Simbody
3.5
|
The abstract parent of all Subsystem implementation classes. More...
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. | |
virtual | ~Guts () |
Destructor is virtual to permit cleanup of derived classes. | |
Guts (const Guts &) | |
Copy constructor results in a default-constructed object though with the name and version string copied. | |
const String & | getName () const |
Report back the name supplied on construction; this is not interpreted in any way by Simbody. | |
const String & | getVersion () const |
Report back the version string supplied on construction; this i not interpreted in any way by Simbody. | |
MeasureIndex | adoptMeasure (AbstractMeasure &m) |
Add a new Measure to this Subsystem. | |
template<class T > | |
Measure_< T > | getMeasure_ (MeasureIndex mx) const |
Return the Measure whose index within this Subsystem is given. | |
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). | |
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(). | |
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. | |
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. | |
Subsystem & | updOwnerSubsystemHandle () |
Return a writable reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. | |
void | setOwnerSubsystemHandle (Subsystem &subsys) |
Provide a reference to the Subsystem handle object that is the unique owner of this Subsystem::Guts object. | |
bool | hasOwnerSubsystemHandle () const |
Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object. | |
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 |
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.
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.
Reimplemented in SimTK::ForceSubsystem::Guts.
virtual SimTK::Subsystem::Guts::~Guts | ( | ) | [virtual] |
Destructor is virtual to permit cleanup of derived classes.
Reimplemented in SimTK::ForceSubsystem::Guts.
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.
const String& SimTK::Subsystem::Guts::getName | ( | ) | const [inline] |
Report back the name supplied on construction; this is not interpreted in any way by Simbody.
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.
QIndex SimTK::Subsystem::Guts::allocateQ | ( | State & | s, |
const Vector & | qInit | ||
) | const [inline] |
UIndex SimTK::Subsystem::Guts::allocateU | ( | State & | s, |
const Vector & | uInit | ||
) | const [inline] |
ZIndex SimTK::Subsystem::Guts::allocateZ | ( | State & | s, |
const Vector & | zInit | ||
) | const [inline] |
DiscreteVariableIndex SimTK::Subsystem::Guts::allocateDiscreteVariable | ( | State & | s, |
Stage | g, | ||
AbstractValue * | v | ||
) | const [inline] |
DiscreteVariableIndex SimTK::Subsystem::Guts::allocateAutoUpdateDiscreteVariable | ( | State & | s, |
Stage | invalidates, | ||
AbstractValue * | v, | ||
Stage | updateDependsOn | ||
) | const [inline] |
CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry | ( | const State & | s, |
Stage | dependsOn, | ||
Stage | computedBy, | ||
AbstractValue * | v | ||
) | const [inline] |
CacheEntryIndex SimTK::Subsystem::Guts::allocateCacheEntry | ( | const State & | state, |
Stage | g, | ||
AbstractValue * | v | ||
) | const [inline] |
CacheEntryIndex SimTK::Subsystem::Guts::allocateLazyCacheEntry | ( | const State & | state, |
Stage | earliest, | ||
AbstractValue * | v | ||
) | const [inline] |
QErrIndex SimTK::Subsystem::Guts::allocateQErr | ( | const State & | s, |
int | nqerr | ||
) | const [inline] |
UErrIndex SimTK::Subsystem::Guts::allocateUErr | ( | const State & | s, |
int | nuerr | ||
) | const [inline] |
UDotErrIndex SimTK::Subsystem::Guts::allocateUDotErr | ( | const State & | s, |
int | nudoterr | ||
) | const [inline] |
EventTriggerByStageIndex SimTK::Subsystem::Guts::allocateEventTriggersByStage | ( | const State & | s, |
Stage | g, | ||
int | ntriggers | ||
) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getQ | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getU | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getZ | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getUWeights | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getZWeights | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updQ | ( | State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updU | ( | State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updZ | ( | State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getQDot | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getUDot | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getZDot | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getQDotDot | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updQDot | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updUDot | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updZDot | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updQDotDot | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getQErr | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getUErr | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getQErrWeights | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getUErrWeights | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getUDotErr | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getMultipliers | ( | const State & | s | ) | const [inline] |
