Simbody  3.8
SubsystemGuts.h
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1 #ifndef SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
2 #define SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKcommon *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2006-14 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon/basics.h"
28 #include "SimTKcommon/Simmatrix.h"
30 
31 #include <cassert>
32 
33 namespace SimTK {
34 
35 class System;
36 class DecorativeGeometry;
37 
38 //==============================================================================
39 // SUBSYSTEM :: GUTS
40 //==============================================================================
48 public:
49 
54 explicit Guts(const String& name="<NONAME>", const String& version="0.0.0");
55 
57 virtual ~Guts();
58 
61 Guts(const Guts&);
62 
65 const String& getName() const {return m_subsystemName;}
68 const String& getVersion() const {return m_subsystemVersion;}
69 
83 QIndex allocateQ(State& s, const Vector& qInit) const
84 { return s.allocateQ(getMySubsystemIndex(), qInit); }
85 UIndex allocateU(State& s, const Vector& uInit) const
86 { return s.allocateU(getMySubsystemIndex(), uInit); }
87 ZIndex allocateZ(State& s, const Vector& zInit) const
88 { return s.allocateZ(getMySubsystemIndex(), zInit); }
89 
92 { return s.allocateDiscreteVariable(getMySubsystemIndex(), g, v); }
94  (State& s, Stage invalidates, AbstractValue* v, Stage updateDependsOn) const
96  (getMySubsystemIndex(),invalidates,v,updateDependsOn); }
97 
99  (const State& s, Stage dependsOn, Stage computedBy, AbstractValue* v) const
100 { return s.allocateCacheEntry
101  (getMySubsystemIndex(), dependsOn, computedBy, v); }
103  (const State& state, Stage g, AbstractValue* v) const
104 { return allocateCacheEntry(state, g, g, v); }
106  (const State& state, Stage earliest, AbstractValue* v) const
107 { return allocateCacheEntry(state, earliest, Stage::Infinity, v); }
108 
109 QErrIndex allocateQErr(const State& s, int nqerr) const
110 { return s.allocateQErr(getMySubsystemIndex(), nqerr); }
111 UErrIndex allocateUErr(const State& s, int nuerr) const
112 { return s.allocateUErr(getMySubsystemIndex(), nuerr); }
113 UDotErrIndex allocateUDotErr(const State& s, int nudoterr) const
114 { return s.allocateUDotErr(getMySubsystemIndex(), nudoterr); }
116 allocateEventTriggersByStage(const State& s, Stage g, int ntriggers) const
117 { return s.allocateEventTrigger(getMySubsystemIndex(),g,ntriggers); }
118 
119 const Vector& getQ(const State& s) const
120 { return s.getQ(getMySubsystemIndex()); }
121 const Vector& getU(const State& s) const
122 { return s.getU(getMySubsystemIndex()); }
123 const Vector& getZ(const State& s) const
124 { return s.getZ(getMySubsystemIndex()); }
125 const Vector& getUWeights(const State& s) const
126 { return s.getUWeights(getMySubsystemIndex()); }
127 const Vector& getZWeights(const State& s) const
128 { return s.getZWeights(getMySubsystemIndex()); }
129 
130 Vector& updQ(State& s) const {return s.updQ(getMySubsystemIndex());}
131 Vector& updU(State& s) const {return s.updU(getMySubsystemIndex());}
132 Vector& updZ(State& s) const {return s.updZ(getMySubsystemIndex());}
133 
134 const Vector& getQDot (const State& s) const
135 { return s.getQDot(getMySubsystemIndex()); }
136 const Vector& getUDot (const State& s) const
137 { return s.getUDot(getMySubsystemIndex()); }
138 const Vector& getZDot (const State& s) const
139 { return s.getZDot(getMySubsystemIndex()); }
140 const Vector& getQDotDot(const State& s) const
141 { return s.getQDotDot(getMySubsystemIndex()); }
142 
143 Vector& updQDot (const State& s) const
144 { return s.updQDot(getMySubsystemIndex()); }
145 Vector& updUDot (const State& s) const
146 { return s.updUDot(getMySubsystemIndex()); }
147 Vector& updZDot (const State& s) const
148 { return s.updZDot(getMySubsystemIndex()); }
149 Vector& updQDotDot(const State& s) const
150 { return s.updQDotDot(getMySubsystemIndex()); }
151 
152 const Vector& getQErr(const State& s) const
153 { return s.getQErr(getMySubsystemIndex()); }
154 const Vector& getUErr(const State& s) const
155 { return s.getUErr(getMySubsystemIndex()); }
156 const Vector& getQErrWeights(const State& s) const
157 { return s.getQErrWeights(getMySubsystemIndex()); }
