Simbody  3.6
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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 *
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 *
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  * -------------------------------------------------------------------------- */
27 #include "SimTKcommon/basics.h"
28 #include "SimTKcommon/Simmatrix.h"
31 #include <cassert>
33 namespace SimTK {
35 class System;
36 class DecorativeGeometry;
38 //==============================================================================
40 //==============================================================================
48 public:
54 explicit Guts(const String& name="<NONAME>", const String& version="0.0.0");
57 virtual ~Guts();
61 Guts(const Guts&);
65 const String& getName() const {return m_subsystemName;}
68 const String& getVersion() const {return m_subsystemVersion;}
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); }
92 { return s.allocateDiscreteVariable(getMySubsystemIndex(), g, v); }
93 DiscreteVariableIndex allocateAutoUpdateDiscreteVariable
94  (State& s, Stage invalidates, AbstractValue* v, Stage updateDependsOn) const
96  (getMySubsystemIndex(),invalidates,v,updateDependsOn); }
98 CacheEntryIndex allocateCacheEntry
99  (const State& s, Stage dependsOn, Stage computedBy, AbstractValue* v) const
100 { return s.allocateCacheEntry
101  (getMySubsystemIndex(), dependsOn, computedBy, v); }
102 CacheEntryIndex allocateCacheEntry
103  (const State& state, Stage g, AbstractValue* v) const
104 { return allocateCacheEntry(state, g, g, v); }
105 CacheEntryIndex allocateLazyCacheEntry
106  (const State& state, Stage earliest, AbstractValue* v) const
107 { return allocateCacheEntry(state, earliest, Stage::Infinity, v); }
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); }
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()); }
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());}
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()); }
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()); }
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()); }
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); }
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); }
179 SystemQIndex getQStart(const State& s) const
180 { return s.getQStart(getMySubsystemIndex()); }
181 int getNQ(const State& s) const
182 { return s.getNQ(getMySubsystemIndex()); }
184 SystemUIndex getUStart(const State& s) const
185 { return s.getUStart(getMySubsystemIndex()); }
186 int getNU(const State& s) const
187 { return s.getNU(getMySubsystemIndex()); }
189 SystemZIndex getZStart(const State& s) const
190 { return s.getZStart(getMySubsystemIndex()); }
191 int getNZ(const State& s) const
192 { return s.getNZ(getMySubsystemIndex()); }
195 { return s.getQErrStart(getMySubsystemIndex()); }
196 int getNQErr(const State& s) const
197 { return s.getNQErr(getMySubsystemIndex()); }
200 { return s.getUErrStart(getMySubsystemIndex()); }
201 int getNUErr(const State& s) const
202 { return s.getNUErr(getMySubsystemIndex()); }
205 { return s.getUDotErrStart(getMySubsystemIndex()); }
206 int getNUDotErr(const State& s) const
207 { return s.getNUDotErr(getMySubsystemIndex()); }
210 { return s.getMultipliersStart(getMySubsystemIndex()); }
211 int getNMultipliers(const State& s) const
212 { return s.getNMultipliers(getMySubsystemIndex()); }
215 { return s.getEventTriggerStartByStage(getMySubsystemIndex(),g); }
216 int getNEventTriggersByStage (const State& s, Stage g) const
217 { return s.getNEventTriggersByStage(getMySubsystemIndex(),g); }
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 }
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); }
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); }
259 bool isDiscreteVarUpdateValueRealized
260  (const State& s, DiscreteVariableIndex dx) const
261 { return s.isDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
262 void markDiscreteVarUpdateValueRealized
263  (const State& s, DiscreteVariableIndex dx) const
264 { return s.markDiscreteVarUpdateValueRealized(getMySubsystemIndex(),dx); }
266 bool isCacheValueRealized(const State& s, CacheEntryIndex cx) const
267 { return s.isCacheValueRealized(getMySubsystemIndex(), cx); }
270 { s.markCacheValueRealized(getMySubsystemIndex(), cx); }
273 { s.markCacheValueNotRealized(getMySubsystemIndex(), cx); }
278 MeasureIndex adoptMeasure(AbstractMeasure& m);
286 template <class T> Measure_<T> getMeasure_(MeasureIndex mx) const
287 { return Measure_<T>::getAs(getMeasure(mx)); }
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 }
299 bool isInSystem() const {return m_mySystem != 0;}
300 bool isInSameSystem(const Subsystem& otherSubsystem) const;
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 }
326 { return m_subsystemTopologyRealized; }
336 void invalidateSubsystemTopologyCache() const;
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.
