The implementation for Integrate measures allocates a continuous state variable or variables from the State's z pool and generates zdot values to be integrated into those z variables. More...

Inheritance diagram for SimTK::Measure_< T >::Integrate::Implementation:

Public Member Functions
	Implementation ()
	The derivative and initialConditions Measures will be empty handles if this is default constructed. More...

	Implementation (const Measure_< T > &deriv, const Measure_< T > &ic, const T &defaultValue)
	Here we're shallow-copying the Measure handles so we'll be referring to the original Measures. More...

	Implementation (const Implementation &source)
	Copy constructor shallow-copies the referenced measures, but we don't want to share our state variables. More...

void	setValue (State &s, const T &value) const
	Set the value of the state variables(s) that hold the integral. More...

const Measure_< T > &	getDerivativeMeasure () const

const Measure_< T > &	getInitialConditionMeasure () const

void	setDerivativeMeasure (const Measure_< T > &d)

void	setInitialConditionMeasure (const Measure_< T > &ic)

Implementation *	cloneVirtual () const override

int	getNumTimeDerivativesVirtual () const override
	This measure has one more time derivative than the integrand. More...

void	calcCachedValueVirtual (const State &s, int derivOrder, T &value) const override
	Concrete measures must override this if the state cache is used for precalculated values or derivatives. More...

const T &	getUncachedValueVirtual (const State &s, int derivOrder) const override
	This is only called when derivOrder >= the number of cache entries we have, but still <= the number of derivatives the Measure says it can deliver. More...

Stage	getDependsOnStageVirtual (int derivOrder) const override

void	initializeVirtual (State &s) const override
	Initialize the state to the current value of the initial condition measure, if there is one, otherwise to the default value. More...

void	realizeMeasureTopologyVirtual (State &s) const override
	Allocate one Real continuous state variable z per element of this Measure's data type T, using the default value to determine how many are needed (if that's not part of the type T), and initialize them to the corresponding element from the default value. More...

void	realizeMeasureAccelerationVirtual (const State &s) const override
	Set the zdots to the integrand (derivative measure) value. More...

Public Member Functions inherited from SimTK::Measure_< T >::Implementation
const T &	getValue (const State &s, int derivOrder) const

void	setDefaultValue (const T &defaultValue)
	Set a new default value for this Measure. More...

const T &	getDefaultValue () const
	Return a reference to the value that this Measure will use to initialize its value-level state resource (state variable or cache entry) during the next call to realizeTopology(). More...

void	setIsPresumedValidAtDependsOnStage (bool presume)

bool	getIsPresumedValidAtDependsOnStage () const

Additional Inherited Members
Protected Member Functions inherited from SimTK::Measure_< T >::Implementation
	Implementation (const T &defaultValue, int numCacheEntries=1)

	Implementation (int numCacheEntries=1)
	Argument numCacheEntries should be one greater than the number of derivatives; that is, there is room for the value ("0th" derivative) also. More...

	Implementation (const Implementation &source)
	Copy constructor copies the number of cache entries from the source, but not the cache indices themselves as those must be allocated uniquely for the copy. More...

int	size () const
	Return the number of elements in the data type of this Measure; for Vector measures this is determined by the size of the default value. More...

int	getNumCacheEntries () const
	Return the number of cache entries allocated for the value and derivatives of this Measure. More...

const T &	getCacheEntry (const State &s, int derivOrder) const
	Get a const reference to the value stored in one of this Measure's cache entries, indexed by the derivative order (with the value treated as the 0th derivative). More...

T &	updCacheEntry (const State &s, int derivOrder) const
	Get a writable reference to the value stored in one of this Measure's cache entries, indexed by the derivative order (with the value treated as the 0th derivative). More...

bool	isCacheValueRealized (const State &s, int derivOrder) const
	Determine whether a particular one of this Measure's cache entries has already been realized since the given state was modified. More...

void	markCacheValueRealized (const State &s, int derivOrder) const
	Mark one of this Measure's cache entries up to date; call this after you have calculated a value or derivative and stored it in the corresponding cache entry. More...

void	markCacheValueNotRealized (const State &s, int derivOrder) const
	Invalidate one of this Measure's cache entries. More...

const T &	getValueZero () const
	Return a reference to a zero of the same type and size as this Measure's value. More...

Protected Member Functions inherited from SimTK::AbstractMeasure::Implementation
	Implementation ()
	This default constructor is for use by concrete measure implementation classes. More...

	Implementation (const Implementation &src)
	Base class copy constructor removes the Subsystem and sets the reference count to zero. More...

Implementation &	operator= (const Implementation &src)
	Base class copy assignment operator removes the Subsystem, and sets the reference count to zero. More...

int	incrRefCount () const

int	decrRefCount () const

int	getRefCount () const

int	getCopyNumber () const

Implementation *	clone () const
	This is a deep copy of the concrete Implementation object, except the Subsystem will have been removed. More...

void	realizeModel (State &s) const

void	realizeInstance (const State &s) const

void	realizeTime (const State &s) const

void	realizePosition (const State &s) const

void	realizeVelocity (const State &s) const

void	realizeDynamics (const State &s) const

void	realizeAcceleration (const State &s) const

void	realizeReport (const State &s) const

void	initialize (State &s) const
	This should be called at the start of a time stepping study to cause this Measure to set its state variables (if any) in the supplied state to their initial conditions. More...

int	getNumTimeDerivatives () const

Stage	getDependsOnStage (int derivOrder) const

void	setSubsystem (Subsystem &sub, MeasureIndex mx)

bool	isInSubsystem () const

const Subsystem &	getSubsystem () const

Subsystem &	updSubsystem ()

MeasureIndex	getSubsystemMeasureIndex () const

SubsystemIndex	getSubsystemIndex () const

void	invalidateTopologyCache () const

Stage	getStage (const State &s) const

virtual	~Implementation ()

virtual void	realizeMeasureModelVirtual (State &) const

virtual void	realizeMeasureInstanceVirtual (const State &) const

virtual void	realizeMeasureTimeVirtual (const State &) const

virtual void	realizeMeasurePositionVirtual (const State &) const

virtual void	realizeMeasureVelocityVirtual (const State &) const

virtual void	realizeMeasureDynamicsVirtual (const State &) const

virtual void	realizeMeasureReportVirtual (const State &) const

Detailed Description

template<class T>
class SimTK::Measure_< T >::Integrate::Implementation

The implementation for Integrate measures allocates a continuous state variable or variables from the State's z pool and generates zdot values to be integrated into those z variables.

The z's are then copied into a type T, Time-stage cache entry so that we can return the value as a type T reference. Derivative requests are passed through to the integrand so only one cache entry is required here.

Constructor & Destructor Documentation

◆ Implementation() [1/3]

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation ( )

inline

The derivative and initialConditions Measures will be empty handles if this is default constructed.

◆ Implementation() [2/3]

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation	(	const Measure_< T > &	deriv,
		const Measure_< T > &	ic,
		const T &	defaultValue
	)

inline

Here we're shallow-copying the Measure handles so we'll be referring to the original Measures.

◆ Implementation() [3/3]

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation ( const Implementation & source )

inline

Copy constructor shallow-copies the referenced measures, but we don't want to share our state variables.

Member Function Documentation

◆ setValue()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setValue	(	State &	s,
		const T &	value
	)		const

inline

Set the value of the state variables(s) that hold the integral.

This cannot be used to change the size if the type T is a Vector; the supplied value must be the same length as the default value of this Measure.

