This is the declaration for the System::Guts class, the abstract object to which a System handle points. More...

#include <SystemGuts.h>

Inheritance diagram for SimTK::System::Guts:

Public Member Functions
	Guts (const String &name="<NONAME>", const String &version="0.0.0")
virtual	~Guts ()
const String &	getName () const
const String &	getVersion () const
void	setHasTimeAdvancedEvents (bool hasEm)
bool	hasTimeAdvancedEvents () const
const State &	getDefaultState () const
State &	updDefaultState ()
void	realize (const State &s, Stage g=Stage::HighestRuntime) const
SubsystemIndex	adoptSubsystem (Subsystem &child)
int	getNumSubsystems () const
const Subsystem &	getSubsystem (SubsystemIndex) const
Subsystem &	updSubsystem (SubsystemIndex)
const System &	getSystem () const
System &	updSystem ()
void	setOwnerHandle (System &)
bool	hasOwnerHandle () const
	Guts (class GutsRep *r)
bool	hasRep () const
const GutsRep &	getRep () const
GutsRep &	updRep () const
bool	systemTopologyHasBeenRealized () const
StageVersion	getSystemTopologyCacheVersion () const
void	setSystemTopologyCacheVersion (StageVersion topoVersion) const
void	invalidateSystemTopologyCache () const
System::Guts *	clone () const
const State &	realizeTopology () const
void	realizeModel (State &) const
void	realizeInstance (const State &s) const
void	realizeTime (const State &s) const
void	realizePosition (const State &s) const
void	realizeVelocity (const State &s) const
void	realizeDynamics (const State &s) const
void	realizeAcceleration (const State &s) const
void	realizeReport (const State &s) const
void	multiplyByN (const State &state, const Vector &u, Vector &dq) const
void	multiplyByNTranspose (const State &state, const Vector &fq, Vector &fu) const
void	multiplyByNPInv (const State &state, const Vector &dq, Vector &u) const
void	multiplyByNPInvTranspose (const State &state, const Vector &fu, Vector &fq) const
bool	prescribeQ (State &) const
bool	prescribeU (State &) const
void	getFreeQIndex (const State &, Array_< SystemQIndex > &freeQs) const
void	getFreeUIndex (const State &, Array_< SystemUIndex > &freeUs) const
void	projectQ (State &, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
void	projectU (State &, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) 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
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	calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const

Protected Member Functions
	Guts (const Guts &)
virtual System::Guts *	cloneImpl () const =0
virtual int	realizeTopologyImpl (State &state) const
virtual int	realizeModelImpl (State &state) const
virtual int	realizeInstanceImpl (const State &state) const
virtual int	realizeTimeImpl (const State &state) const
virtual int	realizePositionImpl (const State &state) const
virtual int	realizeVelocityImpl (const State &state) const
virtual int	realizeDynamicsImpl (const State &state) const
virtual int	realizeAccelerationImpl (const State &state) const
virtual int	realizeReportImpl (const State &state) const
virtual void	multiplyByNImpl (const State &state, const Vector &u, Vector &dq) const
virtual void	multiplyByNTransposeImpl (const State &state, const Vector &fq, Vector &fu) const
virtual void	multiplyByNPInvImpl (const State &state, const Vector &dq, Vector &u) const
virtual void	multiplyByNPInvTransposeImpl (const State &state, const Vector &fu, Vector &fq) const
virtual bool	prescribeQImpl (State &) const
virtual bool	prescribeUImpl (State &) const
virtual void	projectQImpl (State &state, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	projectUImpl (State &state, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	handleEventsImpl (State &state, Event::Cause cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
virtual int	reportEventsImpl (const State &state, Event::Cause cause, const Array_< EventId > &eventIds) const
virtual int	calcEventTriggerInfoImpl (const State &state, Array_< EventTriggerInfo > &info) const
virtual int	calcTimeOfNextScheduledEventImpl (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
virtual int	calcTimeOfNextScheduledReportImpl (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
virtual void	getFreeQIndexImpl (const State &s, Array_< SystemQIndex > &freeQs) const
virtual void	getFreeUIndexImpl (const State &s, Array_< SystemUIndex > &freeUs) const

Friends
class	GutsRep

Detailed Description

This is the declaration for the System::Guts class, the abstract object to which a System handle points.

