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 String &	getName () const
	Report back the name supplied on construction; this is not interpreted in any way by Simbody. More...

const String &	getVersion () 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 System &	getSystem () const

System &	updSystem ()

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::Guts *	clone () 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 Subsystem &	getOwnerSubsystemHandle () const
	Return a const reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. More...

Subsystem &	updOwnerSubsystemHandle ()
	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 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

Protected Member Functions
virtual Subsystem::Guts *	cloneImpl () 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:

SubsystemGuts.h

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Guts() [1/2]

◆ ~Guts()

◆ Guts() [2/2]

Member Function Documentation

◆ getName()

◆ getVersion()

◆ allocateQ()

◆ allocateU()

◆ allocateZ()

◆ allocateDiscreteVariable()

◆ allocateAutoUpdateDiscreteVariable()

◆ allocateCacheEntry() [1/2]

◆ allocateCacheEntry() [2/2]

◆ allocateLazyCacheEntry()

◆ allocateQErr()

◆ allocateUErr()

◆ allocateUDotErr()

◆ allocateEventTriggersByStage()

◆ getQ()

◆ getU()

◆ getZ()

◆ getUWeights()

◆ getZWeights()

◆ updQ()

◆ updU()

◆ updZ()

◆ getQDot()

◆ getUDot()

◆ getZDot()

◆ getQDotDot()

◆ updQDot()

◆ updUDot()

◆ updZDot()

◆ updQDotDot()

◆ getQErr()

◆ getUErr()

◆ getQErrWeights()

◆ getUErrWeights()

◆ getUDotErr()

◆ getMultipliers()

◆ getEventTriggersByStage()

◆ updQErr()

◆ updUErr()

◆ updUDotErr()

◆ updMultipliers()

◆ updEventTriggersByStage()

◆ getQStart()

◆ getNQ()

◆ getUStart()

◆ getNU()

◆ getZStart()

◆ getNZ()

◆ getQErrStart()

◆ getNQErr()

◆ getUErrStart()

◆ getNUErr()

◆ getUDotErrStart()

◆ getNUDotErr()

◆ getMultipliersStart()

◆ getNMultipliers()

◆ getEventTriggerStartByStage()

◆ getNEventTriggersByStage()

◆ setQ()

◆ setU()

◆ setZ()

◆ getStage()

◆ advanceToStage()

◆ getDiscreteVariable()

◆ updDiscreteVariable()

◆ getCacheEntry()

◆ updCacheEntry()

◆ getDiscreteVarLastUpdateTime()

◆ getDiscreteVarUpdateIndex()

◆ getDiscreteVarUpdateValue()

◆ updDiscreteVarUpdateValue()