Subsystem::Guts Class Reference

#include <SubsystemGuts.h>

Inheritance diagram for Subsystem::Guts:

List of all members.

---

Detailed Description

The abstract parent of all Subsystems.

A Subsystem is expected to be part of a larger System and to have interdependencies with other subsystems of that same system. It must NOT have dependencies on objects which are outside the System. Consequently construction of any concrete subsystem requires specification of a system at that time. Subsystems go through an extended construction phase in which their contents and interdependencies are created. Thus all of a System's Subsystems generally need to be available simultaneously during construction, so that they can reference each other.

There are three distinct users of this class:

• the System class
• the concrete Subsystems derived from this class
• the end user of a concrete Subsystem Only end user methods are public here. Methods intended for use by the concrete Subsystem class are protected; anything else is private.

Public Member Functions
	Guts (const Guts &)
Guts &	operator= (const Guts &)
	Guts (const String &name="<NONAME>", const String &version="0.0.0")
virtual	~Guts ()
const String &	getName () const
const String &	getVersion () 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
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
Stage	getStage (const State &) const
const AbstractValue &	getDiscreteVariable (const State &, int index) const
AbstractValue &	updDiscreteVariable (State &, int index) const
const AbstractValue &	getCacheEntry (const State &, int index) const
AbstractValue &	updCacheEntry (const State &, int index) const
int	getQStart (const State &) const
int	getNQ (const State &) const
int	getUStart (const State &) const
int	getNU (const State &) const
int	getZStart (const State &) const
int	getNZ (const State &) const
int	getQErrStart (const State &) const
int	getNQErr (const State &) const
int	getUErrStart (const State &) const
int	getNUErr (const State &) const
int	getUDotErrStart (const State &) const
int	getNUDotErr (const State &) const
int	getMultipliersStart (const State &) const
int	getNMultipliers (const State &) 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 (class 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	calcQUnitWeights (const State &, Vector &weights) const
void	calcUUnitWeights (const State &, Vector &weights) const
void	calcZUnitWeights (const State &, Vector &weights) const
void	calcQErrUnitTolerances (const State &, Vector &tolerances) const
void	calcUErrUnitTolerances (const State &, Vector &tolerances) const
void	calcDecorativeGeometryAndAppend (const State &, Stage, std::vector< DecorativeGeometry > &) const
void	createScheduledEvent (const State &state, EventId &eventId) const
void	createTriggeredEvent (const State &state, EventId &eventId, int &triggerFunctionIndex, Stage stage) const
virtual void	calcEventTriggerInfo (const State &, std::vector< System::EventTriggerInfo > &) const
virtual void	calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) const
virtual void	calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) const
virtual void	handleEvents (State &, System::EventCause, const std::vector< EventId > &eventIds, Real accuracy, const Vector &yWeights, const Vector &ooConstraintTols, Stage &lowestModified, bool &shouldTerminate) const
virtual void	reportEvents (const State &, System::EventCause, const std::vector< EventId > &eventIds) const
Static Public Member Functions
static void	destruct (Subsystem::Guts *)
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	calcQUnitWeightsImpl (const State &s, Vector &weights) const
virtual int	calcUUnitWeightsImpl (const State &s, Vector &weights) const
virtual int	calcZUnitWeightsImpl (const State &s, Vector &weights) const
virtual int	calcQErrUnitTolerancesImpl (const State &s, Vector &tolerances) const
virtual int	calcUErrUnitTolerancesImpl (const State &s, Vector &tolerances) const
virtual int	calcDecorativeGeometryAndAppendImpl (const State &, Stage, std::vector< DecorativeGeometry > &) const
int	allocateQ (State &s, const Vector &qInit) const
int	allocateU (State &s, const Vector &uInit) const
int	allocateZ (State &s, const Vector &zInit) const
int	allocateQErr (const State &s, int nqerr) const
int	allocateUErr (const State &s, int nuerr) const
int	allocateUDotErr (const State &s, int nudoterr) const
int	allocateDiscreteVariable (State &s, Stage g, AbstractValue *v) const
int	allocateCacheEntry (State &s, Stage g, AbstractValue *v) const
void	advanceToStage (const State &s, Stage g) const
Friends
class	GutsRep
void	subsystemDestructImplLocator (Subsystem::Guts *)
Subsystem::Guts *	subsystemCloneImplLocator (const Subsystem::Guts &)
int	subsystemRealizeTopologyImplLocator (const Subsystem::Guts &, State &)
int	subsystemRealizeModelImplLocator (const Subsystem::Guts &, State &)
int	subsystemRealizeInstanceImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizeTimeImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizePositionImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizeVelocityImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizeDynamicsImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizeAccelerationImplLocator (const Subsystem::Guts &, const State &)
int	subsystemRealizeReportImplLocator (const Subsystem::Guts &, const State &)
int	subsystemCalcQUnitWeightsImplLocator (const Subsystem::Guts &, const State &, Vector &)
int	subsystemCalcUUnitWeightsImplLocator (const Subsystem::Guts &, const State &, Vector &)
int	subsystemCalcZUnitWeightsImplLocator (const Subsystem::Guts &, const State &, Vector &)
int	subsystemCalcQErrUnitTolerancesImplLocator (const Subsystem::Guts &, const State &, Vector &)
int	subsystemCalcUErrUnitTolerancesImplLocator (const Subsystem::Guts &, const State &, Vector &)
int	subsystemCalcDecorativeGeometryAndAppendImplLocator (const Subsystem::Guts &, const State &, Stage, std::vector< DecorativeGeometry > &)

---

Constructor & Destructor Documentation

Guts

(

const Guts &

)

Guts	(	const String &	name = "<NONAME>",
		const String &	version = "0.0.0"
	)			[inline, explicit]

Reimplemented in ForceSubsystem::Guts.

References Subsystem::Guts::subsystemCalcDecorativeGeometryAndAppendImplLocator, Subsystem::Guts::subsystemCalcQErrUnitTolerancesImplLocator, Subsystem::Guts::subsystemCalcQUnitWeightsImplLocator, Subsystem::Guts::subsystemCalcUErrUnitTolerancesImplLocator, Subsystem::Guts::subsystemCalcUUnitWeightsImplLocator, Subsystem::Guts::subsystemCalcZUnitWeightsImplLocator, Subsystem::Guts::subsystemCloneImplLocator, Subsystem::Guts::subsystemDestructImplLocator, Subsystem::Guts::subsystemRealizeAccelerationImplLocator, Subsystem::Guts::subsystemRealizeDynamicsImplLocator, Subsystem::Guts::subsystemRealizeInstanceImplLocator, Subsystem::Guts::subsystemRealizeModelImplLocator, Subsystem::Guts::subsystemRealizePositionImplLocator, Subsystem::Guts::subsystemRealizeReportImplLocator, Subsystem::Guts::subsystemRealizeTimeImplLocator, Subsystem::Guts::subsystemRealizeTopologyImplLocator, and Subsystem::Guts::subsystemRealizeVelocityImplLocator.

virtual ~Guts

(

)

[inline, virtual]

Reimplemented in ForceSubsystem::Guts.

Guts

(

class GutsRep *

r

)

[inline, explicit]

---

Member Function Documentation

Guts& operator=

(

const Guts &

)

const String& getName

(

)

const

const String& getVersion

(

)

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

Vector& updQ

(

State &

)

const

Vector& updU

(

State &

)

const

Vector& updZ

(

State &

)

const

void setQ	(	State &	s,
		const Vector &	q
	)			const [inline]

References VectorBase::size().

void setU	(	State &	s,
		const Vector &	u
	)			const [inline]

References VectorBase::size().

void setZ	(	State &	s,
		const Vector &	z
	)			const [inline]

References VectorBase::size().

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

Stage getStage

(

const State &

)

const

const AbstractValue& getDiscreteVariable	(	const State &	,
		int	index
	)			const

AbstractValue& updDiscreteVariable	(	State &	,
		int	index
	)			const

const AbstractValue& getCacheEntry	(	const State &	,
		int	index
	)			const

AbstractValue& updCacheEntry	(	const State &	,
		int	index
	)			const

int getQStart

(

const State &

)

const

int getNQ

(

const State &

)

const

int getUStart

(

const State &

)

const

int getNU

(

const State &

)

const

int getZStart

(

const State &

)

const

int getNZ

(

const State &

)

const

int getQErrStart

(

const State &

)

const

int getNQErr

(

const State &

)

const

int getUErrStart

(

const State &

)

const

int getNUErr

(

const State &

)

const

int getUDotErrStart

(

const State &

)

const

int getNUDotErr

(

const State &

)

const

int getMultipliersStart

(

const State &

)

const

int getNMultipliers

(

const State &

)

const

bool isInSystem

(

)

const

bool isInSameSystem

(

const Subsystem &

otherSubsystem

)

const

const System& getSystem

(

)

const

Referenced by ForceSubsystem::Guts::getMultibodySystem().

System& updSystem

(

)

SubsystemIndex getMySubsystemIndex

(

)

const

const Subsystem& getOwnerSubsystemHandle

(

)

const

Subsystem& updOwnerSubsystemHandle

(

)

void setOwnerSubsystemHandle

(

Subsystem &

)

bool hasOwnerSubsystemHandle

(

)

const

void setSystem	(	System &	,
		SubsystemIndex
	)

bool hasRep

(

)

const [inline]

const GutsRep& getRep

(

)

const [inline]

GutsRep& updRep

(

)

const [inline]

void setRep

(

GutsRep &

r

)

[inline]

bool subsystemTopologyHasBeenRealized

(

)

const

void invalidateSubsystemTopologyCache

(

)

const

static void destruct

(

Subsystem::Guts *

)

[static]

