GutsRep& SimTK::System::Guts::getRep ( ) const

inline

updRep()

GutsRep& SimTK::System::Guts::updRep ( ) const

inline

systemTopologyHasBeenRealized()

bool SimTK::System::Guts::systemTopologyHasBeenRealized

(

)

const

getSystemTopologyCacheVersion()

StageVersion SimTK::System::Guts::getSystemTopologyCacheVersion

(

)

const

setSystemTopologyCacheVersion()

void SimTK::System::Guts::setSystemTopologyCacheVersion

(

StageVersion

topoVersion

)

const

invalidateSystemTopologyCache()

void SimTK::System::Guts::invalidateSystemTopologyCache

(

)

const

clone()

System::Guts* SimTK::System::Guts::clone

(

)

const

realizeTopology()

const State& SimTK::System::Guts::realizeTopology

(

)

const

realizeModel()

void SimTK::System::Guts::realizeModel

(

State &

)

const

realizeInstance()

void SimTK::System::Guts::realizeInstance

(

const State &

s

)

const

realizeTime()

void SimTK::System::Guts::realizeTime

(

const State &

s

)

const

realizePosition()

void SimTK::System::Guts::realizePosition

(

const State &

s

)

const

realizeVelocity()

void SimTK::System::Guts::realizeVelocity

(

const State &

s

)

const

realizeDynamics()

void SimTK::System::Guts::realizeDynamics

(

const State &

s

)

const

realizeAcceleration()

void SimTK::System::Guts::realizeAcceleration

(

const State &

s

)

const

realizeReport()

void SimTK::System::Guts::realizeReport

(

const State &

s

)

const

multiplyByN()

void SimTK::System::Guts::multiplyByN	(	const State &	state,
		const Vector &	u,
		Vector &	dq
	)		const

multiplyByNTranspose()

void SimTK::System::Guts::multiplyByNTranspose	(	const State &	state,
		const Vector &	fq,
		Vector &	fu
	)		const

multiplyByNPInv()

void SimTK::System::Guts::multiplyByNPInv	(	const State &	state,
		const Vector &	dq,
		Vector &	u
	)		const

multiplyByNPInvTranspose()

void SimTK::System::Guts::multiplyByNPInvTranspose	(	const State &	state,
		const Vector &	fu,
		Vector &	fq
	)		const

prescribeQ()

bool SimTK::System::Guts::prescribeQ

(

State &

)

const

prescribeU()

bool SimTK::System::Guts::prescribeU

(

State &

)

const

getFreeQIndex()

void SimTK::System::Guts::getFreeQIndex	(	const State &	,
		Array_< SystemQIndex > &	freeQs
	)		const

getFreeUIndex()

void SimTK::System::Guts::getFreeUIndex	(	const State &	,
		Array_< SystemUIndex > &	freeUs
	)		const

projectQ()

void SimTK::System::Guts::projectQ	(	State &	,
		Vector &	qErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

projectU()

void SimTK::System::Guts::projectU	(	State &	,
		Vector &	uErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

handleEvents()

void SimTK::System::Guts::handleEvents	(	State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds,
		const HandleEventsOptions &	options,
		HandleEventsResults &	results
	)		const

reportEvents()

void SimTK::System::Guts::reportEvents	(	const State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds
	)		const

calcEventTriggerInfo()

void SimTK::System::Guts::calcEventTriggerInfo	(	const State &	,
		Array_< EventTriggerInfo > &
	)		const

calcTimeOfNextScheduledEvent()

void SimTK::System::Guts::calcTimeOfNextScheduledEvent	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

calcTimeOfNextScheduledReport()

void SimTK::System::Guts::calcTimeOfNextScheduledReport	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

calcDecorativeGeometryAndAppend()

void SimTK::System::Guts::calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		Array_< DecorativeGeometry > &
	)		const

cloneImpl()

virtual System::Guts* SimTK::System::Guts::cloneImpl ( ) const

protectedpure virtual

Implemented in SimTK::ParticleConSurfaceSystemGuts.