const Vector& SimTK::Subsystem::Guts::getEventTriggersByStage | ( | const State & | s, |
Stage | g | ||
) | const [inline] |
Vector& SimTK::Subsystem::Guts::updQErr | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updUErr | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updUDotErr | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updMultipliers | ( | const State & | s | ) | const [inline] |
Vector& SimTK::Subsystem::Guts::updEventTriggersByStage | ( | const State & | s, |
Stage | g | ||
) | const [inline] |
SystemQIndex SimTK::Subsystem::Guts::getQStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNQ | ( | const State & | s | ) | const [inline] |
SystemUIndex SimTK::Subsystem::Guts::getUStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNU | ( | const State & | s | ) | const [inline] |
SystemZIndex SimTK::Subsystem::Guts::getZStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNZ | ( | const State & | s | ) | const [inline] |
SystemQErrIndex SimTK::Subsystem::Guts::getQErrStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNQErr | ( | const State & | s | ) | const [inline] |
SystemUErrIndex SimTK::Subsystem::Guts::getUErrStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNUErr | ( | const State & | s | ) | const [inline] |
SystemUDotErrIndex SimTK::Subsystem::Guts::getUDotErrStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNUDotErr | ( | const State & | s | ) | const [inline] |
SystemMultiplierIndex SimTK::Subsystem::Guts::getMultipliersStart | ( | const State & | s | ) | const [inline] |
int SimTK::Subsystem::Guts::getNMultipliers | ( | const State & | s | ) | const [inline] |
SystemEventTriggerByStageIndex SimTK::Subsystem::Guts::getEventTriggerStartByStage | ( | const State & | s, |
Stage | g | ||
) | const [inline] |
int SimTK::Subsystem::Guts::getNEventTriggersByStage | ( | const State & | s, |
Stage | g | ||
) | const [inline] |
void SimTK::Subsystem::Guts::setQ | ( | State & | s, |
const Vector & | q | ||
) | const [inline] |
void SimTK::Subsystem::Guts::setU | ( | State & | s, |
const Vector & | u | ||
) | const [inline] |
void SimTK::Subsystem::Guts::setZ | ( | State & | s, |
const Vector & | z | ||
) | const [inline] |
Stage SimTK::Subsystem::Guts::getStage | ( | const State & | s | ) | const [inline] |
void SimTK::Subsystem::Guts::advanceToStage | ( | const State & | s, |
Stage | g | ||
) | const [inline] |
const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVariable | ( | const State & | s, |
DiscreteVariableIndex | index | ||
) | const [inline] |
AbstractValue& SimTK::Subsystem::Guts::updDiscreteVariable | ( | State & | s, |
DiscreteVariableIndex | index | ||
) | const [inline] |
const AbstractValue& SimTK::Subsystem::Guts::getCacheEntry | ( | const State & | s, |
CacheEntryIndex | index | ||
) | const [inline] |
AbstractValue& SimTK::Subsystem::Guts::updCacheEntry | ( | const State & | s, |
CacheEntryIndex | index | ||
) | const [inline] |
Real SimTK::Subsystem::Guts::getDiscreteVarLastUpdateTime | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
CacheEntryIndex SimTK::Subsystem::Guts::getDiscreteVarUpdateIndex | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
const AbstractValue& SimTK::Subsystem::Guts::getDiscreteVarUpdateValue | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
AbstractValue& SimTK::Subsystem::Guts::updDiscreteVarUpdateValue | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
bool SimTK::Subsystem::Guts::isDiscreteVarUpdateValueRealized | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
void SimTK::Subsystem::Guts::markDiscreteVarUpdateValueRealized | ( | const State & | s, |
DiscreteVariableIndex | dx | ||
) | const [inline] |
bool SimTK::Subsystem::Guts::isCacheValueRealized | ( | const State & | s, |
CacheEntryIndex | cx | ||
) | const [inline] |
void SimTK::Subsystem::Guts::markCacheValueRealized | ( | const State & | s, |
CacheEntryIndex | cx | ||
) | const [inline] |
void SimTK::Subsystem::Guts::markCacheValueNotRealized | ( | const State & | s, |
CacheEntryIndex | cx | ||
) | const [inline] |
MeasureIndex SimTK::Subsystem::Guts::adoptMeasure | ( | AbstractMeasure & | m | ) |
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.