343 Subsystem::Guts* clone() const;
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.
351 void realizeSubsystemTopology (State&) const;
352 void realizeSubsystemModel (State&) const;
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;
358 void realizeSubsystemAcceleration(const State&) const;
359 void realizeSubsystemReport (const State&) const;
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.
366 void calcDecorativeGeometryAndAppend
367  (const State&, Stage, Array_<DecorativeGeometry>&) const;
369 void createScheduledEvent(const State& state, EventId& eventId) const;
370 void createTriggeredEvent(const State& state, EventId& eventId,
371  EventTriggerByStageIndex& triggerFunctionIndex,
372  Stage stage) const;
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.
378 void calcEventTriggerInfo
379  (const State&, Array_<EventTriggerInfo>&) const;
380 void calcTimeOfNextScheduledEvent
381  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
382  bool includeCurrentTime) const;
383 void calcTimeOfNextScheduledReport
384  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
385  bool includeCurrentTime) const;
386 void handleEvents
387  (State&, Event::Cause, const Array_<EventId>& eventIds,
388  const HandleEventsOptions& options, HandleEventsResults& results) const;
389 void reportEvents
390  (const State&, Event::Cause, const Array_<EventId>& eventIds) const;
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.
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.
408 // The destructor is already virtual; see above.
410 virtual Subsystem::Guts* cloneImpl() const = 0;
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;}
422 virtual int calcDecorativeGeometryAndAppendImpl
423  (const State&, Stage, Array_<DecorativeGeometry>&) const {return 0;}
425 virtual void calcEventTriggerInfoImpl
426  (const State&, Array_<EventTriggerInfo>&) const {}
427 virtual void calcTimeOfNextScheduledEventImpl
428  (const State&, Real& tNextEvent, Array_<EventId>& eventIds,
429  bool includeCurrentTime) const {}
430 virtual void calcTimeOfNextScheduledReportImpl
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 {}
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 }
459 void setOwnerSubsystemHandle(Subsystem& subsys) {m_myHandle=&subsys;}
463 bool hasOwnerSubsystemHandle() const {return m_myHandle != 0;}
465 private:
466 // Suppressed.
467 Guts& operator=(const Guts&);
469 //------------------------------------------------------------------------------
470  private:
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
478 friend class Subsystem;
479 Subsystem* m_myHandle; // the owner handle of this Guts object
481 // This is the list of Measures belonging to this Subsystem.
483  m_measures;
486 mutable bool m_subsystemTopologyRealized;
487 };
490 //==============================================================================
492 //==============================================================================
493 // These had to wait for Subsystem::Guts to be defined.
496 { return getSubsystemGuts().getMySubsystemIndex(); }
498 inline const String& Subsystem::getName() const {return getSubsystemGuts().getName();}
499 inline const String& Subsystem::getVersion() const {return getSubsystemGuts().getVersion();}
502  return getSubsystemGuts().subsystemTopologyHasBeenRealized();
503 }
506  getSubsystemGuts().invalidateSubsystemTopologyCache(); // mutable
507 }
510 { return updSubsystemGuts().adoptMeasure(m); }
511 inline AbstractMeasure Subsystem::getMeasure(MeasureIndex mx) const
512 { return getSubsystemGuts().getMeasure(mx); }
515 inline bool Subsystem::isInSystem() const
516 { return getSubsystemGuts().isInSystem(); }
517 inline bool Subsystem::isInSameSystem(const Subsystem& otherSubsystem) const
518 { return getSubsystemGuts().isInSameSystem(otherSubsystem); }
520 inline const System& Subsystem::getSystem() const
521 { return getSubsystemGuts().getSystem(); }
523 { return updSubsystemGuts().updSystem(); }
525 { updSubsystemGuts().setSystem(sys,id); }
527 inline bool Subsystem::isOwnerHandle() const
528 { return guts==0 || &guts->getOwnerSubsystemHandle()==this; }
530 } // namespace SimTK
const Vector & getQErrWeights(const State &s) const
Definition: SubsystemGuts.h:156
const Vector & getMultipliers(SubsystemIndex) const
SystemYIndex getZStart() const
Returns the y index at which the z&#39;s begin. Callable at Model stage.