This is in a separate header file from System because only people who are extending the System class to make their own Systems need to be aware of the details. End users access only methods from the System class and classes derived from System, never anything from System::Guts or its derived classes.

Below is the physical layout of memory for a System, and which portions are allocated by the client program and which by the binary library code. For binary compatiblity, only the side which allocated a piece of memory can access it. Exception: both the client and library side must agree on the virtual function table (VFT) ordering of the client's virtual functions.

              CLIENT SIDE                    |  LIBRARY SIDE
                                             |
      System              System::Guts       | System::Guts::GutsRep
  ---------------       ------------------   |   -------------
 | System::Guts* | --> | System::GutsRep* | --> |   GutsRep   |
  ---------------       ------------------   |  |             |
         ^             | Concrete Guts    |  |  |  Opaque     |
         |             | class data and   |  |  |  stuff      |
  ===============      | virt func table  |  |  |             |
  Concrete System       ------------------   |  |             |
    adds no data                             |   -------------
      members

If the concrete System::Guts class also has an opaque implementation, as it will for concrete Systems provided by Simbody, then the System author should expose only the data-free handle class derived from System.

Constructor & Destructor Documentation

SimTK::System::Guts::Guts	(	const String &	name = `"<NONAME>"`,
		const String &	version = `"0.0.0"`
	)

explicit

virtual SimTK::System::Guts::~Guts ( )

virtual

SimTK::System::Guts::Guts ( class GutsRep * r )

inlineexplicit

SimTK::System::Guts::Guts ( const Guts & )

protected

Member Function Documentation

const String& SimTK::System::Guts::getName ( ) const

const String& SimTK::System::Guts::getVersion ( ) const

void SimTK::System::Guts::setHasTimeAdvancedEvents ( bool hasEm )

bool SimTK::System::Guts::hasTimeAdvancedEvents ( ) const

const State& SimTK::System::Guts::getDefaultState ( ) const

State& SimTK::System::Guts::updDefaultState ( )

void SimTK::System::Guts::realize	(	const State &	s,
		Stage	g = `Stage::HighestRuntime`
	)		const

SubsystemIndex SimTK::System::Guts::adoptSubsystem ( Subsystem & child )

int SimTK::System::Guts::getNumSubsystems ( ) const

const Subsystem& SimTK::System::Guts::getSubsystem ( SubsystemIndex ) const

Subsystem& SimTK::System::Guts::updSubsystem ( SubsystemIndex )

const System& SimTK::System::Guts::getSystem ( ) const

System& SimTK::System::Guts::updSystem ( )

void SimTK::System::Guts::setOwnerHandle ( System & )

bool SimTK::System::Guts::hasOwnerHandle ( ) const

bool SimTK::System::Guts::hasRep ( ) const

inline

const GutsRep& SimTK::System::Guts::getRep ( ) const

inline

GutsRep& SimTK::System::Guts::updRep ( ) const

inline

bool SimTK::System::Guts::systemTopologyHasBeenRealized ( ) const

StageVersion SimTK::System::Guts::getSystemTopologyCacheVersion ( ) const

void SimTK::System::Guts::setSystemTopologyCacheVersion ( StageVersion topoVersion ) const

void SimTK::System::Guts::invalidateSystemTopologyCache ( ) const

System::Guts* SimTK::System::Guts::clone ( ) const

const State& SimTK::System::Guts::realizeTopology ( ) const

void SimTK::System::Guts::realizeModel ( State & ) const

void SimTK::System::Guts::realizeInstance ( const State & s ) const

void SimTK::System::Guts::realizeTime ( const State & s ) const

void SimTK::System::Guts::realizePosition ( const State & s ) const

void SimTK::System::Guts::realizeVelocity ( const State & s ) const

void SimTK::System::Guts::realizeDynamics ( const State & s ) const

void SimTK::System::Guts::realizeAcceleration ( const State & s ) const

void SimTK::System::Guts::realizeReport ( const State & s ) const

void SimTK::System::Guts::multiplyByN	(	const State &	state,
		const Vector &	u,
		Vector &	dq
	)		const