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().
bool SimTK::Subsystem::Guts::isInSystem | ( | ) | const [inline] |
bool SimTK::Subsystem::Guts::isInSameSystem | ( | const Subsystem & | otherSubsystem | ) | const |
const System& SimTK::Subsystem::Guts::getSystem | ( | ) | const [inline] |
System& SimTK::Subsystem::Guts::updSystem | ( | ) | [inline] |
void SimTK::Subsystem::Guts::setSystem | ( | System & | sys, |
SubsystemIndex | id | ||
) | [inline] |
SubsystemIndex SimTK::Subsystem::Guts::getMySubsystemIndex | ( | ) | const [inline] |
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().
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.
Subsystem::Guts* SimTK::Subsystem::Guts::clone | ( | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemTopology | ( | State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemModel | ( | State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemInstance | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemTime | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemPosition | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemVelocity | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemDynamics | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemAcceleration | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::realizeSubsystemReport | ( | const State & | ) | const |
void SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppend | ( | const State & | , |
Stage | , | ||
Array_< DecorativeGeometry > & | |||
) | const |
void SimTK::Subsystem::Guts::createScheduledEvent | ( | const State & | state, |
EventId & | eventId | ||
) | const |
void SimTK::Subsystem::Guts::createTriggeredEvent | ( | const State & | state, |
EventId & | eventId, | ||
EventTriggerByStageIndex & | triggerFunctionIndex, | ||
Stage | stage | ||
) | const |
void SimTK::Subsystem::Guts::calcEventTriggerInfo | ( | const State & | , |
Array_< EventTriggerInfo > & | |||
) | const |
void SimTK::Subsystem::Guts::calcTimeOfNextScheduledEvent | ( | const State & | , |
Real & | tNextEvent, | ||
Array_< EventId > & | eventIds, | ||
bool | includeCurrentTime | ||
) | const |
void SimTK::Subsystem::Guts::calcTimeOfNextScheduledReport | ( | const State & | , |
Real & | tNextEvent, | ||
Array_< EventId > & | eventIds, | ||
bool | includeCurrentTime | ||
) | const |
void SimTK::Subsystem::Guts::handleEvents | ( | State & | , |
Event::Cause | , | ||
const Array_< EventId > & | eventIds, | ||
const HandleEventsOptions & | options, | ||
HandleEventsResults & | results | ||
) | const |
void SimTK::Subsystem::Guts::reportEvents | ( | const State & | , |
Event::Cause | , | ||
const Array_< EventId > & | eventIds | ||
) | const |
virtual Subsystem::Guts* SimTK::Subsystem::Guts::cloneImpl | ( | ) | const [protected, pure virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemTopologyImpl | ( | State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemModelImpl | ( | State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemInstanceImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemTimeImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemPositionImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemVelocityImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemDynamicsImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemAccelerationImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::realizeSubsystemReportImpl | ( | const State & | s | ) | const [inline, protected, virtual] |
virtual int SimTK::Subsystem::Guts::calcDecorativeGeometryAndAppendImpl | ( | const State & | , |
Stage | , | ||
Array_< DecorativeGeometry > & | |||
) | const [inline, protected, virtual] |
virtual void SimTK::Subsystem::Guts::calcEventTriggerInfoImpl | ( | const State & | , |
Array_< EventTriggerInfo > & | |||
) | const [inline, protected, virtual] |
virtual void SimTK::Subsystem::Guts::calcTimeOfNextScheduledEventImpl | ( | const State & | , |
Real & | tNextEvent, | ||
Array_< EventId > & | eventIds, | ||
bool | includeCurrentTime | ||
) | const [inline, protected, virtual] |
virtual void SimTK::Subsystem::Guts::calcTimeOfNextScheduledReportImpl | ( | const State & | , |
Real & | tNextEvent, | ||
Array_< EventId > & | eventIds, | ||
bool | includeCurrentTime | ||
) | const [inline, protected, virtual] |
virtual void SimTK::Subsystem::Guts::handleEventsImpl | ( | State & | , |
Event::Cause | , | ||
const Array_< EventId > & | eventIds, | ||
const HandleEventsOptions & | options, | ||
HandleEventsResults & | results | ||
) | const [inline, protected, virtual] |
virtual void SimTK::Subsystem::Guts::reportEventsImpl | ( | const State & | , |
Event::Cause | , | ||
const Array_< EventId > & | eventIds | ||
) | const [inline, protected, virtual] |
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.
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.
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.
bool SimTK::Subsystem::Guts::hasOwnerSubsystemHandle | ( | ) | const [inline] |
Check whether this Subsystem::Guts object is currently owned by some Subsystem handle object.
friend class Subsystem [friend] |