Vector & updQDotDot(const State &s) const
Definition: SubsystemGuts.h:149
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
Vector & updQ(SubsystemIndex)
virtual int realizeSubsystemTimeImpl(const State &s) const
Definition: SubsystemGuts.h:415
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
const AbstractValue & getDiscreteVariable(const State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:240
SubsystemIndex getMySubsystemIndex() const
Return the SubsystemIndex within the containing System.
Definition: SubsystemGuts.h:495
SystemMultiplierIndex getMultipliersStart(SubsystemIndex) const
AbstractMeasure getMeasure(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is...
Definition: SubsystemGuts.h:293
SystemUDotErrIndex getUDotErrStart(const State &s) const
Definition: SubsystemGuts.h:204
const AbstractValue & getDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:254
const AbstractValue & getDiscreteVariable(SubsystemIndex, DiscreteVariableIndex) const
Get the current value of the indicated discrete variable.
DiscreteVariableIndex allocateDiscreteVariable(State &s, Stage g, AbstractValue *v) const
Definition: SubsystemGuts.h:91
Unique integer type for Subsystem-local uDotErr indexing.
Vector & updUDot(const State &s) const
Definition: SubsystemGuts.h:145
AbstractValue & updDiscreteVariable(State &s, DiscreteVariableIndex index) const
Definition: SubsystemGuts.h:242
const Vector & getQDotDot(SubsystemIndex) const
const Vector & getUWeights(SubsystemIndex) const
int getNU(const State &s) const
Definition: SubsystemGuts.h:186
void advanceSubsystemToStage(SubsystemIndex, Stage) const
Advance a particular Subsystem&#39;s current stage by one to the indicated stage.
MeasureIndex adoptMeasure(AbstractMeasure &)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:509
int getNQErr(const State &s) const
Definition: SubsystemGuts.h:196
Unique integer type for Subsystem-local u indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
virtual int realizeSubsystemVelocityImpl(const State &s) const
Definition: SubsystemGuts.h:417
virtual int realizeSubsystemModelImpl(State &s) const
Definition: SubsystemGuts.h:413
virtual int realizeSubsystemTopologyImpl(State &s) const
Definition: SubsystemGuts.h:412
int getNUDotErr(const State &s) const
Definition: SubsystemGuts.h:206
Vector & updEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:176
Unique integer type for Subsystem-local uErr indexing.
SubsystemIndex getMySubsystemIndex() const
Definition: SubsystemGuts.h:316
bool subsystemTopologyHasBeenRealized() const
Returns true if this Subsystem&#39;s realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:501
Unique integer type for Subsystem-local qErr indexing.
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
EventTriggerByStageIndex allocateEventTriggersByStage(const State &s, Stage g, int ntriggers) const
Definition: SubsystemGuts.h:116
const String & getName() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:498
SystemZIndex getZStart(const State &s) const
Definition: SubsystemGuts.h:189
const Vector & getUDotErr(SubsystemIndex) const
void setQ(State &s, const Vector &q) const
Definition: SubsystemGuts.h:221
const Vector & getUDot(SubsystemIndex) const
int getNMultipliers(const State &s) const
Definition: SubsystemGuts.h:211
#define SimTK_ASSERT(cond, msg)
Definition: ExceptionMacros.h:373
const Vector & getZDot(const State &s) const
Definition: SubsystemGuts.h:138
int getNUDotErr() const
Return the total number nudotErr=mp+mv+ma of cache entries for acceleration-level constraint errors (...
void setZ(State &s, const Vector &z) const
Definition: SubsystemGuts.h:229
CacheEntryIndex getDiscreteVarUpdateIndex(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the CacheEntryIndex for its associated update cache en...
Vector & updZDot(SubsystemIndex) const
This is the base class for all Measure handle classes.
Definition: Measure.h:151
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:606
virtual int realizeSubsystemDynamicsImpl(const State &s) const
Definition: SubsystemGuts.h:418
int getNZ() const
Get total number of shared z&#39;s (auxiliary state variables).
This unique integer type is for indexing global "multiplier-like" arrays, that is, arrays that inherently have the same dimension as the total number of Lagrange multipliers in the full System-level view of the State.
const Vector & getQDot(SubsystemIndex) const
Per-subsystem access to the shared cache entries.