158 const Vector& getUErrWeights(const State& s) const
159 { return s.getUErrWeights(getMySubsystemIndex()); }
160 
161 const Vector& getUDotErr(const State& s) const
162 { return s.getUDotErr(getMySubsystemIndex()); }
163 const Vector& getMultipliers(const State& s) const
164 { return s.getMultipliers(getMySubsystemIndex()); }
165 const Vector& getEventTriggersByStage(const State& s, Stage g) const
166 { return s.getEventTriggersByStage(getMySubsystemIndex(),g); }
167 
168 Vector& updQErr(const State& s) const
169 { return s.updQErr(getMySubsystemIndex()); }
170 Vector& updUErr(const State& s) const
171 { return s.updUErr(getMySubsystemIndex()); }
172 Vector& updUDotErr(const State& s) const
173 { return s.updUDotErr(getMySubsystemIndex()); }
174 Vector& updMultipliers(const State& s) const
175 { return s.updMultipliers(getMySubsystemIndex()); }
177 { return s.updEventTriggersByStage(getMySubsystemIndex(),g); }
178 
179 SystemQIndex getQStart(const State& s) const
180 { return s.getQStart(getMySubsystemIndex()); }
181 int getNQ(const State& s) const
182 { return s.getNQ(getMySubsystemIndex()); }
183 
184 SystemUIndex getUStart(const State& s) const
185 { return s.getUStart(getMySubsystemIndex()); }
186 int getNU(const State& s) const
187 { return s.getNU(getMySubsystemIndex()); }
188 
189 SystemZIndex getZStart(const State& s) const
190 { return s.getZStart(getMySubsystemIndex()); }
191 int getNZ(const State& s) const
192 { return s.getNZ(getMySubsystemIndex()); }
193 
195 { return s.getQErrStart(getMySubsystemIndex()); }
196 int getNQErr(const State& s) const
197 { return s.getNQErr(getMySubsystemIndex()); }
198 
200 { return s.getUErrStart(getMySubsystemIndex()); }
201 int getNUErr(const State& s) const
202 { return s.getNUErr(getMySubsystemIndex()); }
203 
205 { return s.getUDotErrStart(getMySubsystemIndex()); }
206 int getNUDotErr(const State& s) const
207 { return s.getNUDotErr(getMySubsystemIndex()); }
208 
210 { return s.getMultipliersStart(getMySubsystemIndex()); }
211 int getNMultipliers(const State& s) const
212 { return s.getNMultipliers(getMySubsystemIndex()); }
213 
215 { return s.getEventTriggerStartByStage(getMySubsystemIndex(),g); }
216 int getNEventTriggersByStage (const State& s, Stage g) const
217 { return s.getNEventTriggersByStage(getMySubsystemIndex(),g); }
218 
219 
220 // For convenience.
221 void setQ(State& s, const Vector& q) const {
222  SimTK_ASSERT(q.size() == getNQ(s), "Subsystem::Guts::setQ()");
223  updQ(s) = q;
224 }
225 void setU(State& s, const Vector& u) const {
226  SimTK_ASSERT(u.size() == getNU(s), "Subsystem::Guts::setU()");
227  updU(s) = u;
228 }
229 void setZ(State& s, const Vector& z) const {
230  SimTK_ASSERT(z.size() == getNZ(s), "Subsystem::Guts::setZ()");
231  updZ(s) = z;
232 }
233 
234 Stage getStage(const State& s) const
235 { return s.getSubsystemStage(getMySubsystemIndex()); }
236 void advanceToStage(const State& s, Stage g) const
237 { s.advanceSubsystemToStage(getMySubsystemIndex(), g); }
238 
239 const AbstractValue&
241 { return s.getDiscreteVariable(getMySubsystemIndex(), index); }
243 { return s.updDiscreteVariable(getMySubsystemIndex(), index); }
244 const AbstractValue& getCacheEntry(const State& s, CacheEntryIndex index) const
245 { return s.getCacheEntry(getMySubsystemIndex(), index); }
247 { return s.updCacheEntry(getMySubsystemIndex(), index); }
249 { return s.getDiscreteVarLastUpdateTime(getMySubsystemIndex(),dx); }
252 { return s.getDiscreteVarUpdateIndex(getMySubsystemIndex(),dx); }
253 const AbstractValue&
255 { return s.getDiscreteVarUpdateValue(getMySubsystemIndex(),dx); }
258 { return s.updDiscreteVarUpdateValue(getMySubsystemIndex(),dx); }
260  (const State& s, DiscreteVariableIndex dx) const
261 { return s.isDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
263  (const State& s, DiscreteVariableIndex dx) const
264 { return s.markDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
265 
266 bool isCacheValueRealized(const State& s, CacheEntryIndex cx) const
267 { return s.isCacheValueRealized(getMySubsystemIndex(), cx); }
268 
270 { s.markCacheValueRealized(getMySubsystemIndex(), cx); }
271 
273 { s.markCacheValueNotRealized(getMySubsystemIndex(), cx); }
278 MeasureIndex adoptMeasure(AbstractMeasure& m);
279 
286 template <class T> Measure_<T> getMeasure_(MeasureIndex mx) const
