Simbody  3.6
Classes | Public Member Functions | List of all members
SimTK::ForceSubsystem Class Reference

This is logically an abstract class, more specialized than "Subsystem" but not yet concrete. More...

+ Inheritance diagram for SimTK::ForceSubsystem:

Classes

class  Guts
 Public declaration of internals for ForceSubsystem extension. More...
 

Public Member Functions

 ForceSubsystem ()
 
 SimTK_PIMPL_DOWNCAST (ForceSubsystem, Subsystem)
 
Guts & updRep ()
 
const Guts & getRep () const
 
- 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 is logically an abstract class, more specialized than "Subsystem" but not yet concrete.

Constructor & Destructor Documentation

◆ ForceSubsystem()

SimTK::ForceSubsystem::ForceSubsystem ( )
inline

Member Function Documentation

◆ SimTK_PIMPL_DOWNCAST()

SimTK::ForceSubsystem::SimTK_PIMPL_DOWNCAST ( ForceSubsystem  ,
Subsystem   
)

◆ updRep()

Guts& SimTK::ForceSubsystem::updRep ( )

◆ getRep()

const Guts& SimTK::ForceSubsystem::getRep ( ) const
The documentation for this class was generated from the following file: