OpenSim::Manager Class Reference

A class that manages the execution of a simulation. More...

#include <Manager.h>

List of all members.

Public Member Functions
virtual	~Manager ()
	Destructor.
	Manager (Model &, SimTK::Integrator &)
	Construct a simulation manager.
	Manager ()
	A Constructor that does not take a model or controllerSet.
void	setSessionName (const std::string &name)
void	setModel (Model &aModel)
	Sets the model and initializes other entities that depend on it.
const std::string &	getSessionName () const
	Get the session name of this Manager instance.
const std::string &	toString () const
	Get name to be shown for this object in Simtk-model tree.
void	setPerformAnalyses (bool performAnalyses)
void	setWriteToStorage (bool writeToStorage)
SimTK::Integrator &	getIntegrator () const
	Get the integrator.
void	setIntegrator (SimTK::Integrator *)
	Set the integrator.
void	setInitialTime (double aTI)
	Set the initial time of the simulation.
double	getInitialTime () const
	Get the initial time of the simulation.
void	setFinalTime (double aTF)
	Set the final time of the simulation.
double	getFinalTime () const
	Get the final time of the simulation.
void	setFirstDT (double aDT)
	Set the first time step taken in an integration.
double	getFirstDT () const
	Get the first time step taken in an integration.
void	setUseSpecifiedDT (bool aTrueFalse)
	Set whether or not to take a specified sequence of deltas during an integration.
bool	getUseSpecifiedDT () const
	Get whether or not to take a specified sequence of deltas during an integration.
void	setUseConstantDT (bool aTrueFalse)
	Set whether or not to take a constant integration time step.
bool	getUseConstantDT () const
	Get whether or not to use a constant integration time step.
const Array< double > &	getDTArray ()
	Get the time deltas used in the last integration.
void	setDTArray (int aN, const double aDT[], double aTI=0.0)
	Set the deltas held in the dt array.
double	getDTArrayDT (int aStep)
	Get the delta used for a specified integration step.
void	printDTArray (const char *aFileName=NULL)
	Print the dt array.
const Array< double > &	getTimeArray ()
	Get the sequence of time steps taken in the last integration.
double	getTimeArrayTime (int aStep)
	Get the time of a specified integration step.
int	getTimeArrayStep (double aTime)
	Get the integration step (index) that occured prior to or at a specified time.
void	printTimeArray (const char *aFileName=NULL)
	Print the time array.
void	resetTimeAndDTArrays (double aTime)
	Reset the time and dt arrays so that all times after the specified time and the corresponding deltas are erased.
double	getNextTimeArrayTime (double aTime)
	Get the next time in the time array.
void	setSystem (SimTK::System *system)
bool	integrate (SimTK::State &s, double dtFirst=1.0e-6)
	____________________________________________________________________________
bool	doIntegration (SimTK::State &s, int step, double dtFirst)
void	initialize (SimTK::State &s, double dt)
	initialize storages and analyses
void	finalize (SimTK::State &s)
	finalize storages and analyses
double	getFixedStepSize (int tArrayStep) const
	return the step size when the integrator is taking fixed step sizes
bool	hasStateStorage () const
	Get whether there is a storage buffer for the integration states.
void	setStateStorage (Storage &aStorage)
	Set the storage buffer for the integration states.
Storage &	getStateStorage () const
	Get the storage buffer for the integration states.
void	halt ()
	Halt an integration.
void	clearHalt ()
	Clear the halt flag.
bool	checkHalt ()
	Check for a halt request.

---

Detailed Description

A class that manages the execution of a simulation.

---

Constructor & Destructor Documentation

Manager::~Manager

(

)

[virtual]

Destructor.

Manager::Manager	(	Model &	model,
		SimTK::Integrator &	integ
	)

Construct a simulation manager.

Parameters:

	sys	MultibodySustem for the simulation.
	model	pointer to model for the simulation.

Manager::Manager

(

)

A Constructor that does not take a model or controllerSet.

Construct a simulation manager.

---

Member Function Documentation

bool Manager::checkHalt

(

)

Check for a halt request.

The value of the halt flag is simply returned.

void Manager::clearHalt

(

)

Clear the halt flag.

The value of the interrupt flag is set to false.

bool Manager::doIntegration	(	SimTK::State &	s,
		int	step,
		double	dtFirst
	)

void Manager::finalize

(

SimTK::State &

s

)

finalize storages and analyses

Parameters:

s

system state before integration

const OpenSim::Array< double > & Manager::getDTArray

(

)

Get the time deltas used in the last integration.

Returns:

Constant reference to the dt array.

double Manager::getDTArrayDT

(

int

aStep

)

Get the delta used for a specified integration step.

For step aStep, the delta returned is the delta used to go from step aStep to step aStep+1.

Parameters:

aStep

Index of the desired step.

Returns:

Delta. SimTK::Nan is returned on error.

double Manager::getFinalTime

(

)

const

Get the final time of the simulation.

Returns:

Final time.

double Manager::getFirstDT

(

)

const

Get the first time step taken in an integration.

Returns:

First integration time step.

double Manager::getFixedStepSize

(

int

tArrayStep

)

const

return the step size when the integrator is taking fixed step sizes

Parameters:

tArrayStep

Step number

double Manager::getInitialTime

(

)

const

Get the initial time of the simulation.

Returns:

Initial time.

SimTK::Integrator & Manager::getIntegrator

(

)

const

Get the integrator.

double Manager::getNextTimeArrayTime

(

double

aTime

)

Get the next time in the time array.

Parameters:

aTime

Time of the integration step.

