TimeStepper.h

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#ifndef SimTK_SIMMATH_TIMESTEPPER_H_
#define SimTK_SIMMATH_TIMESTEPPER_H_

/* -------------------------------------------------------------------------- *
 *                        Simbody(tm): SimTKmath                              *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2007-12 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors: Michael Sherman                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simmath/internal/common.h"
#include "simmath/Integrator.h"

namespace SimTK {
class Integrator;

class SimTK_SIMMATH_EXPORT TimeStepper {
public:
    explicit TimeStepper(const System& system);
    TimeStepper(const System& system, Integrator& integrator);
    ~TimeStepper();
    void setIntegrator(Integrator& integrator);
    const Integrator& getIntegrator() const;
    Integrator& updIntegrator();
    bool getReportAllSignificantStates() const;
    void setReportAllSignificantStates(bool b);
    void initialize(const State&);
    const State& getState() const;
    Real getTime() const {return getState().getTime();}
    Integrator::SuccessfulStepStatus stepTo(Real time);
private:
    class TimeStepperRep* rep;
    friend class TimeStepperRep;
};

} // namespace SimTK

#endif // SimTK_SIMMATH_TIMESTEPPER_H_