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

Public Member Functions
	Manager (Model &model)
	Constructor that takes a model only and internally uses a SimTK::RungeKuttaMersonIntegrator with default settings (accuracy, constraint tolerance, etc.). More...

	Manager (Model &model, const SimTK::State &state)
	Convenience constructor for creating and initializing a Manager (by calling initialize()). More...

	Manager ()
	(Deprecated) A Constructor that does not take a model or controllerSet. More...

	Manager (const Manager &)=delete

void	operator= (const Manager &)=delete

void	setSessionName (const std::string &name)

void	setModel (Model &model)

const std::string &	getSessionName () const

const std::string &	toString () const

void	setPerformAnalyses (bool performAnalyses)

void	setWriteToStorage (bool writeToStorage)

void	setUseSpecifiedDT (bool aTrueFalse)

bool	getUseSpecifiedDT () const

void	setUseConstantDT (bool aTrueFalse)

bool	getUseConstantDT () const

const Array< double > &	getDTArray ()

void	setDTArray (const SimTK::Vector_< double > &aDT, double aTI=0.0)

double	getDTArrayDT (int aStep)

void	printDTArray (const char *aFileName=NULL)

const Array< double > &	getTimeArray ()

double	getTimeArrayTime (int aStep)

int	getTimeArrayStep (double aTime)

void	printTimeArray (const char *aFileName=NULL)

void	resetTimeAndDTArrays (double aTime)

double	getNextTimeArrayTime (double aTime)

void	initialize (const SimTK::State &s)
	Initializes the Manager by creating and initializing the underlying SimTK::TimeStepper. More...

const SimTK::State &	integrate (double finalTime)
	Integrate the equations of motion for the specified model, given the current state (at which the integration will start) and a finalTime. More...

const SimTK::State &	getState () const
	Get the current State from the Integrator associated with this Manager. More...

double	getFixedStepSize (int tArrayStep) const

bool	hasStateStorage () const

void	setStateStorage (Storage &aStorage)
	Set the Storage object to be used for storing states. More...

Storage &	getStateStorage () const

TimeSeriesTable	getStatesTable () const

void	halt ()

void	clearHalt ()

bool	checkHalt ()

Configure the Integrator
Note Call these functions before calling `Manager::initialize()`.
enum	IntegratorMethod { IntegratorMethod::ExplicitEuler = 0, IntegratorMethod::RungeKutta2 = 1, IntegratorMethod::RungeKutta3 = 2, IntegratorMethod::RungeKuttaFeldberg = 3, IntegratorMethod::RungeKuttaMerson = 4, IntegratorMethod::SemiExplicitEuler2 = 5, IntegratorMethod::Verlet = 6 }
	Supported integrator methods. More...

void	setIntegratorMethod (IntegratorMethod integMethod)
	Sets the integrator method used via IntegratorMethod enum. More...

SimTK::Integrator &	getIntegrator () const

void	setIntegratorAccuracy (double accuracy)
	Sets the accuracy of the integrator. More...

void	setIntegratorMinimumStepSize (double hmin)
	Sets the minimum step size of the integrator. More...

void	setIntegratorMaximumStepSize (double hmax)
	Sets the maximum step size of the integrator. More...

void	setIntegratorInternalStepLimit (int nSteps)
	Sets the limit of steps the integrator can take per call of `stepTo()`. More...

Detailed Description

A class that manages the execution of a simulation.

This class uses a SimTK::Integrator and SimTK::TimeStepper to perform the simulation. By default, a Runge-Kutta-Merson integrator is used, but can be changed by using setIntegratorMethod().

In order to prevent an inconsistency between the Integrator and TimeStepper, we only create a TimeStepper once, specifically when we call initialize(). To ensure this, the Manager will throw an exception if initialize() is called more than once. Note that editing the SimTK::State after calling initialize() will not affect the simulation.

Note that this interface means that you cannot "reinitialize" a Manager. If you make changes to the SimTK::State, a new Manager must be created before integrating again.

Examples:: exampleCustomImplicitAuxiliaryDynamics.cpp.

Member Enumeration Documentation

◆ IntegratorMethod

enum OpenSim::Manager::IntegratorMethod

strong

Supported integrator methods.

For MATLAB, int's must be used rather than enum's (see example in setIntegratorMethod(IntegratorMethod)).

