Simbody  3.6
SimTK::Subsystem::Guts Class Referenceabstract

The abstract parent of all Subsystem implementation classes. More...

+ Inheritance diagram for SimTK::Subsystem::Guts:

Public Member Functions

 Guts (const String &name="<NONAME>", const String &version="0.0.0")
 This constructor is for use in the constructors of derived Subsystems. More...
 
virtual ~Guts ()
 Destructor is virtual to permit cleanup of derived classes. More...
 
 Guts (const Guts &)
 Copy constructor results in a default-constructed object though with the name and version string copied. More...
 
const StringgetName () const
 Report back the name supplied on construction; this is not interpreted in any way by Simbody. More...
 
const StringgetVersion () const
 Report back the version string supplied on construction; this i not interpreted in any way by Simbody. More...
 
MeasureIndex adoptMeasure (AbstractMeasure &m)
 Add a new Measure to this Subsystem. More...
 
template<class T >
Measure_< T > getMeasure_ (MeasureIndex mx) const
 Return the Measure whose index within this Subsystem is given. More...
 
AbstractMeasure getMeasure (MeasureIndex mx) const
 Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is, its value type is not specified). More...
 
bool isInSystem () const
 
bool isInSameSystem (const Subsystem &otherSubsystem) const
 
const SystemgetSystem () const
 
SystemupdSystem ()
 
void setSystem (System &sys, SubsystemIndex id)
 
SubsystemIndex getMySubsystemIndex () const
 
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...
 
Subsystem::Gutsclone () const
 
void realizeSubsystemTopology (State &) const
 
void realizeSubsystemModel (State &) const
 
void realizeSubsystemInstance (const State &) const
 
void realizeSubsystemTime (const State &) const
 
void realizeSubsystemPosition (const State &) const
 
void realizeSubsystemVelocity (const State &) const
 
void realizeSubsystemDynamics (const State &) const
 
void realizeSubsystemAcceleration (const State &) const
 
void realizeSubsystemReport (const State &) const
 
void calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const
 
void createScheduledEvent (const State &state, EventId &eventId) const
 
void createTriggeredEvent (const State &state, EventId &eventId, EventTriggerByStageIndex &triggerFunctionIndex, Stage stage) const
 
void calcEventTriggerInfo (const State &, Array_< EventTriggerInfo > &) const
 
void calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
 
void calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
 
void handleEvents (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
 
void reportEvents (const State &, Event::Cause, const Array_< EventId > &eventIds) const
 
const SubsystemgetOwnerSubsystemHandle () const
 Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
 
SubsystemupdOwnerSubsystemHandle ()
 Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
 
void setOwnerSubsystemHandle (Subsystem &subsys)
 Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...
 
bool hasOwnerSubsystemHandle () const
 Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object. More...
 
State access methods

These convenience methods are inline pass-throughs to the State methods of the same name but insert this Subsystem's SubsystemIndex as the first argument.

That is the value returned by the getMySubsystemIndex() method. An exception will be thrown if this Subsystem is not contained in a System.

See the SimTK::State documentation for the meaning of these methods; the behavior is identical here. An identical set of methods is present in the Subsystem handle class; in both cases they were added because it got annoying to have to dig up the subsystem index for every call to a State method.

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 VectorgetQ (const State &s) const
 
const VectorgetU (const State &s) const
 
const VectorgetZ (const State &s) const
 
const VectorgetUWeights (const State &s) const
 
const VectorgetZWeights (const State &s) const
 
VectorupdQ (State &s) const
 
VectorupdU (State &s) const
 
VectorupdZ (State &s) const
 
const VectorgetQDot (const State &s) const
 
const VectorgetUDot (const State &s) const
 
const VectorgetZDot (const State &s) const
 
const VectorgetQDotDot (const State &s) const
 
VectorupdQDot (const State &s) const
 
VectorupdUDot (const State &s) const
 
VectorupdZDot (const State &s) const
 
VectorupdQDotDot (const State &s) const
 
const VectorgetQErr (const State &s) const
 
const VectorgetUErr (const State &s) const
 
const VectorgetQErrWeights (const State &s) const
 
const VectorgetUErrWeights (const State &s) const
 
const VectorgetUDotErr (const State &s) const
 
const VectorgetMultipliers (const State &s) const
 
const VectorgetEventTriggersByStage (const State &s, Stage g) const
 
VectorupdQErr (const State &s) const
 
VectorupdUErr (const State &s) const
 
VectorupdUDotErr (const State &s) const
 
VectorupdMultipliers (const State &s) const
 
VectorupdEventTriggersByStage (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 AbstractValuegetDiscreteVariable (const State &s, DiscreteVariableIndex index) const
 