◆ getDerivativeMeasure()

template<class T>

const Measure_<T>& SimTK::Measure_< T >::Integrate::Implementation::getDerivativeMeasure ( ) const

inline

◆ getInitialConditionMeasure()

template<class T>

const Measure_<T>& SimTK::Measure_< T >::Integrate::Implementation::getInitialConditionMeasure ( ) const

inline

◆ setDerivativeMeasure()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setDerivativeMeasure ( const Measure_< T > & d )

inline

◆ setInitialConditionMeasure()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setInitialConditionMeasure ( const Measure_< T > & ic )

inline

◆ cloneVirtual()

template<class T>

Implementation* SimTK::Measure_< T >::Integrate::Implementation::cloneVirtual ( ) const

inlineoverridevirtual

Implements SimTK::AbstractMeasure::Implementation.

◆ getNumTimeDerivativesVirtual()

template<class T>

int SimTK::Measure_< T >::Integrate::Implementation::getNumTimeDerivativesVirtual ( ) const

inlineoverridevirtual

This measure has one more time derivative than the integrand.

Reimplemented from SimTK::AbstractMeasure::Implementation.

◆ calcCachedValueVirtual()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::calcCachedValueVirtual	(	const State &	,
		int	derivOrder,
		T &	value
	)		const

inlineoverridevirtual

Concrete measures must override this if the state cache is used for precalculated values or derivatives.

Reimplemented from SimTK::Measure_< T >::Implementation.

◆ getUncachedValueVirtual()

template<class T>

const T& SimTK::Measure_< T >::Integrate::Implementation::getUncachedValueVirtual	(	const State &	,
		int	derivOrder
	)		const

inlineoverridevirtual

This is only called when derivOrder >= the number of cache entries we have, but still <= the number of derivatives the Measure says it can deliver.

You don't need to override this if that condition can't occur. This is commonly used for functions whose derivatives above a certain order are zero.

Reimplemented from SimTK::Measure_< T >::Implementation.

◆ getDependsOnStageVirtual()

template<class T>

Stage SimTK::Measure_< T >::Integrate::Implementation::getDependsOnStageVirtual ( int derivOrder ) const

inlineoverridevirtual

Implements SimTK::AbstractMeasure::Implementation.

◆ initializeVirtual()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::initializeVirtual ( State & s ) const

inlineoverridevirtual

Initialize the state to the current value of the initial condition measure, if there is one, otherwise to the default value.

Reimplemented from SimTK::AbstractMeasure::Implementation.

◆ realizeMeasureTopologyVirtual()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::realizeMeasureTopologyVirtual ( State & s ) const

inlineoverridevirtual

Allocate one Real continuous state variable z per element of this Measure's data type T, using the default value to determine how many are needed (if that's not part of the type T), and initialize them to the corresponding element from the default value.

Reimplemented from SimTK::Measure_< T >::Implementation.

◆ realizeMeasureAccelerationVirtual()

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::realizeMeasureAccelerationVirtual ( const State & s ) const

inlineoverridevirtual

Set the zdots to the integrand (derivative measure) value.

If no integrand was provided it is treated as though it were zero.

Reimplemented from SimTK::AbstractMeasure::Implementation.

The documentation for this class was generated from the following file:

MeasureImplementation.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<class T> class SimTK::Measure_< T >::Integrate::Implementation

Constructor & Destructor Documentation

◆ Implementation() [1/3]

◆ Implementation() [2/3]

◆ Implementation() [3/3]

Member Function Documentation

◆ setValue()

◆ getDerivativeMeasure()

◆ getInitialConditionMeasure()

◆ setDerivativeMeasure()

◆ setInitialConditionMeasure()

◆ cloneVirtual()

◆ getNumTimeDerivativesVirtual()

◆ calcCachedValueVirtual()

◆ getUncachedValueVirtual()

◆ getDependsOnStageVirtual()

◆ initializeVirtual()

◆ realizeMeasureTopologyVirtual()

◆ realizeMeasureAccelerationVirtual()

template<class T>
class SimTK::Measure_< T >::Integrate::Implementation