287 { return Measure_<T>::getAs(getMeasure(mx)); }
288 
293 AbstractMeasure getMeasure(MeasureIndex mx) const {
294  SimTK_ASSERT(0 <= mx && mx < m_measures.size(),
295  "Subsystem::Guts::getMeasure()");
296  return AbstractMeasure(m_measures[mx]);
297 }
298 
299 bool isInSystem() const {return m_mySystem != 0;}
300 bool isInSameSystem(const Subsystem& otherSubsystem) const;
301 
302 const System& getSystem() const {
303  SimTK_ASSERT(isInSystem(), "Subsystem::getSystem()");
304  return *m_mySystem;
305 }
307  SimTK_ASSERT(isInSystem(), "Subsystem::updSystem()");
308  return *m_mySystem;
309 }
311  SimTK_ASSERT(!isInSystem(), "Subsystem::setSystem()");
312  SimTK_ASSERT(id.isValid(), "Subsystem::setSystem()");
313  m_mySystem = &sys;
314  m_mySubsystemIndex = id;
315 }
317  SimTK_ASSERT(isInSystem(), "Subsystem::getMySubsystemIndex()");
318  return m_mySubsystemIndex;
319 }
320 
321 
326 { return m_subsystemTopologyRealized; }
327 
337 
338 // These are wrappers for the virtual methods defined below. They
339 // are used to ensure good behavior. Most of them deal automatically with
340 // the Subsystem's Measures, as well as invoking the corresponding virtual
341 // for the Subsystem's own processing.
342 
344 
345 // Realize this subsystem's part of the State from Stage-1 to Stage
346 // for the indicated stage. After doing some checking, these routines
347 // call the concrete subsystem's corresponding virtual method, and
348 // on return they make sure the stage has been properly updated.
349 // Note that these will do nothing if the Subsystem stage is already
350 // at or greater than the indicated stage.
353 void realizeSubsystemInstance (const State&) const;
354 void realizeSubsystemTime (const State&) const;
355 void realizeSubsystemPosition (const State&) const;
356 void realizeSubsystemVelocity (const State&) const;
357 void realizeSubsystemDynamics (const State&) const;
359 void realizeSubsystemReport (const State&) const;
360 
361 // Generate decorative geometry computable at a specific stage. This will
362 // throw an exception if this subsystem's state hasn't already been realized
363 // to that stage. Note that the list is not inclusive -- you have to
364 // request geometry from each stage to get all of it.
365 // The generated geometry will be *appended* to the supplied output vector.
367  (const State&, Stage, Array_<DecorativeGeometry>&) const;
368 
369 void createScheduledEvent(const State& state, EventId& eventId) const;
370 void createTriggeredEvent(const State& state, EventId& eventId,
371  EventTriggerByStageIndex& triggerFunctionIndex,
372  Stage stage) const;
373 
374 // These methods are called by the corresponding methods of System.
375 // Each subsystem is responsible for defining its own events, and
376 // System then combines the information from them, and dispatches events
377 // to the appropriate subsystems for handling when they occur.
379  (const State&, Array_<EventTriggerInfo>&) const;
381  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
382  bool includeCurrentTime) const;
384  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
385  bool includeCurrentTime) const;
387  (State&, Event::Cause, const Array_<EventId>& eventIds,
388  const HandleEventsOptions& options, HandleEventsResults& results) const;
390  (const State&, Event::Cause, const Array_<EventId>& eventIds) const;
391 
392 protected:
393 // These virtual methods should be overridden in concrete Subsystems as
394 // necessary. They should never be called directly; instead call the
395 // wrapper routines above, which have the same name but without the "Impl"
396 // (implementation) at the end.
397 
398 // The "realize..." wrappers will call the "realize...Impl" methods below
399 // only when the current stage for the Subsystem is the one just prior
400 // to the stage being realized. For example, realizeSubsystemVelocityImpl()
401 // is called by realizeSubsystemVelocity() only when the passed-in State
402 // shows this subsystem's stage to be exactly Stage::Position.
403 //
404 // The default implementations provided here do nothing. That means the
405 // wrappers will simply check that the current stage is correct and
406 // advance it if necessary.
407 
408 // The destructor is already virtual; see above.
409 
410 virtual Subsystem::Guts* cloneImpl() const = 0;
411 
412 virtual int realizeSubsystemTopologyImpl(State& s) const {return 0;}
413 virtual int realizeSubsystemModelImpl (State& s) const {return 0;}
414 virtual int realizeSubsystemInstanceImpl(const State& s) const {return 0;}
415 virtual int realizeSubsystemTimeImpl (const State& s) const {return 0;}
416 virtual int realizeSubsystemPositionImpl(const State& s) const {return 0;}
417 virtual int realizeSubsystemVelocityImpl(const State& s) const {return 0;}
418 virtual int realizeSubsystemDynamicsImpl(const State& s) const {return 0;}
419 virtual int realizeSubsystemAccelerationImpl(const State& s)const{return 0;}
420 virtual int realizeSubsystemReportImpl (const State& s) const {return 0;}
421 
423  (const State&, Stage, Array_<DecorativeGeometry>&) const {return 0;}
424 
426  (const State&, Array_<EventTriggerInfo>&) const {}
428  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
429  bool includeCurrentTime) const {}
431  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
432  bool includeCurrentTime) const {}
433 virtual void handleEventsImpl
434  (State&, Event::Cause, const Array_<EventId>& eventIds,
435  const HandleEventsOptions& options,
436  HandleEventsResults& results) const {}
437 virtual void reportEventsImpl
438  (const State&, Event::Cause, const Array_<EventId>& eventIds) const {}
439 
440 
441 public:
445  SimTK_ASSERT(m_myHandle, "Subsystem::getOwnerSubsystemHandle()");
446  return *m_myHandle;
447 }
451  SimTK_ASSERT(m_myHandle, "Subsystem::getOwnerSubsystemHandle()");
452  return *m_myHandle;
453 }
454 
459 void setOwnerSubsystemHandle(Subsystem& subsys) {m_myHandle=&subsys;}
460 
463 bool hasOwnerSubsystemHandle() const {return m_myHandle != 0;}
464 
465 private:
466 // Suppressed.
467 Guts& operator=(const Guts&);
468 
469 //------------------------------------------------------------------------------
470  private:
471 
472  // TOPOLOGY STATE INFORMATION
473 String m_subsystemName;
474 String m_subsystemVersion;
475 System* m_mySystem; // the System to which this Subsystem belongs
476 SubsystemIndex m_mySubsystemIndex; // Subsystem # within System
477 
478 friend class Subsystem;
479 Subsystem* m_myHandle; // the owner handle of this Guts object
480 
481 // This is the list of Measures belonging to this Subsystem.
483  m_measures;
484 
485  // TOPOLOGY CACHE INFORMATION
486 mutable bool m_subsystemTopologyRealized;
487 };
488 
489 
490 //==============================================================================
491 // SUBSYSTEM INLINES
492 //==============================================================================
493 // These had to wait for Subsystem::Guts to be defined.
494 
497 
498 inline const String& Subsystem::getName() const {return getSubsystemGuts().getName();}
499 inline const String& Subsystem::getVersion() const {return getSubsystemGuts().getVersion();}
500 
503 }
504 
507 }
508 
510 { return updSubsystemGuts().adoptMeasure(m); }
511 inline AbstractMeasure Subsystem::getMeasure(MeasureIndex mx) const
512 { return getSubsystemGuts().getMeasure(mx); }
513 
514 
515 inline bool Subsystem::isInSystem() const
516 { return getSubsystemGuts().isInSystem(); }
517 inline bool Subsystem::isInSameSystem(const Subsystem& otherSubsystem) const
518 { return getSubsystemGuts().isInSameSystem(otherSubsystem); }
519 
520 inline const System& Subsystem::getSystem() const
521 { return getSubsystemGuts().getSystem(); }
523 { return updSubsystemGuts().updSystem(); }
525 { updSubsystemGuts().setSystem(sys,id); }
526 
527 inline bool Subsystem::isOwnerHandle() const
528 { return guts==0 || &guts->getOwnerSubsystemHandle()==this; }
529 
530 } // namespace SimTK
531 
532 #endif // SimTK_SimTKCOMMON_SUBSYSTEM_GUTS_H_
#define SimTK_ASSERT(cond, msg)
Definition: ExceptionMacros.h:373
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
This is the header which should be included in user programs that would like to make use of all the S...
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
Includes internal headers providing declarations for the basic SimTK Core classes.
This is the base class for all Measure handle classes.
Definition: Measure.h:151
Abstract base class representing an arbitrary value of unknown type.
Definition: Value.h:49
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:1520
This unique integer type is for selecting non-shared cache entries.
This unique integer type is for selecting discrete variables.
This is a class to represent unique IDs for events in a type-safe way.
Unique integer type for Subsystem-local, per-stage event indexing.
These are all the possible causes for events.
Definition: Event.h:126
Options for the handleEvent() method.
Definition: Event.h:269
Results returned by the handleEvent() method.
Definition: Event.h:345
This is the base handle class for all Measures whose value type is known, including all the Simbody b...
Definition: Measure.h:263
Unique integer type for Subsystem-local qErr indexing.
Unique integer type for Subsystem-local q indexing.
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
@ Infinity
Higher than any legitimate Stage.
Definition: Stage.h:79
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
SystemEventTriggerIndex getEventTriggerStartByStage(Stage) const
Return the index within the global event trigger array at which the first of the event triggers assoc...
int getNQErr() const
Return the total number nqerr=mp+nQuaternions of cache entries for position-level constraint errors.