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 calcQUnitWeights	(	const State &	,
		Vector &	weights
	)			const

void calcUUnitWeights	(	const State &	,
		Vector &	weights
	)			const

void calcZUnitWeights	(	const State &	,
		Vector &	weights
	)			const

void calcQErrUnitTolerances	(	const State &	,
		Vector &	tolerances
	)			const

void calcUErrUnitTolerances	(	const State &	,
		Vector &	tolerances
	)			const

void calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		std::vector< DecorativeGeometry > &
	)			const

void createScheduledEvent	(	const State &	state,
		EventId &	eventId
	)			const

void createTriggeredEvent	(	const State &	state,
		EventId &	eventId,
		int &	triggerFunctionIndex,
		Stage	stage
	)			const

virtual void calcEventTriggerInfo	(	const State &	,
		std::vector< System::EventTriggerInfo > &
	)			const [virtual]

virtual void calcTimeOfNextScheduledEvent	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const [virtual]

virtual void calcTimeOfNextScheduledReport	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const [virtual]

virtual void handleEvents	(	State &	,
		System::EventCause	,
		const std::vector< EventId > &	eventIds,
		Real	accuracy,
		const Vector &	yWeights,
		const Vector &	ooConstraintTols,
		Stage &	lowestModified,
		bool &	shouldTerminate
	)			const [virtual]

virtual void reportEvents	(	const State &	,
		System::EventCause	,
		const std::vector< EventId > &	eventIds
	)			const [virtual]

virtual Subsystem::Guts* cloneImpl

(

)

const [protected, pure virtual]

virtual int realizeSubsystemTopologyImpl

(

State &

s

)

const [protected, virtual]

virtual int realizeSubsystemModelImpl

(

State &

s

)

const [protected, virtual]

virtual int realizeSubsystemInstanceImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemTimeImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemPositionImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemVelocityImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemDynamicsImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemAccelerationImpl

(

const State &

s

)

const [protected, virtual]

virtual int realizeSubsystemReportImpl

(

const State &

s

)

const [protected, virtual]

virtual int calcQUnitWeightsImpl	(	const State &	s,
		Vector &	weights
	)			const [protected, virtual]

virtual int calcUUnitWeightsImpl	(	const State &	s,
		Vector &	weights
	)			const [protected, virtual]

virtual int calcZUnitWeightsImpl	(	const State &	s,
		Vector &	weights
	)			const [protected, virtual]

virtual int calcQErrUnitTolerancesImpl	(	const State &	s,
		Vector &	tolerances
	)			const [protected, virtual]

virtual int calcUErrUnitTolerancesImpl	(	const State &	s,
		Vector &	tolerances
	)			const [protected, virtual]

virtual int calcDecorativeGeometryAndAppendImpl	(	const State &	,
		Stage	,
		std::vector< DecorativeGeometry > &
	)			const [protected, virtual]

int allocateQ	(	State &	s,
		const Vector &	qInit
	)			const [protected]

int allocateU	(	State &	s,
		const Vector &	uInit
	)			const [protected]

int allocateZ	(	State &	s,
		const Vector &	zInit
	)			const [protected]

int allocateQErr	(	const State &	s,
		int	nqerr
	)			const [protected]

int allocateUErr	(	const State &	s,
		int	nuerr
	)			const [protected]

int allocateUDotErr	(	const State &	s,
		int	nudoterr
	)			const [protected]

int allocateDiscreteVariable	(	State &	s,
		Stage	g,
		AbstractValue *	v
	)			const [protected]

int allocateCacheEntry	(	State &	s,
		Stage	g,
		AbstractValue *	v
	)			const [protected]

void advanceToStage	(	const State &	s,
		Stage	g
	)			const [protected]

---

Friends And Related Function Documentation

friend class GutsRep [friend]

void subsystemDestructImplLocator

(

Subsystem::Guts *

sysp

)

[friend]

Referenced by Subsystem::Guts::Guts().

Subsystem::Guts* subsystemCloneImplLocator

(

const Subsystem::Guts &

sys

)

[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeTopologyImplLocator	(	const Subsystem::Guts &	sys,
		State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeModelImplLocator	(	const Subsystem::Guts &	sys,
		State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeInstanceImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeTimeImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizePositionImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeVelocityImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeDynamicsImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeAccelerationImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemRealizeReportImplLocator	(	const Subsystem::Guts &	sys,
		const State &	state
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcQUnitWeightsImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Vector &	weights
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcUUnitWeightsImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Vector &	weights
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcZUnitWeightsImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Vector &	weights
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcQErrUnitTolerancesImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Vector &	tolerances
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcUErrUnitTolerancesImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Vector &	tolerances
	)			[friend]

Referenced by Subsystem::Guts::Guts().

int subsystemCalcDecorativeGeometryAndAppendImplLocator	(	const Subsystem::Guts &	sys,
		const State &	s,
		Stage	g,
		std::vector< DecorativeGeometry > &	geom
	)			[friend]

Referenced by Subsystem::Guts::Guts().

---

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

• SubsystemGuts.h