void SimTK::System::Guts::multiplyByNTranspose	(	const State &	state,
		const Vector &	fq,
		Vector &	fu
	)		const

void SimTK::System::Guts::multiplyByNPInv	(	const State &	state,
		const Vector &	dq,
		Vector &	u
	)		const

void SimTK::System::Guts::multiplyByNPInvTranspose	(	const State &	state,
		const Vector &	fu,
		Vector &	fq
	)		const

bool SimTK::System::Guts::prescribeQ ( State & ) const

bool SimTK::System::Guts::prescribeU ( State & ) const

void SimTK::System::Guts::getFreeQIndex	(	const State &	,
		Array_< SystemQIndex > &	freeQs
	)		const

void SimTK::System::Guts::getFreeUIndex	(	const State &	,
		Array_< SystemUIndex > &	freeUs
	)		const

void SimTK::System::Guts::projectQ	(	State &	,
		Vector &	qErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

void SimTK::System::Guts::projectU	(	State &	,
		Vector &	uErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

void SimTK::System::Guts::handleEvents	(	State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds,
		const HandleEventsOptions &	options,
		HandleEventsResults &	results
	)		const

void SimTK::System::Guts::reportEvents	(	const State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds
	)		const

void SimTK::System::Guts::calcEventTriggerInfo	(	const State &	,
		Array_< EventTriggerInfo > &
	)		const

void SimTK::System::Guts::calcTimeOfNextScheduledEvent	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

void SimTK::System::Guts::calcTimeOfNextScheduledReport	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

void SimTK::System::Guts::calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		Array_< DecorativeGeometry > &
	)		const

virtual System::Guts* SimTK::System::Guts::cloneImpl ( ) const

protectedpure virtual

Implemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeTopologyImpl ( State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeModelImpl ( State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeInstanceImpl ( const State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeTimeImpl ( const State & state ) const

inlineprotectedvirtual

virtual int SimTK::System::Guts::realizePositionImpl ( const State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeVelocityImpl ( const State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeDynamicsImpl ( const State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeAccelerationImpl ( const State & state ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeReportImpl ( const State & state ) const

inlineprotectedvirtual

virtual void SimTK::System::Guts::multiplyByNImpl	(	const State &	state,
		const Vector &	u,
		Vector &	dq
	)		const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNTransposeImpl	(	const State &	state,
		const Vector &	fq,
		Vector &	fu
	)		const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNPInvImpl	(	const State &	state,
		const Vector &	dq,
		Vector &	u
	)		const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNPInvTransposeImpl	(	const State &	state,
		const Vector &	fu,
		Vector &	fq
	)		const

protectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual bool SimTK::System::Guts::prescribeQImpl ( State & ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual bool SimTK::System::Guts::prescribeUImpl ( State & ) const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::projectQImpl	(	State &	state,
		Vector &	qErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::projectUImpl	(	State &	state,
		Vector &	uErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

inlineprotectedvirtual

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::handleEventsImpl	(	State &	state,
		Event::Cause	cause,
		const Array_< EventId > &	eventIds,
		const HandleEventsOptions &	options,
		HandleEventsResults &	results
	)		const

protectedvirtual

virtual int SimTK::System::Guts::reportEventsImpl	(	const State &	state,
		Event::Cause	cause,
		const Array_< EventId > &	eventIds
	)		const

protectedvirtual

virtual int SimTK::System::Guts::calcEventTriggerInfoImpl	(	const State &	state,
		Array_< EventTriggerInfo > &	info
	)		const

protectedvirtual

virtual int SimTK::System::Guts::calcTimeOfNextScheduledEventImpl	(	const State &	state,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

protectedvirtual

virtual int SimTK::System::Guts::calcTimeOfNextScheduledReportImpl	(	const State &	state,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

protectedvirtual

virtual void SimTK::System::Guts::getFreeQIndexImpl	(	const State &	s,
		Array_< SystemQIndex > &	freeQs
	)		const

inlineprotectedvirtual

virtual void SimTK::System::Guts::getFreeUIndexImpl	(	const State &	s,
		Array_< SystemUIndex > &	freeUs
	)		const

inlineprotectedvirtual

Friends And Related Function Documentation

friend class GutsRep

friend

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

SystemGuts.h

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation