Simbody  3.8
TimeStepper.h
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1 #ifndef SimTK_SIMMATH_TIMESTEPPER_H_
2 #define SimTK_SIMMATH_TIMESTEPPER_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
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) 2007-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: Michael Sherman *
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.h"
29 #include "simmath/Integrator.h"
30 
31 namespace SimTK {
32 class Integrator;
33 
47 public:
54  explicit TimeStepper(const System& system);
58  TimeStepper(const System& system, Integrator& integrator);
63  void setIntegrator(Integrator& integrator);
67  const Integrator& getIntegrator() const;
95  void initialize(const State&);
101  const State& getState() const;
105  Real getTime() const {return getState().getTime();}
118 private:
119  class TimeStepperRep* rep;
120  friend class TimeStepperRep;
121 };
122 
123 } // namespace SimTK
124 
125 #endif // SimTK_SIMMATH_TIMESTEPPER_H_
This is the header file that user code should include to pick up the SimTK Simmath numerical integrat...
Includes internal headers providing declarations for the basic SimTK Core classes,...
This is the header file that every Simmath compilation unit should include first.
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
An Integrator is an object that can advance the State of a System through time.
Definition: Integrator.h:116
SuccessfulStepStatus
When a step is successful, it will return an indication of what caused it to stop where it did.
Definition: Integrator.h:202
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
This class uses an Integrator to advance a System through time.
Definition: TimeStepper.h:46
void setIntegrator(Integrator &integrator)
Set the Integrator this TimeStepper will use to advance the System.
void setReportAllSignificantStates(bool b)
Set whether the TimeStepper should report every significant state returned by the Integrator.
Real getTime() const
Get the current time of the System being integrated.
Definition: TimeStepper.h:105
Integrator & updIntegrator()
Get a non-const reference to the Integrator being used to advance the System.
TimeStepper(const System &system, Integrator &integrator)
Create a TimeStepper to advance a System using an Integrator.
const State & getState() const
Get the current State of the System being integrated.
void initialize(const State &)
Supply the time stepper with a starting state.
Integrator::SuccessfulStepStatus stepTo(Real time)
Use the Integrator to advance the System up to the specified time.
bool getReportAllSignificantStates() const
Get whether the TimeStepper should report every significant state returned by the Integrator.
TimeStepper(const System &system)
Create a TimeStepper to advance a System.
const Integrator & getIntegrator() const
Get the Integrator being used to advance the System.
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