Enumerator
ExplicitEuler	0 : For details, see SimTK::ExplicitEulerIntegrator.
RungeKutta2	1 : For details, see SimTK::RungeKutta2Integrator.
RungeKutta3	2 : For details, see SimTK::RungeKutta3Integrator.
RungeKuttaFeldberg	3 : For details, see SimTK::RungeKuttaFeldbergIntegrator.
RungeKuttaMerson	4 : For details, see SimTK::RungeKuttaMersonIntegrator.
SemiExplicitEuler2	5 : For details, see SimTK::SemiExplicitEuler2Integrator.
Verlet	6 : For details, see SimTK::VerletIntegrator.

Constructor & Destructor Documentation

◆ Manager() [1/4]

OpenSim::Manager::Manager ( Model & model )

Constructor that takes a model only and internally uses a SimTK::RungeKuttaMersonIntegrator with default settings (accuracy, constraint tolerance, etc.).

◆ Manager() [2/4]

OpenSim::Manager::Manager	(	Model &	model,
		const SimTK::State &	state
	)

Convenience constructor for creating and initializing a Manager (by calling initialize()).

Do not use this constructor if you intend to change integrator settings; changes to the integrator may not take effect after initializing.

◆ Manager() [3/4]

OpenSim::Manager::Manager ( )

(Deprecated) A Constructor that does not take a model or controllerSet.

This constructor also does not set an integrator; you must call setIntegrator() on your own. You should use one of the other constructors.

◆ Manager() [4/4]

OpenSim::Manager::Manager ( const Manager & )

delete

Member Function Documentation

◆ checkHalt()

bool OpenSim::Manager::checkHalt ( )

◆ clearHalt()

void OpenSim::Manager::clearHalt ( )

◆ getDTArray()

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

◆ getDTArrayDT()

double OpenSim::Manager::getDTArrayDT ( int aStep )

◆ getFixedStepSize()

double OpenSim::Manager::getFixedStepSize ( int tArrayStep ) const

◆ getIntegrator()

SimTK::Integrator& OpenSim::Manager::getIntegrator ( ) const

◆ getNextTimeArrayTime()

double OpenSim::Manager::getNextTimeArrayTime ( double aTime )

◆ getSessionName()

const std::string& OpenSim::Manager::getSessionName ( ) const

◆ getState()

const SimTK::State& OpenSim::Manager::getState ( ) const

Get the current State from the Integrator associated with this Manager.

◆ getStatesTable()

TimeSeriesTable OpenSim::Manager::getStatesTable ( ) const

◆ getStateStorage()

Storage& OpenSim::Manager::getStateStorage ( ) const

◆ getTimeArray()

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

◆ getTimeArrayStep()

int OpenSim::Manager::getTimeArrayStep ( double aTime )

◆ getTimeArrayTime()

double OpenSim::Manager::getTimeArrayTime ( int aStep )

◆ getUseConstantDT()

bool OpenSim::Manager::getUseConstantDT ( ) const

◆ getUseSpecifiedDT()

bool OpenSim::Manager::getUseSpecifiedDT ( ) const

◆ halt()

void OpenSim::Manager::halt ( )

◆ hasStateStorage()

bool OpenSim::Manager::hasStateStorage ( ) const

◆ initialize()

void OpenSim::Manager::initialize ( const SimTK::State & s )

Initializes the Manager by creating and initializing the underlying SimTK::TimeStepper.

This must be called before calling Manager::integrate() Subsequent changes to the State object passed in here will not affect the simulation. Calling this function multiple times with the same Manager will trigger an Exception.

Changes to the integrator (e.g., setIntegratorAccuracy()) after calling initialize() may not have any effect.

◆ integrate()

const SimTK::State& OpenSim::Manager::integrate ( double finalTime )

Integrate the equations of motion for the specified model, given the current state (at which the integration will start) and a finalTime.

You must call Manager::initialize() before calling this function.

If you must update states or controls in a loop, you must recreate the manager within the loop (such discontinuous changes are considered "events" and cannot be handled during integration of the otherwise continuous system). The proper way to handle this situation is to create a SimTK::EventHandler.

