SimTK::CableSubsystem Class Reference
This subsystem manages cables spanning between two points in a system. More...
Inheritance diagram for SimTK::CableSubsystem:
Public Member Functions | |
| CableSubsystem (MultibodySystem &) | |
| const MultibodySystem & | getMultibodySystem () const |
| int | getNumCables () const |
| Get the number of cables being managed by this subsystem. More... | |
| const CableSpan & | getCable (CableSpanIndex ix) const |
| Get const access to a particular cable. More... | |
| CableSpan & | updCable (CableSpanIndex ix) |
| Get writeable access to a particular cable. More... | |
| Public Member Functions inherited from SimTK::Subsystem | |
| Subsystem () | |
| Default constructor creates and empty handle with a null Subsystem::Guts pointer. More... | |
| Subsystem (const Subsystem &) | |
| Copy constructor clones the Subsystem::Guts object if there is one and makes this the owner handle of the new clone. More... | |
| Subsystem & | operator= (const Subsystem &) |
| Copy assignment deletes the Subsystem::Guts object if there is one and then behaves like the copy constructor. More... | |
| ~Subsystem () | |
| Destructor deletes the referenced Subsystem::Guts object if this is the owner handle of that object, otherwise does nothing. 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 |
| const String & | getName () const |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| const String & | getVersion () const |
| Obtain the Subsystem version string if one was given on construction. More... | |
| bool | isInSystem () const |
Return true if this Subsystem is contained in a System. More... | |
| bool | isInSameSystem (const Subsystem &otherSubsystem) const |
Return true if this Subsystem is contained in the same System as contains the given otherSubsystem. More... | |
| const System & | getSystem () const |
| Return a const reference to the System that contains this Subsystem. More... | |
| System & | updSystem () |
| Return a writable reference to the System that contains this Subsystem. More... | |
| void | setSystem (System &system, SubsystemIndex subx) |
| Inform this Subsystem of the System that contains it, as well as the SubsystemIndex which the System has assigned to it. More... | |
| SubsystemIndex | getMySubsystemIndex () const |
| Return the SubsystemIndex within the containing System. More... | |
| bool | isEmptyHandle () const |
| Return true if this handle has a null Subsystem::Guts pointer. More... | |
| bool | isSameSubsystem (const Subsystem &otherSubsystem) const |
Determine if this Subsystem handle refers to the same Subsystem::Guts object as handle otherSubsystem. More... | |
| bool | isOwnerHandle () const |
Is this Subsystem handle the owner of the Subsystem::Guts object it points to? This is true if the handle is empty or if its Guts object points back to this handle. More... | |
| 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... | |
| MeasureIndex | adoptMeasure (AbstractMeasure &) |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| AbstractMeasure | getMeasure (MeasureIndex) const |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| template<class T > | |
| Measure_< T > | getMeasure_ (MeasureIndex mx) const |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| const Subsystem::Guts & | getSubsystemGuts () const |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| Subsystem::Guts & | updSubsystemGuts () |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| void | adoptSubsystemGuts (Subsystem::Guts *g) |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| Subsystem (Subsystem::Guts *g) | |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
| bool | hasGuts () const |
| Obtain the Subsystem name if one was given on construction of the concrete Subsystem. More... | |
Detailed Description
This subsystem manages cables spanning between two points in a system.
Each cable is represented by a CableSpan. Obstacles can be added to the cable, and must be wrapped over. The calculated path will consist of a series of straight line segments between obstacles, and curved segments (geodesics) over the obstacles. Force elements defined elsewhere may make use of the cables to apply forces to the system.
See CableSpan.
Constructor & Destructor Documentation
◆ CableSubsystem()
|
explicit |
Member Function Documentation
◆ getMultibodySystem()
| const MultibodySystem& SimTK::CableSubsystem::getMultibodySystem | ( | ) | const |
◆ getNumCables()
| int SimTK::CableSubsystem::getNumCables | ( | ) | const |
Get the number of cables being managed by this subsystem.
These are identified by CableSpanIndex values from 0 to getNumCables()-1. This is available after realizeTopology() and does not change subsequently.
◆ getCable()
| const CableSpan& SimTK::CableSubsystem::getCable | ( | CableSpanIndex | ix | ) | const |
Get const access to a particular cable.
◆ updCable()
| CableSpan& SimTK::CableSubsystem::updCable | ( | CableSpanIndex | ix | ) |
Get writeable access to a particular cable.
The documentation for this class was generated from the following file:
