SimTK::GeneralForceSubsystem Class Reference

This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem. More...

#include <GeneralForceSubsystem.h>

Inheritance diagram for SimTK::GeneralForceSubsystem:

Public Member Functions
	GeneralForceSubsystem ()
	GeneralForceSubsystem (MultibodySystem &)
ForceIndex	adoptForce (Force &force)
	Attach a new force to this subsystem.
int	getNumForces () const
	Get the number of force elements which have been added to this Subsystem.
const Force &	getForce (ForceIndex index) const
	Get a const reference to a force element by index.
Force &	updForce (ForceIndex index)
	Get a writable reference to a force element by index.
bool	isForceDisabled (const State &state, ForceIndex index) const
	Find out whether a particular force element contained in this subsystem is currently disabled in the given state.
void	setForceIsDisabled (State &state, ForceIndex index, bool shouldBeDisabled) const
	Disable or enable a particular force element contained in this subsystem.
const MultibodySystem &	getMultibodySystem () const
	Every Subsystem is owned by a System; a GeneralForceSubsystem expects to be owned by a MultibodySystem.
Public Member Functions inherited from SimTK::ForceSubsystem
	ForceSubsystem ()
	SimTK_PIMPL_DOWNCAST (ForceSubsystem, Subsystem)
Guts &	updRep ()
const Guts &	getRep () const
Public Member Functions inherited from SimTK::Subsystem
	Subsystem ()
	Subsystem (const Subsystem &)
Subsystem &	operator= (const Subsystem &)
	~Subsystem ()
const String &	getName () const
const String &	getVersion () const
QIndex	allocateQ (State &, const Vector &qInit) const
UIndex	allocateU (State &, const Vector &uInit) const
ZIndex	allocateZ (State &, const Vector &zInit) const
DiscreteVariableIndex	allocateDiscreteVariable (State &, Stage invalidates, 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 &, int nqerr) const
UErrIndex	allocateUErr (const State &, int nuerr) const
UDotErrIndex	allocateUDotErr (const State &, 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 &	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 &	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 &s, DiscreteVariableIndex dx) 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
bool	isInSystem () const
bool	isInSameSystem (const Subsystem &otherSubsystem) const
const System &	getSystem () const
System &	updSystem ()
SubsystemIndex	getMySubsystemIndex () const
bool	isOwnerHandle () const
bool	isEmptyHandle () const
bool	isSameSubsystem (const Subsystem &otherSubsystem) const
bool	subsystemTopologyHasBeenRealized () const
void	invalidateSubsystemTopologyCache () const
MeasureIndex	adoptMeasure (AbstractMeasure &)
AbstractMeasure	getMeasure (MeasureIndex) const
template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const
const Subsystem::Guts &	getSubsystemGuts () const
Subsystem::Guts &	updSubsystemGuts ()
void	adoptSubsystemGuts (Subsystem::Guts *g)
void	setSystem (System &, SubsystemIndex)
	Subsystem (Subsystem::Guts *g)
bool	hasGuts () const

Detailed Description

This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.

Each force element is represented by a Force object. For example, to add a spring between two bodies, you would write

GeneralForceSubsystem forces(system);
// ...
Force::TwoPointLinearSpring(forces, body1, station1, body2, station2, k, x0);

Constructor & Destructor Documentation

SimTK::GeneralForceSubsystem::GeneralForceSubsystem

(

)

SimTK::GeneralForceSubsystem::GeneralForceSubsystem ( MultibodySystem &  )

explicit

Member Function Documentation

ForceIndex SimTK::GeneralForceSubsystem::adoptForce

(

Force &

force

)

Attach a new force to this subsystem.

The subsystem takes over ownership of the force, leaving the passed in handle as a reference to it. This is normally called by the Force handle constructor.

Parameters

force

A writable reference to a Force handle whose referenced force element is not yet owned by any subsystem. We will take over ownership of the ForceImpl implementation objected referenced by the handle, bumping the reference count and leaving the reference in place so that the original handle can continue to be used to reference and modify the force element.

Returns

A unique integer index for the adopted force element that can be used to retrieve this force element from the subsystem later if needed.

int SimTK::GeneralForceSubsystem::getNumForces

(

)

const

Get the number of force elements which have been added to this Subsystem.

Legal ForceIndex values range from 0 to getNumForces()-1.

const Force& SimTK::GeneralForceSubsystem::getForce

(

ForceIndex

index

)

const

Get a const reference to a force element by index.

Force& SimTK::GeneralForceSubsystem::updForce

(

ForceIndex

index

)

Get a writable reference to a force element by index.

bool SimTK::GeneralForceSubsystem::isForceDisabled	(	const State &	state,
		ForceIndex	index
	)		const

Find out whether a particular force element contained in this subsystem is currently disabled in the given state.

void SimTK::GeneralForceSubsystem::setForceIsDisabled	(	State &	state,
		ForceIndex	index,
		bool	shouldBeDisabled
	)		const

Disable or enable a particular force element contained in this subsystem.

This can usually be done more conveniently through the Force handle's disable() and enable() methods. Note that although force elements are normally enabled when created, it is possible that the force element will have been constructed to be disabled by default in which case it must be explicitly enabled.

const MultibodySystem& SimTK::GeneralForceSubsystem::getMultibodySystem

(

)

const

Every Subsystem is owned by a System; a GeneralForceSubsystem expects to be owned by a MultibodySystem.

This method returns a const reference to the containing MultibodySystem and will throw an exception if there is no containing System or it is not a MultibodySystem.

---

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

• GeneralForceSubsystem.h