Example: Integrating from time = 1s to time = 2s

SimTK::State state = model.initSystem();
Manager manager(model);
state.setTime(1.0);
manager.initialize(state);
state = manager.integrate(2.0);

Example: Integrating from time = 1s to time = 2s using the convenience constructor

SimTK::State state = model.initSystem();
state.setTime(1.0);
Manager manager(model, state);
state = manager.integrate(2.0);

Example: Integrate from time = 0s to time = 10s, in 2s increments

dTime = 2.0;
finalTime = 10.0;
int n = int(round(finalTime/dTime));
state.setTime(0.0);
manager.initialize(state);
for (int i = 1; i <= n; ++i) {
    state = manager.integrate(i*dTime);
}

Example: Integrate from time = 0s to time = 10s, updating the state (e.g., the model's first coordinate value) every 2s

dTime = 2.0;
finalTime = 10.0;
int n = int(round(finalTime/dTime));
state.setTime(0.0);
for (int i = 0; i < n; ++i) {
    model.getCoordinateSet().get(0).setValue(state, 0.1*i);
    Manager manager(model);
    state.setTime(i*dTime);
    manager.initialize(state);
    state = manager.integrate((i+1)*dTime);
}

◆ operator=()

void OpenSim::Manager::operator= ( const Manager & )

delete

◆ printDTArray()

void OpenSim::Manager::printDTArray ( const char * aFileName = NULL )

◆ printTimeArray()

void OpenSim::Manager::printTimeArray ( const char * aFileName = NULL )

◆ resetTimeAndDTArrays()

void OpenSim::Manager::resetTimeAndDTArrays ( double aTime )

◆ setDTArray()

void OpenSim::Manager::setDTArray	(	const SimTK::Vector_< double > &	aDT,
		double	aTI = `0.0`
	)

◆ setIntegratorAccuracy()

void OpenSim::Manager::setIntegratorAccuracy ( double accuracy )

Sets the accuracy of the integrator.

For more details, see SimTK::Integrator::setAccuracy(SimTK::Real).

◆ setIntegratorInternalStepLimit()

void OpenSim::Manager::setIntegratorInternalStepLimit ( int nSteps )

Sets the limit of steps the integrator can take per call of stepTo().

Note that Manager::integrate() calls stepTo() for each interval when a fixed step size is used. For more details, see SimTK::Integrator::setInternalStepLimit(int).

◆ setIntegratorMaximumStepSize()

void OpenSim::Manager::setIntegratorMaximumStepSize ( double hmax )

Sets the maximum step size of the integrator.

For more details, see SimTK::Integrator::setMaximumStepSize(SimTK::Real).

◆ setIntegratorMethod()

void OpenSim::Manager::setIntegratorMethod ( IntegratorMethod integMethod )

Sets the integrator method used via IntegratorMethod enum.

The integrator will be set to its default options, even if the caller requests the same integrator method. Note that this function must be called before Manager::initialize().

C++ example

auto manager = Manager(model);

manager.setIntegratorMethod(Manager::IntegratorMethod::SemiExplicitEuler2);

Python example

import opensim
manager = opensim.Manager(model)
manager.setIntegratorMethod(opensim.Manager.IntegratorMethod_SemiExplicitEuler2)

MATLAB example

import org.opensim.modeling.*
manager = Manager(model);
manager.setIntegratorMethod(5);

◆ setIntegratorMinimumStepSize()

void OpenSim::Manager::setIntegratorMinimumStepSize ( double hmin )

Sets the minimum step size of the integrator.

For more details, see SimTK::Integrator::setMinimumStepSize(SimTK::Real).

◆ setModel()

void OpenSim::Manager::setModel ( Model & model )

◆ setPerformAnalyses()

void OpenSim::Manager::setPerformAnalyses ( bool performAnalyses )

inline

◆ setSessionName()

void OpenSim::Manager::setSessionName ( const std::string & name )

◆ setStateStorage()

void OpenSim::Manager::setStateStorage ( Storage & aStorage )

Set the Storage object to be used for storing states.

The Manager takes ownership of the passed-in Storage.

◆ setUseConstantDT()

void OpenSim::Manager::setUseConstantDT ( bool aTrueFalse )

◆ setUseSpecifiedDT()

void OpenSim::Manager::setUseSpecifiedDT ( bool aTrueFalse )

◆ setWriteToStorage()

void OpenSim::Manager::setWriteToStorage ( bool writeToStorage )