Vector & updQ(State &s) const
Definition: SubsystemGuts.h:130
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
virtual int realizeSubsystemPositionImpl(const State &s) const
Definition: SubsystemGuts.h:416
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
const Vector & getU(SubsystemIndex) const
SystemYErrIndex getQErrStart() const
Returns the yErr index at which the qErr&#39;s begin. Callable at Instance stage.
const AbstractValue & getDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the current value of its associated update cache entry...
const Vector & getZ(const State &s) const
Definition: SubsystemGuts.h:123
SystemYIndex getUStart() const
Returns the y index at which the u&#39;s begin. Callable at Model stage.
void setSystem(System &sys, SubsystemIndex id)
Definition: SubsystemGuts.h:310
const Vector & getZWeights(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...
AbstractValue & updDiscreteVariable(SubsystemIndex, DiscreteVariableIndex)
Get a writable reference to the value stored in the indicated discrete state variable dv...
Vector & updU(SubsystemIndex)
Vector & updUErr(SubsystemIndex) const
These are all the possible causes for events.
Definition: Event.h:126
bool isDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Check whether the update value for this auto-update discrete variable has already been computed since...
SystemMultiplierIndex getMultipliersStart(const State &s) const
Definition: SubsystemGuts.h:209
Vector & updQErr(const State &s) const
Definition: SubsystemGuts.h:168
Vector & updUErr(const State &s) const
Definition: SubsystemGuts.h:170
int getNQ(const State &s) const
Definition: SubsystemGuts.h:181
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *, Stage updateDependsOn)
This method allocates a DiscreteVariable whose value should be updated automatically after each time ...
const Vector & getQErr(const State &s) const
Definition: SubsystemGuts.h:152
UDotErrIndex allocateUDotErr(const State &s, int nudoterr) const
Definition: SubsystemGuts.h:113
int getNQErr() const
Return the total number nqerr=mp+nQuaternions of cache entries for position-level constraint errors...
const Vector & getQErrWeights(SubsystemIndex) const
const Vector & getUErrWeights(const State &s) const
Definition: SubsystemGuts.h:158
int getNMultipliers() const
Return the total number of constraint multipliers; necessarily the same as the number of acceleration...
const Vector & getMultipliers(const State &s) const
Definition: SubsystemGuts.h:163
Vector & updZDot(const State &s) const
Definition: SubsystemGuts.h:147
const Vector & getUDot(const State &s) const
Definition: SubsystemGuts.h:136
void markCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Mark the value of a particular cache entry as up to date after it has been recalculated.
SystemYIndex getQStart() const
Returns the y index at which the q&#39;s begin. Callable at Model stage.
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
virtual int realizeSubsystemInstanceImpl(const State &s) const
Definition: SubsystemGuts.h:414
SystemEventTriggerIndex getEventTriggerStartByStage(Stage) const
Return the index within the global event trigger array at which the first of the event triggers assoc...
This unique integer type is for indexing global "q-like" arrays, that is, arrays that inherently have...
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
const Vector & getUErr(SubsystemIndex) const
This unique integer type is for indexing global "qErr-like" arrays, that is, arrays that inherently h...
Measure_< T > getMeasure_(MeasureIndex mx) const
Return the Measure whose index within this Subsystem is given.
Definition: SubsystemGuts.h:286
Unique integer type for Subsystem-local z indexing.
Subsystem & updOwnerSubsystemHandle()
Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem...
Definition: SubsystemGuts.h:450
QIndex allocateQ(State &s, const Vector &qInit) const
Definition: SubsystemGuts.h:83
Vector & updQDotDot(SubsystemIndex) const
virtual int realizeSubsystemReportImpl(const State &s) const
Definition: SubsystemGuts.h:420
This unique integer type is for indexing global "uErr-like" arrays, that is, arrays that inherently h...
const Vector & getUErrWeights(SubsystemIndex) const
System & updSystem()
Return a writable reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:522
AbstractValue & updDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:257
const AbstractValue & getCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a const reference to the value contained in a particular cache entry.
const Vector & getQDot(const State &s) const
Definition: SubsystemGuts.h:134
QErrIndex allocateQErr(const State &s, int nqerr) const
Definition: SubsystemGuts.h:109
DiscreteVariableIndex allocateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *)
The Stage supplied here in the call is the earliest subsystem stage which is invalidated by a change ...
Unique integer type for Subsystem-local q indexing.
const AbstractValue & getCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:244
void advanceToStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:236
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
Vector & updQDot(SubsystemIndex) const
Vector & updMultipliers(SubsystemIndex) 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
Stage getStage(const State &s) const
Definition: SubsystemGuts.h:234
const Vector & getQErr(SubsystemIndex) const
UErrIndex allocateUErr(const State &s, int nuerr) const
Definition: SubsystemGuts.h:111
Higher than any legitimate Stage.
Definition: Stage.h:79
Vector & updQErr(SubsystemIndex) const
Vector & updQDot(const State &s) const
Definition: SubsystemGuts.h:143
const Vector & getQDotDot(const State &s) const
Definition: SubsystemGuts.h:140
SystemEventTriggerByStageIndex getEventTriggerStartByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:214
const Vector & getZWeights(const State &s) const
Definition: SubsystemGuts.h:127
void setU(State &s, const Vector &u) const
Definition: SubsystemGuts.h:225
AbstractValue & updCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a writable reference to the value contained in a particular cache entry. ...
Vector & updZ(State &s) const
Definition: SubsystemGuts.h:132
This unique integer type is for identifying a triggered event within a particular Stage of the full S...
CacheEntryIndex getDiscreteVarUpdateIndex(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:251
Real getDiscreteVarLastUpdateTime(const State &s, DiscreteVariableIndex dx) const
Definition: SubsystemGuts.h:248
void markCacheValueNotRealized(SubsystemIndex, CacheEntryIndex) const
(Advanced) Normally cache entries are invalidated automatically, however this method allows manual in...
AbstractValue & updDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return a writable reference to the value of its associated up...
ZIndex allocateZ(State &s, const Vector &zInit) const
Definition: SubsystemGuts.h:87
SystemQErrIndex getQErrStart(const State &s) const
Definition: SubsystemGuts.h:194
int getNEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:216
const System & getSystem() const
Return a const reference to the System that contains this Subsystem.
Definition: SubsystemGuts.h:520
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
UIndex allocateU(State &s, const Vector &uInit) const
Definition: SubsystemGuts.h:85
Real getDiscreteVarLastUpdateTime(SubsystemIndex, DiscreteVariableIndex) const
Return the time of last update for this discrete variable.
Vector & updUDotErr(SubsystemIndex) const
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
const Vector & getUErr(const State &s) const
Definition: SubsystemGuts.h:154
Abstract base class representing an arbitrary value of unknown type.
Definition: Value.h:49
SystemYErrIndex getUErrStart() const
Returns the yErr index at which the uErr&#39;s begin. Callable at Instance stage.
This unique integer type is for indexing global "uDotErr-like" arrays, that is, arrays that inherentl...
int getNQ() const
Get total number of shared q&#39;s (generalized coordinates; second order state variables).
QErrIndex allocateQErr(SubsystemIndex, int nqerr) const
Allocate nqerr cache slots to hold the current error for position-level (holonomic) constraint equati...
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
This unique integer type is for selecting discrete variables.
bool isInSystem() const
Definition: SubsystemGuts.h:299
const Vector & getEventTriggersByStage(Stage) const
This unique integer type is for indexing global "z-like" arrays, that is, arrays that inherently have...
const String & getVersion() const
Obtain the Subsystem version string if one was given on construction.
Definition: SubsystemGuts.h:499
const Vector & getUDotErr(const State &s) const
Definition: SubsystemGuts.h:161
Vector & updUDotErr(const State &s) const
Definition: SubsystemGuts.h:172
bool subsystemTopologyHasBeenRealized() const
Returns true if this subsystem&#39;s realizeTopology() method has been called since the last topological ...
Definition: SubsystemGuts.h:325
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
void markCacheValueNotRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:272
QIndex allocateQ(SubsystemIndex, const Vector &qInit)
Allocate generalized coordinates q, which are second order continuous state variables.
SystemUErrIndex getUErrStart(const State &s) const
Definition: SubsystemGuts.h:199
int size() const
Definition: VectorBase.h:396
const Vector & getEventTriggersByStage(const State &s, Stage g) const
Definition: SubsystemGuts.h:165
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody&#39;s...