AbstractValueupdDiscreteVariable (State &s, DiscreteVariableIndex index) const
 
const AbstractValuegetCacheEntry (const State &s, CacheEntryIndex index) const
 
AbstractValueupdCacheEntry (const State &s, CacheEntryIndex index) const
 
Real getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const
 
CacheEntryIndex getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const
 
const AbstractValuegetDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const
 
AbstractValueupdDiscreteVarUpdateValue (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
 

Protected Member Functions

virtual Subsystem::GutscloneImpl () const =0
 
virtual int realizeSubsystemTopologyImpl (State &s) const
 
virtual int realizeSubsystemModelImpl (State &s) const
 
virtual int realizeSubsystemInstanceImpl (const State &s) const
 
virtual int realizeSubsystemTimeImpl (const State &s) const
 
virtual int realizeSubsystemPositionImpl (const State &s) const
 
virtual int realizeSubsystemVelocityImpl (const State &s) const
 
virtual int realizeSubsystemDynamicsImpl (const State &s) const
 
virtual int realizeSubsystemAccelerationImpl (const State &s) const
 
virtual int realizeSubsystemReportImpl (const State &s) const
 
virtual int calcDecorativeGeometryAndAppendImpl (const State &, Stage, Array_< DecorativeGeometry > &) const
 
virtual void calcEventTriggerInfoImpl (const State &, Array_< EventTriggerInfo > &) const
 
virtual void calcTimeOfNextScheduledEventImpl (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
 
virtual void calcTimeOfNextScheduledReportImpl (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
 
virtual void handleEventsImpl (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
 
virtual void reportEventsImpl (const State &, Event::Cause, const Array_< EventId > &eventIds) const
 

Friends

class Subsystem
 

Detailed Description

The abstract parent of all Subsystem implementation classes.

You must extend this class if you implement a new concrete Subsystem class. The Simbody user's API for Subsystems is defined exclusively in the Subsystem handle class declaration; the API declared here is for use by Subsystem implementors.

Constructor & Destructor Documentation

◆ Guts() [1/2]

SimTK::Subsystem::Guts::Guts ( const String name = "<NONAME>",
const String version = "0.0.0" 
)
explicit

This constructor is for use in the constructors of derived Subsystems.

This serves as a default constructor since both arguments have defaults. The name and version strings are not interpreted by Simbody in any way; they are simply stored and returned as given.

◆ ~Guts()

virtual SimTK::Subsystem::Guts::~Guts ( )
virtual

Destructor is virtual to permit cleanup of derived classes.

Reimplemented in SimTK::ForceSubsystem::Guts.

◆ Guts() [2/2]

SimTK::Subsystem::Guts::Guts ( const Guts )

Copy constructor results in a default-constructed object though with the name and version string copied.

Copy assignment is suppressed.

Member Function Documentation

◆ getName()

const String& SimTK::Subsystem::Guts::getName ( ) const
inline

Report back the name supplied on construction; this is not interpreted in any way by Simbody.

◆ getVersion()

const String& SimTK::Subsystem::Guts::getVersion ( ) const
inline

Report back the version string supplied on construction; this i not interpreted in any way by Simbody.

◆ allocateQ()

QIndex SimTK::Subsystem::Guts::allocateQ ( State s,
const Vector qInit 
) const
inline

◆ allocateU()

UIndex SimTK::Subsystem::Guts::allocateU ( State s,
const Vector uInit 
) const
inline

◆ allocateZ()

ZIndex SimTK::Subsystem::Guts::allocateZ ( State s,
const Vector zInit 
) const
inline

◆ allocateDiscreteVariable()

DiscreteVariableIndex SimTK::Subsystem::Guts::allocateDiscreteVariable ( State s,
Stage  g,
AbstractValue v 
) const
inline

◆ allocateAutoUpdateDiscreteVariable()

DiscreteVariableIndex SimTK::Subsystem::Guts::allocateAutoUpdateDiscreteVariable ( State s,
Stage  invalidates,
AbstractValue v,
Stage  updateDependsOn 
) const
inline

◆ allocateCacheEntry() [1/2]

CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry ( const State s,
Stage  dependsOn,
Stage  computedBy,
AbstractValue v 
) const
inline

◆ allocateCacheEntry() [2/2]

CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry ( const State state,
Stage  g,
AbstractValue v 
) const
inline

◆ allocateLazyCacheEntry()

CacheEntryIndex SimTK::Subsystem::Guts::allocateLazyCacheEntry ( const State state,
Stage  earliest,
AbstractValue v 
) const
inline

◆ allocateQErr()

QErrIndex SimTK::Subsystem::Guts::allocateQErr ( const State s,
int  nqerr 
) const
inline

◆ allocateUErr()

UErrIndex SimTK::Subsystem::Guts::allocateUErr ( const State s,
int  nuerr 
) const
inline

◆ allocateUDotErr()

UDotErrIndex SimTK::Subsystem::Guts::allocateUDotErr ( const State s,
int  nudoterr 
) const
inline

◆ allocateEventTriggersByStage()

EventTriggerByStageIndex SimTK::Subsystem::Guts::allocateEventTriggersByStage ( const State s,
Stage  g,
int  ntriggers 
) const
inline

◆ getQ()

const Vector& SimTK::Subsystem::Guts::getQ ( const State s) const
inline

◆ getU()

const Vector& SimTK::Subsystem::Guts::getU ( const State s) const
inline

◆ getZ()

const Vector& SimTK::Subsystem::Guts::getZ ( const State s) const
inline

◆ getUWeights()

const Vector& SimTK::Subsystem::Guts::getUWeights ( const State s) const
inline

◆ getZWeights()

const Vector& SimTK::Subsystem::Guts::getZWeights ( const State s) const
inline

◆ updQ()

Vector& SimTK::Subsystem::Guts::updQ ( State s) const
inline

◆ updU()

Vector& SimTK::Subsystem::Guts::updU ( State s) const
inline

◆ updZ()

Vector& SimTK::Subsystem::Guts::updZ ( State s) const
inline

◆ getQDot()

const Vector& SimTK::Subsystem::Guts::getQDot ( const State s) const
inline

◆ getUDot()

const Vector& SimTK::Subsystem::Guts::getUDot ( const State s) const
inline

◆ getZDot()

const Vector& SimTK::Subsystem::Guts::getZDot ( const State s) const
inline

◆ getQDotDot()

const Vector& SimTK::Subsystem::Guts::getQDotDot ( const State s) const
inline

◆ updQDot()

Vector& SimTK::Subsystem::Guts::updQDot ( const State s) const
inline

◆ updUDot()

Vector& SimTK::Subsystem::Guts::updUDot ( const State s) const
inline

◆ updZDot()

Vector& SimTK::Subsystem::Guts::updZDot ( const State s) const
inline

◆ updQDotDot()

Vector& SimTK::Subsystem::Guts::updQDotDot ( const State s) const
inline

◆ getQErr()

const Vector& SimTK::Subsystem::Guts::getQErr ( const State s) const
inline

◆ getUErr()

const Vector& SimTK::Subsystem::Guts::getUErr ( const State s) const
inline

◆ getQErrWeights()

const Vector& SimTK::Subsystem::Guts::getQErrWeights ( const State s) const
inline

◆ getUErrWeights()

const Vector& SimTK::Subsystem::Guts::getUErrWeights ( const State s) const
inline

◆ getUDotErr()

const Vector& SimTK::Subsystem::Guts::getUDotErr ( const State s) const
inline

◆ getMultipliers()

const Vector& SimTK::Subsystem::Guts::getMultipliers ( const State s) const
inline

◆ getEventTriggersByStage()

const Vector& SimTK::Subsystem::Guts::getEventTriggersByStage ( const State s,
Stage  g 
) const
inline

◆ updQErr()

Vector& SimTK::Subsystem::Guts::updQErr ( const State s) const
inline

◆ updUErr()

Vector& SimTK::Subsystem::Guts::updUErr ( const State s) const
inline

◆ updUDotErr()

Vector& SimTK::Subsystem::Guts::updUDotErr ( const State s) const
inline

◆ updMultipliers()

Vector& SimTK::Subsystem::Guts::updMultipliers ( const State s) const
inline

◆ updEventTriggersByStage()

Vector& SimTK::Subsystem::Guts::updEventTriggersByStage ( const State s,
Stage  g 
) const
inline

◆ getQStart()

SystemQIndex SimTK::Subsystem::Guts::getQStart ( const State s) const
inline

◆ getNQ()

int SimTK::Subsystem::Guts::getNQ ( const State s) const
inline

◆ getUStart()

SystemUIndex SimTK::Subsystem::Guts::getUStart ( const State s) const
inline

◆ getNU()

int SimTK::Subsystem::Guts::getNU ( const State s) const
inline

◆ getZStart()

SystemZIndex SimTK::Subsystem::Guts::getZStart ( const State s) const
inline

◆ getNZ()

int SimTK::Subsystem::Guts::getNZ ( const State s) const
inline

◆ getQErrStart()

SystemQErrIndex SimTK::Subsystem::Guts::getQErrStart ( const State s) const
inline

◆ getNQErr()

int SimTK::Subsystem::Guts::getNQErr ( const State s) const
inline

◆ getUErrStart()

SystemUErrIndex SimTK::Subsystem::Guts::getUErrStart ( const State s) const
inline

◆ getNUErr()

int SimTK::Subsystem::Guts::getNUErr ( const State s) const
inline

◆ getUDotErrStart()

SystemUDotErrIndex SimTK::Subsystem::Guts::getUDotErrStart ( const State s) const
inline

◆ getNUDotErr()

int SimTK::Subsystem::Guts::getNUDotErr ( const State s) const
inline

◆ getMultipliersStart()

SystemMultiplierIndex SimTK::Subsystem::Guts::getMultipliersStart ( const State s) const
inline

◆ getNMultipliers()

int SimTK::Subsystem::Guts::getNMultipliers ( const State s) const
inline

◆ getEventTriggerStartByStage()

SystemEventTriggerByStageIndex SimTK::Subsystem::Guts::getEventTriggerStartByStage ( const State s,
Stage  g 
) const
inline

◆ getNEventTriggersByStage()

int SimTK::Subsystem::Guts::getNEventTriggersByStage ( const State s,
Stage  g 
) const
inline

◆ setQ()

void SimTK::Subsystem::Guts::setQ ( State s,
const Vector q 
) const
inline

◆ setU()

void SimTK::Subsystem::Guts::setU ( State s,
const Vector u 
) const
inline

◆ setZ()

void SimTK::Subsystem::Guts::setZ ( State s,
const Vector z 
) const
inline

◆ getStage()

Stage SimTK::Subsystem::Guts::getStage ( const State s) const
inline

◆ advanceToStage()

void SimTK::Subsystem::Guts::advanceToStage ( const State s,
Stage  g 
) const
inline

◆ getDiscreteVariable()

const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVariable ( const State s,
DiscreteVariableIndex  index 
) const
inline

◆ updDiscreteVariable()

AbstractValue& SimTK::Subsystem::Guts::updDiscreteVariable ( State s,
DiscreteVariableIndex  index 
) const
inline

◆ getCacheEntry()

const AbstractValue& SimTK::Subsystem::Guts::getCacheEntry ( const State s,
CacheEntryIndex  index 
) const
inline

◆ updCacheEntry()

AbstractValue& SimTK::Subsystem::Guts::updCacheEntry ( const State s,
CacheEntryIndex  index 
) const
inline

◆ getDiscreteVarLastUpdateTime()

Real SimTK::Subsystem::Guts::getDiscreteVarLastUpdateTime ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ getDiscreteVarUpdateIndex()

CacheEntryIndex SimTK::Subsystem::Guts::getDiscreteVarUpdateIndex ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ getDiscreteVarUpdateValue()

const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVarUpdateValue ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ updDiscreteVarUpdateValue()

AbstractValue& SimTK::Subsystem::Guts::updDiscreteVarUpdateValue ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ isDiscreteVarUpdateValueRealized()

bool SimTK::Subsystem::Guts::isDiscreteVarUpdateValueRealized ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ markDiscreteVarUpdateValueRealized()

void SimTK::Subsystem::Guts::markDiscreteVarUpdateValueRealized ( const State s,
DiscreteVariableIndex  dx 
) const
inline

◆ isCacheValueRealized()

bool SimTK::Subsystem::Guts::isCacheValueRealized ( const State s,
CacheEntryIndex  cx 
) const
inline

◆ markCacheValueRealized()

void SimTK::Subsystem::Guts::markCacheValueRealized ( const State s,
CacheEntryIndex  cx 
) const
inline

◆ markCacheValueNotRealized()

void SimTK::Subsystem::Guts::markCacheValueNotRealized ( const State s,
CacheEntryIndex  cx 
) const
inline

◆ adoptMeasure()

MeasureIndex SimTK::Subsystem::Guts::adoptMeasure ( AbstractMeasure m)

Add a new Measure to this Subsystem.

The returned MeasureIndex is local to this Subsystem and can be used to access the Measure later.

◆ getMeasure_()

template<class T >
Measure_<T> SimTK::Subsystem::Guts::getMeasure_ ( MeasureIndex  mx) const
inline

Return the Measure whose index within this Subsystem is given.

The index should be as it was returned by adoptMeasure(). This is templatized for use when you know the value type of the Measure; if you don't then you should call getMeasure() which will return the Measure as an AbstractMeasure instead.

See also
getMeasure()

◆ getMeasure()

AbstractMeasure SimTK::Subsystem::Guts::getMeasure ( MeasureIndex  mx) const
inline

Return the Measure whose index within this Subsystem is given, as an AbstractMeasure (that is, its value type is not specified).

The index should be as it was returned by adoptMeasure().

See also
getMeasure_

◆ isInSystem()

bool SimTK::Subsystem::Guts::isInSystem ( ) const
inline

◆ isInSameSystem()

bool SimTK::Subsystem::Guts::isInSameSystem ( const Subsystem otherSubsystem) const

◆ getSystem()

const System& SimTK::Subsystem::Guts::getSystem ( ) const
inline

◆ updSystem()

System& SimTK::Subsystem::Guts::updSystem ( )
inline

◆ setSystem()

void SimTK::Subsystem::Guts::setSystem ( System sys,
SubsystemIndex  id 
)
inline

◆ getMySubsystemIndex()

SubsystemIndex SimTK::Subsystem::Guts::getMySubsystemIndex ( ) const
inline

◆ subsystemTopologyHasBeenRealized()

bool SimTK::Subsystem::Guts::subsystemTopologyHasBeenRealized ( ) const
inline

Returns true if this subsystem's realizeTopology() method has been called since the last topological change or call to invalidateSubsystemTopologyCache().

◆ invalidateSubsystemTopologyCache()

void SimTK::Subsystem::Guts::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.

If the Subsystem belongs to a System, the System's overall topology will also be invalidated, since its Stage::Topology cannot be valid if any of its Subsystem topology stages are not valid. However, the stages of other Subsystems in the same System are not affected. A subsequent call to realizeTopology() is required before any computed values may be obtained.

◆ clone()

Subsystem::Guts* SimTK::Subsystem::Guts::clone ( ) const

◆ realizeSubsystemTopology()

void SimTK::Subsystem::Guts::realizeSubsystemTopology ( State ) const

◆ realizeSubsystemModel()

void SimTK::Subsystem::Guts::realizeSubsystemModel ( State ) const

◆ realizeSubsystemInstance()

void SimTK::Subsystem::Guts::realizeSubsystemInstance ( const State ) const

◆ realizeSubsystemTime()

void SimTK::Subsystem::Guts::realizeSubsystemTime ( const State ) const

◆ realizeSubsystemPosition()

void SimTK::Subsystem::Guts::realizeSubsystemPosition ( const State ) const

◆ realizeSubsystemVelocity()

void SimTK::Subsystem::Guts::realizeSubsystemVelocity ( const State ) const

◆ realizeSubsystemDynamics()

void SimTK::Subsystem::Guts::realizeSubsystemDynamics ( const State ) const

◆ realizeSubsystemAcceleration()

void SimTK::Subsystem::Guts::realizeSubsystemAcceleration ( const State ) const

◆ realizeSubsystemReport()

void SimTK::Subsystem::Guts::realizeSubsystemReport ( const State ) const

◆ calcDecorativeGeometryAndAppend()

void SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppend ( const State ,
Stage  ,
Array_< DecorativeGeometry > &   
) const

◆ createScheduledEvent()

void SimTK::Subsystem::Guts::createScheduledEvent ( const State state,
EventId eventId 
) const

◆ createTriggeredEvent()

void SimTK::Subsystem::Guts::createTriggeredEvent ( const State state,
EventId eventId,
EventTriggerByStageIndex triggerFunctionIndex,
Stage  stage 
) const

◆ calcEventTriggerInfo()

void SimTK::Subsystem::Guts::calcEventTriggerInfo ( const State ,
Array_< EventTriggerInfo > &   
) const

◆ calcTimeOfNextScheduledEvent()

void SimTK::Subsystem::Guts::calcTimeOfNextScheduledEvent ( const State ,
Real tNextEvent,
Array_< EventId > &  eventIds,
bool  includeCurrentTime 
) const

◆ calcTimeOfNextScheduledReport()

void SimTK::Subsystem::Guts::calcTimeOfNextScheduledReport ( const State ,
Real tNextEvent,
Array_< EventId > &  eventIds,
bool  includeCurrentTime 
) const

◆ handleEvents()

void SimTK::Subsystem::Guts::handleEvents ( State ,
Event::Cause  ,
const Array_< EventId > &  eventIds,
const HandleEventsOptions options,
HandleEventsResults results 
) const

◆ reportEvents()

void SimTK::Subsystem::Guts::reportEvents ( const State ,
Event::Cause  ,
const Array_< EventId > &  eventIds 
) const

◆ cloneImpl()

virtual Subsystem::Guts* SimTK::Subsystem::Guts::cloneImpl ( ) const
protectedpure virtual

◆ realizeSubsystemTopologyImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemTopologyImpl ( State s) const
inlineprotectedvirtual

◆ realizeSubsystemModelImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemModelImpl ( State s) const
inlineprotectedvirtual

◆ realizeSubsystemInstanceImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemInstanceImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemTimeImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemTimeImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemPositionImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemPositionImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemVelocityImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemVelocityImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemDynamicsImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemDynamicsImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemAccelerationImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemAccelerationImpl ( const State s) const
inlineprotectedvirtual

◆ realizeSubsystemReportImpl()

virtual int SimTK::Subsystem::Guts::realizeSubsystemReportImpl ( const State s) const
inlineprotectedvirtual

◆ calcDecorativeGeometryAndAppendImpl()

virtual int SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppendImpl ( const State ,
Stage  ,
Array_< DecorativeGeometry > &   
) const
inlineprotectedvirtual

◆ calcEventTriggerInfoImpl()

virtual void SimTK::Subsystem::Guts::calcEventTriggerInfoImpl ( const State ,
Array_< EventTriggerInfo > &   
) const
inlineprotectedvirtual

◆ calcTimeOfNextScheduledEventImpl()

virtual void SimTK::Subsystem::Guts::calcTimeOfNextScheduledEventImpl ( const State ,
Real tNextEvent,
Array_< EventId > &  eventIds,
bool  includeCurrentTime 
) const
inlineprotectedvirtual

◆ calcTimeOfNextScheduledReportImpl()

virtual void SimTK::Subsystem::Guts::calcTimeOfNextScheduledReportImpl ( const State ,
Real tNextEvent,
Array_< EventId > &  eventIds,
bool  includeCurrentTime 
) const
inlineprotectedvirtual

◆ handleEventsImpl()

virtual void SimTK::Subsystem::Guts::handleEventsImpl ( State ,
Event::Cause  ,
const Array_< EventId > &  eventIds,
const HandleEventsOptions options,
HandleEventsResults results 
) const
inlineprotectedvirtual

◆ reportEventsImpl()

virtual void SimTK::Subsystem::Guts::reportEventsImpl ( const State ,
Event::Cause  ,
const Array_< EventId > &  eventIds 
) const
inlineprotectedvirtual

◆ getOwnerSubsystemHandle()

const Subsystem& SimTK::Subsystem::Guts::getOwnerSubsystemHandle ( ) const
inline

Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object.

◆ updOwnerSubsystemHandle()

Subsystem& SimTK::Subsystem::Guts::updOwnerSubsystemHandle ( )
inline

Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object.

◆ setOwnerSubsystemHandle()

void SimTK::Subsystem::Guts::setOwnerSubsystemHandle ( Subsystem subsys)
inline

Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object.

The owner Subsystem is responsible for deleting this object at destruction. Subsystem::Guts objects are not reference counted.

◆ hasOwnerSubsystemHandle()

bool SimTK::Subsystem::Guts::hasOwnerSubsystemHandle ( ) const
inline

Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object.

Friends And Related Function Documentation

◆ Subsystem

friend class Subsystem
friend

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