SimTK::ForceSubsystem::Guts Class Reference

Public declaration of internals for ForceSubsystem extension. More...

#include <ForceSubsystemGuts.h>

Inheritance diagram for SimTK::ForceSubsystem::Guts:

Public Member Functions
	Guts (const String &name, const String &version)
virtual	~Guts ()
const MultibodySystem &	getMultibodySystem () const
virtual Real	calcPotentialEnergy (const State &state) const =0
	Get this subsystem's contribution to the potential energy.
	SimTK_DOWNCAST (ForceSubsystem::Guts, Subsystem::Guts)
Public Member Functions inherited from SimTK::Subsystem::Guts
	Guts (const Guts &)
Guts &	operator= (const Guts &)
const String &	getName () const
const String &	getVersion () const
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 &, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const
CacheEntryIndex	allocateCacheEntry (const State &, 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 &, Stage, int ntriggers) const
const Vector &	getQ (const State &) const
const Vector &	getU (const State &) const
const Vector &	getZ (const State &) const
const Vector &	getUWeights (const State &) const
const Vector &	getZWeights (const State &) const
const Vector &	getQDot (const State &) const
const Vector &	getUDot (const State &) const
const Vector &	getZDot (const State &) const
const Vector &	getQDotDot (const State &) const
const Vector &	getQErr (const State &) const
const Vector &	getUErr (const State &) const
const Vector &	getQErrWeights (const State &) const
const Vector &	getUErrWeights (const State &) const
const Vector &	getUDotErr (const State &) const
const Vector &	getMultipliers (const State &) const
const Vector &	getEventTriggersByStage (const State &, Stage) const
Vector &	updQ (State &) const
Vector &	updU (State &) const
Vector &	updZ (State &) 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
Vector &	updQDot (const State &) const
Vector &	updUDot (const State &) const
Vector &	updZDot (const State &) const
Vector &	updQDotDot (const State &) const
Vector &	updQErr (const State &) const
Vector &	updUErr (const State &) const
Vector &	updUDotErr (const State &) const
Vector &	updMultipliers (const State &) const
Vector &	updEventTriggersByStage (const State &, Stage) const
Stage	getStage (const State &) const
const AbstractValue &	getDiscreteVariable (const State &, DiscreteVariableIndex) 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
AbstractValue &	updDiscreteVariable (State &, DiscreteVariableIndex) const
const AbstractValue &	getCacheEntry (const State &, CacheEntryIndex) const
AbstractValue &	updCacheEntry (const State &, CacheEntryIndex) const
bool	isCacheValueRealized (const State &, CacheEntryIndex) const
void	markCacheValueRealized (const State &, CacheEntryIndex) const
void	markCacheValueNotRealized (const State &, CacheEntryIndex) const
SystemQIndex	getQStart (const State &) const
int	getNQ (const State &) const
SystemUIndex	getUStart (const State &) const
int	getNU (const State &) const
SystemZIndex	getZStart (const State &) const
int	getNZ (const State &) const
SystemQErrIndex	getQErrStart (const State &) const
int	getNQErr (const State &) const
SystemUErrIndex	getUErrStart (const State &) const
int	getNUErr (const State &) const
SystemUDotErrIndex	getUDotErrStart (const State &) const
int	getNUDotErr (const State &) const
SystemMultiplierIndex	getMultipliersStart (const State &) const
int	getNMultipliers (const State &) const
SystemEventTriggerByStageIndex	getEventTriggerStartByStage (const State &, Stage) const
int	getNEventTriggersByStage (const State &, Stage) const
MeasureIndex	adoptMeasure (AbstractMeasure &m)
AbstractMeasure	getMeasure (MeasureIndex) const
template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const
bool	isInSystem () const
bool	isInSameSystem (const Subsystem &otherSubsystem) const
const System &	getSystem () const
System &	updSystem ()
SubsystemIndex	getMySubsystemIndex () const
const Subsystem &	getOwnerSubsystemHandle () const
Subsystem &	updOwnerSubsystemHandle ()
void	setOwnerSubsystemHandle (Subsystem &)
bool	hasOwnerSubsystemHandle () const
void	setSystem (System &, SubsystemIndex)
	Guts (GutsRep *r)
bool	hasRep () const
const GutsRep &	getRep () const
GutsRep &	updRep () const
void	setRep (GutsRep &r)
bool	subsystemTopologyHasBeenRealized () const
void	invalidateSubsystemTopologyCache () const
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

Additional Inherited Members
Protected Member Functions inherited from SimTK::Subsystem::Guts
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
void	advanceToStage (const State &s, Stage g) const

Detailed Description

Public declaration of internals for ForceSubsystem extension.

Constructor & Destructor Documentation

SimTK::ForceSubsystem::Guts::Guts ( const String &  name, const String &  version  )

inline

Reimplemented from SimTK::Subsystem::Guts.

virtual SimTK::ForceSubsystem::Guts::~Guts ( )

inlinevirtual

Reimplemented from SimTK::Subsystem::Guts.

Member Function Documentation

const MultibodySystem& SimTK::ForceSubsystem::Guts::getMultibodySystem ( ) const

inline

virtual Real SimTK::ForceSubsystem::Guts::calcPotentialEnergy ( const State &  state ) const

pure virtual

Get this subsystem's contribution to the potential energy.

The state must be at Dynamics stage or later.

SimTK::ForceSubsystem::Guts::SimTK_DOWNCAST	(	ForceSubsystem::Guts	,
		Subsystem::Guts
	)

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

• ForceSubsystemGuts.h