Definition: System.h:97
const Vector & getU(const State &s) const
Definition: SubsystemGuts.h:121
int getNZ(const State &s) const
Definition: SubsystemGuts.h:191
UIndex allocateU(SubsystemIndex, const Vector &uInit)
Allocate generalized speeds u, which are first order continuous state variables related to the deriva...
const String & getName() const
Report back the name supplied on construction; this is not interpreted in any way by Simbody...
Definition: SubsystemGuts.h:65
SystemUDotErrIndex getUDotErrStart(SubsystemIndex) const
bool isCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:266
int getNUErr(const State &s) const
Definition: SubsystemGuts.h:201
virtual int realizeSubsystemAccelerationImpl(const State &s) const
Definition: SubsystemGuts.h:419
Provide a unique integer type for identifying Subsystems.
int getNU() const
Get total number of shared u&#39;s (generalized speeds; mobilities).
Vector & updEventTriggersByStage(Stage) const
const Vector & getQ(const State &s) const
Definition: SubsystemGuts.h:119
void markDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Mark the update value for this auto-update discrete variable as up-to-date with respect to the state ...
ZIndex allocateZ(SubsystemIndex, const Vector &zInit)
Allocate auxiliary first order continuous state variables z.
AbstractMeasure getMeasure(MeasureIndex) const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: SubsystemGuts.h:511
This unique integer type is for selecting non-shared cache entries.
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
Vector & updZ(SubsystemIndex)
Results returned by the handleEvent() method.
Definition: Event.h:345
const Vector & getZDot(SubsystemIndex) const
This is the header which should be included in user programs that would like to make use of all the S...
Unique integer type for Subsystem-local, per-stage event indexing.
Vector & updUDot(SubsystemIndex) const
Vector & updMultipliers(const State &s) const
Definition: SubsystemGuts.h:174
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
EventTriggerByStageIndex allocateEventTrigger(SubsystemIndex, Stage stage, int nevent) const
Allocate room for nevent witness function values that will be available at the indicated stage...
SystemQIndex getQStart(const State &s) const
Definition: SubsystemGuts.h:179
This unique integer type is for indexing global "u-like" arrays, that is, arrays that inherently have...
Includes internal headers providing declarations for the basic SimTK Core classes.
Vector & updU(State &s) const
Definition: SubsystemGuts.h:131
const Vector & getUWeights(const State &s) const
Definition: SubsystemGuts.h:125
const Stage & getSubsystemStage(SubsystemIndex) const
void markCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: SubsystemGuts.h:269
const Vector & getZ(SubsystemIndex) const
const System & getSystem() const
Definition: SubsystemGuts.h:302
UDotErrIndex allocateUDotErr(SubsystemIndex, int nudoterr) const
Allocate nudoterr cache slots to hold the current error for acceleration-level (acceleration-only, nonholonomic first derivative, and holonomic second derivative) constraint equations.
bool isInSystem() const
Return true if this Subsystem is contained in a System.
Definition: SubsystemGuts.h:515
bool hasOwnerSubsystemHandle() const
Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object...
Definition: SubsystemGuts.h:463
UErrIndex allocateUErr(SubsystemIndex, int nuerr) const
Allocate nuerr cache slots to hold the current error for velocity-level (nonholonomic and holonomic f...
AbstractValue & updCacheEntry(const State &s, CacheEntryIndex index) const
Definition: SubsystemGuts.h:246
Options for the handleEvent() method.
Definition: Event.h:269
This is the base handle class for all Measures whose value type is known, including all the Simbody b...
Definition: Measure.h:261
System & updSystem()
Definition: SubsystemGuts.h:306
int getNUErr() const
Return the total number nuerr=mp+mv of cache entries for velocity-level constraint errors (including ...
CacheEntryIndex allocateCacheEntry(SubsystemIndex, Stage earliest, Stage latest, AbstractValue *value) const
There are two Stages supplied explicitly as arguments to this method: earliest and latest...
int getNEventTriggersByStage(Stage) const
Return the size of the partition of event trigger functions which are evaluated at a given Stage...
SystemUIndex getUStart(const State &s) const
Definition: SubsystemGuts.h:184
This is a class to represent unique IDs for events in a type-safe way.