realizeTopologyImpl()

virtual int SimTK::System::Guts::realizeTopologyImpl ( State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeModelImpl()

virtual int SimTK::System::Guts::realizeModelImpl ( State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeInstanceImpl()

virtual int SimTK::System::Guts::realizeInstanceImpl ( const State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeTimeImpl()

virtual int SimTK::System::Guts::realizeTimeImpl ( const State &  state ) const

inlineprotectedvirtual

realizePositionImpl()

virtual int SimTK::System::Guts::realizePositionImpl ( const State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeVelocityImpl()

virtual int SimTK::System::Guts::realizeVelocityImpl ( const State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeDynamicsImpl()

virtual int SimTK::System::Guts::realizeDynamicsImpl ( const State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeAccelerationImpl()

virtual int SimTK::System::Guts::realizeAccelerationImpl ( const State &  state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

realizeReportImpl()

virtual int SimTK::System::Guts::realizeReportImpl ( const State &  state ) const

inlineprotectedvirtual

multiplyByNImpl()

virtual void SimTK::System::Guts::multiplyByNImpl ( const State &  state, const Vector &  u, Vector &  dq  ) const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

multiplyByNTransposeImpl()

virtual void SimTK::System::Guts::multiplyByNTransposeImpl ( const State &  state, const Vector &  fq, Vector &  fu  ) const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

multiplyByNPInvImpl()

virtual void SimTK::System::Guts::multiplyByNPInvImpl ( const State &  state, const Vector &  dq, Vector &  u  ) const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

multiplyByNPInvTransposeImpl()

virtual void SimTK::System::Guts::multiplyByNPInvTransposeImpl ( const State &  state, const Vector &  fu, Vector &  fq  ) const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

prescribeQImpl()

virtual bool SimTK::System::Guts::prescribeQImpl ( State &  ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

prescribeUImpl()

virtual bool SimTK::System::Guts::prescribeUImpl ( State &  ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

projectQImpl()

virtual void SimTK::System::Guts::projectQImpl ( State &  state, Vector &  qErrEst, const ProjectOptions &  options, ProjectResults &  results  ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

projectUImpl()

virtual void SimTK::System::Guts::projectUImpl ( State &  state, Vector &  uErrEst, const ProjectOptions &  options, ProjectResults &  results  ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

handleEventsImpl()

virtual void SimTK::System::Guts::handleEventsImpl ( State &  state, Event::Cause  cause, const Array_< EventId > &  eventIds, const HandleEventsOptions &  options, HandleEventsResults &  results  ) const

protectedvirtual

reportEventsImpl()

virtual int SimTK::System::Guts::reportEventsImpl ( const State &  state, Event::Cause  cause, const Array_< EventId > &  eventIds  ) const

protectedvirtual

calcEventTriggerInfoImpl()

virtual int SimTK::System::Guts::calcEventTriggerInfoImpl ( const State &  state, Array_< EventTriggerInfo > &  info  ) const

protectedvirtual

calcTimeOfNextScheduledEventImpl()

virtual int SimTK::System::Guts::calcTimeOfNextScheduledEventImpl ( const State &  state, Real &  tNextEvent, Array_< EventId > &  eventIds, bool  includeCurrentTime  ) const

protectedvirtual

calcTimeOfNextScheduledReportImpl()

virtual int SimTK::System::Guts::calcTimeOfNextScheduledReportImpl ( const State &  state, Real &  tNextEvent, Array_< EventId > &  eventIds, bool  includeCurrentTime  ) const

protectedvirtual

getFreeQIndexImpl()

virtual void SimTK::System::Guts::getFreeQIndexImpl ( const State &  s, Array_< SystemQIndex > &  freeQs  ) const

inlineprotectedvirtual

getFreeUIndexImpl()

virtual void SimTK::System::Guts::getFreeUIndexImpl ( const State &  s, Array_< SystemUIndex > &  freeUs  ) const

inlineprotectedvirtual

Friends And Related Function Documentation

GutsRep

friend class GutsRep

friend

---

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

• SystemGuts.h