Vector & updUDotErr(SubsystemIndex) const
int getNUDotErr() const
Return the total number nudotErr=mp+mv+ma of cache entries for acceleration-level constraint errors (...
const Vector & getU(SubsystemIndex) const
const Vector & getQDotDot(SubsystemIndex) const
SystemYErrIndex getUErrStart() const
Returns the yErr index at which the uErr's begin. Callable at Instance stage.
Vector & updZ(SubsystemIndex)
AbstractValue & updCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a writable reference to the value contained in a particular cache entry.
Vector & updMultipliers(SubsystemIndex) const
void markCacheValueNotRealized(SubsystemIndex, CacheEntryIndex) const
(Advanced) Normally cache entries are invalidated automatically, however this method allows manual in...
QIndex allocateQ(SubsystemIndex, const Vector &qInit)
Allocate generalized coordinates q, which are second order continuous state variables.
int getNQ() const
Get total number of shared q's (generalized coordinates; second order state variables).
Vector & updZDot(SubsystemIndex) const
bool isDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Check whether the update value for this auto-update discrete variable has already been computed since...
QErrIndex allocateQErr(SubsystemIndex, int nqerr) const
Allocate nqerr cache slots to hold the current error for position-level (holonomic) constraint equati...
const Vector & getUErr(SubsystemIndex) const
const AbstractValue & getDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the current value of its associated update cache entry...
Vector & updU(SubsystemIndex)
SystemYIndex getUStart() const
Returns the y index at which the u's begin. Callable at Model stage.
SystemYErrIndex getQErrStart() const
Returns the yErr index at which the qErr's begin. Callable at Instance stage.
AbstractValue & updDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return a writable reference to the value of its associated up...
const Vector & getUErrWeights(SubsystemIndex) const
int getNU() const
Get total number of shared u's (generalized speeds; mobilities).
SystemYIndex getQStart() const
Returns the y index at which the q's begin. Callable at Model stage.
Vector & updUErr(SubsystemIndex) const
const Vector & getZWeights(SubsystemIndex) const
AbstractValue & updDiscreteVariable(SubsystemIndex, DiscreteVariableIndex)
Get a writable reference to the value stored in the indicated discrete state variable dv,...
SystemMultiplierIndex getMultipliersStart(SubsystemIndex) const
Real getDiscreteVarLastUpdateTime(SubsystemIndex, DiscreteVariableIndex) const
Return the time of last update for this discrete variable.
Vector & updEventTriggersByStage(Stage) const
void advanceSubsystemToStage(SubsystemIndex, Stage) const
Advance a particular Subsystem's current stage by one to the indicated stage.
const Vector & getZDot(SubsystemIndex) const
void markCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Mark the value of a particular cache entry as up to date after it has been recalculated.
const Vector & getUWeights(SubsystemIndex) const
UDotErrIndex allocateUDotErr(SubsystemIndex, int nudoterr) const
Allocate nudoterr cache slots to hold the current error for acceleration-level (acceleration-only,...
Vector & updQ(SubsystemIndex)
Vector & updQDot(SubsystemIndex) const
SystemYIndex getZStart() const
Returns the y index at which the z's begin. Callable at Model stage.
const AbstractValue & getCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a const reference to the value contained in a particular cache entry.
Vector & updQDotDot(SubsystemIndex) const
const Vector & getUDot(SubsystemIndex) const
CacheEntryIndex getDiscreteVarUpdateIndex(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the CacheEntryIndex for its associated update cache en...
const Vector & getMultipliers(SubsystemIndex) const
UErrIndex allocateUErr(SubsystemIndex, int nuerr) const
Allocate nuerr cache slots to hold the current error for velocity-level (nonholonomic and holonomic f...
int getNZ() const
Get total number of shared z's (auxiliary state variables).
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *, Stage updateDependsOn)
This method allocates a DiscreteVariable whose value should be updated automatically after each time ...
const Vector & getQDot(SubsystemIndex) const
Per-subsystem access to the shared cache entries.
int getNUErr() const
Return the total number nuerr=mp+mv of cache entries for velocity-level constraint errors (including ...
const Stage & getSubsystemStage(SubsystemIndex) const
int getNMultipliers() const
Return the total number of constraint multipliers; necessarily the same as the number of acceleration...
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
const AbstractValue & getDiscreteVariable(SubsystemIndex, DiscreteVariableIndex) const
Get the current value of the indicated discrete variable.
const Vector & getUDotErr(SubsystemIndex) const
SystemUDotErrIndex getUDotErrStart(SubsystemIndex) const
const Vector & getQErr(SubsystemIndex) const
CacheEntryIndex allocateCacheEntry(SubsystemIndex, Stage earliest, Stage latest, AbstractValue *value) const
There are two Stages supplied explicitly as arguments to this method: earliest and latest.
const Vector & getEventTriggersByStage(Stage) const
void markDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Mark the update value for this auto-update discrete variable as up-to-date with respect to the state ...