Returns:

next time

const string & Manager::getSessionName

(

)

const

Get the session name of this Manager instance.

Storage & Manager::getStateStorage

(

)

const

Get the storage buffer for the integration states.

const OpenSim::Array< double > & Manager::getTimeArray

(

)

Get the sequence of time steps taken in the last integration.

int Manager::getTimeArrayStep

(

double

aTime

)

Get the integration step (index) that occured prior to or at a specified time.

Parameters:

aTime

Time of the integration step.

Returns:

Step that occured prior to or at aTime. 0 is returned if there is no such time stored.

double Manager::getTimeArrayTime

(

int

aStep

)

Get the time of a specified integration step.

Parameters:

aStep

Index of the desired step.

Returns:

Time of integration step aStep. SimTK::NaN is returned on error.

bool Manager::getUseConstantDT

(

)

const

Get whether or not to use a constant integration time step.

The constant integration time step can be set using setDT().

Returns:

If true, constant time steps are used. If false, either specified or variable time steps are used.

See also:

setDT()

getUseSpecifiedDTs();

bool Manager::getUseSpecifiedDT

(

)

const

Get whether or not to take a specified sequence of deltas during an integration.

The time deltas are obtained from what's stored in the dt vector (

See also:

setDTVector()). In order to execute an integration in this manner, the sum of the deltas must cover any requested integration interval. If not, an exception will be thrown at the beginning of an integration.

Returns:

If true, a specified time step will be used if possible. If false, a variable-step integration will be performed or a constant time step will be taken.

See also:

getUseConstantDT()

getDT()

getTimeVector()

void Manager::halt

(

)

Halt an integration.

If an integration is pending or executing, the value of the interrupt flag is set to true.

bool Manager::hasStateStorage

(

)

const

Get whether there is a storage buffer for the integration states.

void Manager::initialize	(	SimTK::State &	s,
		double	dt
	)

initialize storages and analyses

Parameters:

s

system state before integration

bool Manager::integrate	(	SimTK::State &	s,
		double	dtFirst = 1.0e-6
	)

____________________________________________________________________________

Integrate the equations of motion for the specified model.

This method starts the integration at the initial default states of the model.

void Manager::printDTArray

(

const char *

aFileName = NULL

)

Print the dt array.

void Manager::printTimeArray

(

const char *

aFileName = NULL

)

Print the time array.

Parameters:

aFileName

Name of the file to which to print. If the time array cannot be written to a file of the specified name, the time array is wirttent to standard out.

void Manager::resetTimeAndDTArrays

(

double

aTime

)

Reset the time and dt arrays so that all times after the specified time and the corresponding deltas are erased.

Parameters:

aTime

Time after which to erase the entries in the time and dt vectors.

void Manager::setDTArray	(	int	aN,
		const double	aDT[],
		double	aTI = 0.0
	)

Set the deltas held in the dt array.

These deltas will be used if the integrator is set to take a specified set of deltas. In order to integrate using a specified set of deltas, the sum of deltas must cover the requested integration time interval, otherwise an exception will be thrown at the beginning of an integration.

Note that the time vector is reconstructed in order to check that the sum of the deltas covers a requested integration interval.

Parameters:

	aN	Number of deltas.
	aDT	Array of deltas.
	aTI	Initial time. If not specified, 0.0 is assumed.

See also:

getUseSpecifiedDT()

void Manager::setFinalTime

(

double

aTF

)

Set the final time of the simulation.

Parameters:

aTF

Final time.

void Manager::setFirstDT

(

double

aDT

)

Set the first time step taken in an integration.

Parameters:

aDT

First integration time step.

void Manager::setInitialTime

(

double

aTI

)

Set the initial time of the simulation.

Parameters:

aTI

Initial time.

void Manager::setIntegrator

(

SimTK::Integrator *

integrator

)

Set the integrator.

void Manager::setModel

(

Model &

aModel

)

Sets the model and initializes other entities that depend on it.

void OpenSim::Manager::setPerformAnalyses

(

bool

performAnalyses

)

[inline]

void OpenSim::Manager::setSessionName

(

const std::string &

name

)

void Manager::setStateStorage

(

Storage &

aStorage

)

Set the storage buffer for the integration states.

void OpenSim::Manager::setSystem

(

SimTK::System *

system

)

[inline]

void Manager::setUseConstantDT

(

bool

aTrueFalse

)

Set whether or not to take a constant integration time step.

The size of the constant integration time step can be set using setDT().

Parameters:

aTrueFalse

If true, constant time steps are used. When set to true, the flag used to indicate whether or not to take specified time steps is set to false. If set to false, a variable-step integration or a constant integration time step will be used.

See also:

setDT()

setUseSpecifiedDT()

getUseSpecifiedDT();

void Manager::setUseSpecifiedDT

(

bool

aTrueFalse

)

Set whether or not to take a specified sequence of deltas during an integration.

The time deltas are obtained from what's stored in the vector dt vector (

See also:

setDTVector()). In order to execute an integration in this manner, the sum of the deltas must cover any requested integration interval. If not, an exception will be thrown at the beginning of an integration.

Parameters:

aTrueFalse

If true, a specified dt's will be used. If set to false, a variable-step integration or a constant step integration will be used. When set to true, the flag used to indicate whether or not a constant time step is used is set to false.

See also:

setDTVector()

getUseConstantDT()

void OpenSim::Manager::setWriteToStorage

(

bool

writeToStorage

)

[inline]

const std::string & Manager::toString

(

)

const

Get name to be shown for this object in Simtk-model tree.

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

• OpenSim/Simulation/Manager/Manager.h
• OpenSim/Simulation/Manager/Manager.cpp