UIndex allocateU(SubsystemIndex, const Vector &uInit)
Allocate generalized speeds u, which are first order continuous state variables related to the deriva...
int getNEventTriggersByStage(Stage) const
Return the size of the partition of event trigger functions which are evaluated at a given Stage.
DiscreteVariableIndex allocateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *)
The Stage supplied here in the call is the earliest subsystem stage which is invalidated by a change ...
EventTriggerByStageIndex allocateEventTrigger(SubsystemIndex, Stage stage, int nevent) const
Allocate room for nevent witness function values that will be available at the indicated stage.
ZIndex allocateZ(SubsystemIndex, const Vector &zInit)
Allocate auxiliary first order continuous state variables z.
const Vector & getQErrWeights(SubsystemIndex) const
Vector & updUDot(SubsystemIndex) const
Vector & updQErr(SubsystemIndex) const
bool isCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Check whether the value in a particular cache entry has been recalculated since the last change to th...
const Vector & getZ(SubsystemIndex) const
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:65
Provide a unique integer type for identifying Subsystems.
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
CacheEntryIndex allocateCacheEntry(const State &s, Stage dependsOn, Stage computedBy, AbstractValue *v) const
Definition: SubsystemGuts.h:99
const Vector & getEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:165
void advanceToStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:236
const Vector & getMultipliers(const State &s) const
Definition: SubsystemGuts.h:163
void setSystem(System &sys, SubsystemIndex id)
Definition: SubsystemGuts.h:310
void setU(State &s, const Vector &u) const
Definition: SubsystemGuts.h:225
const String & getName() const
Report back the name supplied on construction; this is not interpreted in any way by Simbody.
Definition: SubsystemGuts.h:65
Vector & updQDot(const State &s) const
Definition: SubsystemGuts.h:143
CacheEntryIndex getDiscreteVarUpdateIndex(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:251
const Vector & getUErr(const State &s) const
Definition: SubsystemGuts.h:154
AbstractValue & updCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:246
virtual int realizeSubsystemTopologyImpl(State &s) const
Definition: SubsystemGuts.h:412
UDotErrIndex allocateUDotErr(const State &s, int nudoterr) const
Definition: SubsystemGuts.h:113
const Vector & getQErr(const State &s) const
Definition: SubsystemGuts.h:152
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(State &s, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const
Definition: SubsystemGuts.h:94
const AbstractValue & getCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:244
Vector & updZ(State &s) const
Definition: SubsystemGuts.h:132
void realizeSubsystemAcceleration(const State &) const
const Vector & getUDotErr(const State &s) const
Definition: SubsystemGuts.h:161
virtual int realizeSubsystemInstanceImpl(const State &s) const
Definition: SubsystemGuts.h:414
void markCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:269
void createScheduledEvent(const State &state, EventId &eventId) const
void realizeSubsystemInstance(const State &) const
Real getDiscreteVarLastUpdateTime(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:248
int getNUDotErr(const State &s) const
Definition: SubsystemGuts.h:206
bool isInSameSystem(const Subsystem &otherSubsystem) const
Vector & updZDot(const State &s) const
Definition: SubsystemGuts.h:147
AbstractMeasure getMeasure(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is,...
Definition: SubsystemGuts.h:293
int getNQErr(const State &s) const
Definition: SubsystemGuts.h:196
const Vector & getZWeights(const State &s) const
Definition: SubsystemGuts.h:127
SystemEventTriggerByStageIndex getEventTriggerStartByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:214
Subsystem & updOwnerSubsystemHandle()
Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem...
Definition: SubsystemGuts.h:450
bool isCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:266
virtual Subsystem::Guts * cloneImpl() const =0
int getNEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:216
SystemQErrIndex getQErrStart(const State &s) const
Definition: SubsystemGuts.h:194
UErrIndex allocateUErr(const State &s, int nuerr) const
Definition: SubsystemGuts.h:111
const AbstractValue & getDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:254
SystemUErrIndex getUErrStart(const State &s) const
Definition: SubsystemGuts.h:199
Vector & updUErr(const State &s) const
Definition: SubsystemGuts.h:170
void calcDecorativeGeometryAndAppend(const State &, Stage, Array_< DecorativeGeometry > &) const
virtual int calcDecorativeGeometryAndAppendImpl(const State &, Stage, Array_< DecorativeGeometry > &) const
Definition: SubsystemGuts.h:423
const Vector & getQDotDot(const State &s) const
Definition: SubsystemGuts.h:140
bool hasOwnerSubsystemHandle() const
Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object.
Definition: SubsystemGuts.h:463
EventTriggerByStageIndex allocateEventTriggersByStage(const State &s, Stage g, int ntriggers) const
Definition: SubsystemGuts.h:116
void reportEvents(const State &, Event::Cause, const Array_< EventId > &eventIds) const
bool isInSystem() const
Definition: SubsystemGuts.h:299
void setQ(State &s, const Vector &q) const
Definition: SubsystemGuts.h:221
const Vector & getUWeights(const State &s) const
Definition: SubsystemGuts.h:125
void realizeSubsystemPosition(const State &) const
AbstractValue & updDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:257
void realizeSubsystemModel(State &) const
void realizeSubsystemTime(const State &) const
const AbstractValue & getDiscreteVariable(const State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:240
void createTriggeredEvent(const State &state, EventId &eventId, EventTriggerByStageIndex &triggerFunctionIndex, Stage stage) const
SystemUDotErrIndex getUDotErrStart(const State &s) const
Definition: SubsystemGuts.h:204
int getNZ(const State &s) const
Definition: SubsystemGuts.h:191
int getNU(const State &s) const
Definition: SubsystemGuts.h:186
virtual void calcEventTriggerInfoImpl(const State &, Array_< EventTriggerInfo > &) const
Definition: SubsystemGuts.h:426
virtual void reportEventsImpl(const State &, Event::Cause, const Array_< EventId > &eventIds) const
Definition: SubsystemGuts.h:438
Vector & updU(State &s) const
Definition: SubsystemGuts.h:131
Vector & updQDotDot(const State &s) const
Definition: SubsystemGuts.h:149
int getNQ(const State &s) const
Definition: SubsystemGuts.h:181
int getNUErr(const State &s) const
Definition: SubsystemGuts.h:201
void calcTimeOfNextScheduledEvent(const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
Measure_< T > getMeasure_(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given.
Definition: SubsystemGuts.h:286
void realizeSubsystemTopology(State &) const
void invalidateSubsystemTopologyCache() const
Always call this method when a topological change is made to this Subsystem to indicate that any Stag...
virtual int realizeSubsystemPositionImpl(const State &s) const
Definition: SubsystemGuts.h:416
SystemUIndex getUStart(const State &s) const
Definition: SubsystemGuts.h:184
Subsystem::Guts * clone() const
void handleEvents(State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
void setOwnerSubsystemHandle(Subsystem &subsys)
Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts o...
Definition: SubsystemGuts.h:459
void markDiscreteVarUpdateValueRealized(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:263
const String & getVersion() const
Report back the version string supplied on construction; this i not interpreted in any way by Simbody...
Definition: SubsystemGuts.h:68
SubsystemIndex getMySubsystemIndex() const
Definition: SubsystemGuts.h:316
const System & getSystem() const
Definition: SubsystemGuts.h:302
Vector & updUDot(const State &s) const
Definition: SubsystemGuts.h:145
const Subsystem & getOwnerSubsystemHandle() const
Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::G...
Definition: SubsystemGuts.h:444
const Vector & getU(const State &s) const
Definition: SubsystemGuts.h:121
const Vector & getUDot(const State &s) const
Definition: SubsystemGuts.h:136
void setZ(State &s, const Vector &z) const
Definition: SubsystemGuts.h:229
UIndex allocateU(State &s, const Vector &uInit) const
Definition: SubsystemGuts.h:85
const Vector & getQ(const State &s) const
Definition: SubsystemGuts.h:119
virtual void handleEventsImpl(State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
Definition: SubsystemGuts.h:434
virtual ~Guts()
Destructor is virtual to permit cleanup of derived classes.
virtual void calcTimeOfNextScheduledReportImpl(const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
Definition: SubsystemGuts.h:431
virtual int realizeSubsystemReportImpl(const State &s) const
Definition: SubsystemGuts.h:420
bool subsystemTopologyHasBeenRealized() const
Returns true if this subsystem's realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:325
CacheEntryIndex allocateCacheEntry(const State &state, Stage g, AbstractValue *v) const
Definition: SubsystemGuts.h:103
const Vector & getQErrWeights(const State &s) const
Definition: SubsystemGuts.h:156
Vector & updEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:176
Vector & updQ(State &s) const
Definition: SubsystemGuts.h:130
virtual int realizeSubsystemDynamicsImpl(const State &s) const
Definition: SubsystemGuts.h:418
Stage getStage(const State &s) const
Definition: SubsystemGuts.h:234
SystemZIndex getZStart(const State &s) const
Definition: SubsystemGuts.h:189
AbstractValue & updDiscreteVariable(State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:242
QErrIndex allocateQErr(const State &s, int nqerr) const
Definition: SubsystemGuts.h:109
SystemQIndex getQStart(const State &s) const
Definition: SubsystemGuts.h:179
virtual int realizeSubsystemTimeImpl(const State &s) const
Definition: SubsystemGuts.h:415
MeasureIndex adoptMeasure(AbstractMeasure &m)
Add a new Measure to this Subsystem.
void calcTimeOfNextScheduledReport(const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
ZIndex allocateZ(State &s, const Vector &zInit) const
Definition: SubsystemGuts.h:87
Vector & updQErr(const State &s) const
Definition: SubsystemGuts.h:168
Guts(const Guts &)
Copy constructor results in a default-constructed object though with the name and version string copi...
virtual void calcTimeOfNextScheduledEventImpl(const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
Definition: SubsystemGuts.h:428
void calcEventTriggerInfo(const State &, Array_< EventTriggerInfo > &) const
virtual int realizeSubsystemAccelerationImpl(const State &s) const
Definition: SubsystemGuts.h:419
System & updSystem()
Definition: SubsystemGuts.h:306
CacheEntryIndex allocateLazyCacheEntry(const State &state, Stage earliest, AbstractValue *v) const
Definition: SubsystemGuts.h:106
void realizeSubsystemDynamics(const State &) const
virtual int realizeSubsystemVelocityImpl(const State &s) const
Definition: SubsystemGuts.h:417
void realizeSubsystemVelocity(const State &) const
void markCacheValueNotRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:272
const Vector & getZDot(const State &s) const
Definition: SubsystemGuts.h:138
const Vector & getUErrWeights(const State &s) const
Definition: SubsystemGuts.h:158
int getNMultipliers(const State &s) const
Definition: SubsystemGuts.h:211
SystemMultiplierIndex getMultipliersStart(const State &s) const
Definition: SubsystemGuts.h:209
const Vector & getQDot(const State &s) const
Definition: SubsystemGuts.h:134
virtual int realizeSubsystemModelImpl(State &s) const
Definition: SubsystemGuts.h:413
Vector & updUDotErr(const State &s) const
Definition: SubsystemGuts.h:172
Guts(const String &name="<NONAME>", const String &version="0.0.0")
This constructor is for use in the constructors of derived Subsystems.
bool isDiscreteVarUpdateValueRealized(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:260
QIndex allocateQ(State &s, const Vector &qInit) const
Definition: SubsystemGuts.h:83
void realizeSubsystemReport(const State &) const
Vector & updMultipliers(const State &s) const
Definition: SubsystemGuts.h:174
const Vector & getZ(const State &s) const
Definition: SubsystemGuts.h:123
DiscreteVariableIndex allocateDiscreteVariable(State &s, Stage g, AbstractValue *v) const
Definition: SubsystemGuts.h:91
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
SubsystemIndex getMySubsystemIndex() const
Return the SubsystemIndex within the containing System.
Definition: SubsystemGuts.h:495
MeasureIndex adoptMeasure(AbstractMeasure &)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:509
AbstractMeasure getMeasure(MeasureIndex) const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:511
const Subsystem::Guts & getSubsystemGuts() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:353
bool isOwnerHandle() const
Is this Subsystem handle the owner of the Subsystem::Guts object it points to? This is true if the ha...
Definition: SubsystemGuts.h:527
System & updSystem()
Return a writable reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:522
Subsystem::Guts & updSubsystemGuts()
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:354
void invalidateSubsystemTopologyCache() const
Always call this method when a topological change is made to this Subsystem to indicate that any Stag...
Definition: SubsystemGuts.h:505
bool isInSystem() const
Return true if this Subsystem is contained in a System.
Definition: SubsystemGuts.h:515
const System & getSystem() const
Return a const reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:520
bool isInSameSystem(const Subsystem &otherSubsystem) const
Return true if this Subsystem is contained in the same System as contains the given otherSubsystem.
Definition: SubsystemGuts.h:517
const String & getName() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:498
bool subsystemTopologyHasBeenRealized() const
Returns true if this Subsystem's realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:501
void setSystem(System &system, SubsystemIndex subx)
Inform this Subsystem of the System that contains it, as well as the SubsystemIndex which the System ...
Definition: SubsystemGuts.h:524
const String & getVersion() const
Obtain the Subsystem version string if one was given on construction.
Definition: SubsystemGuts.h:499
This unique integer type is for identifying a triggered event within a particular Stage of the full S...
This unique integer type is for indexing global "multiplier-like" arrays, that is,...
This unique integer type is for indexing global "qErr-like" arrays, that is, arrays that inherently h...
This unique integer type is for indexing global "q-like" arrays, that is, arrays that inherently have...
This unique integer type is for indexing global "uDotErr-like" arrays, that is, arrays that inherentl...
This unique integer type is for indexing global "uErr-like" arrays, that is, arrays that inherently h...
This unique integer type is for indexing global "u-like" arrays, that is, arrays that inherently have...
This unique integer type is for indexing global "z-like" arrays, that is, arrays that inherently have...
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
Unique integer type for Subsystem-local uDotErr indexing.
Unique integer type for Subsystem-local uErr indexing.
Unique integer type for Subsystem-local u indexing.
int size() const
Definition: VectorBase.h:396
Unique integer type for Subsystem-local z indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
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:607