Inheritance diagram for SimTK::ParticleConSurfaceSystem:

Public Member Functions
	ParticleConSurfaceSystem (const ContactGeometryImpl &geom)

const ParticleConSurfaceSystemGuts &	getGuts () const

ParticleConSurfaceSystemGuts &	updGuts ()

void	setDefaultTimeAndState (Real t, const Vector &q, const Vector &u)

Public Member Functions inherited from SimTK::System
System &	setUpDirection (const CoordinateDirection &up)
	This is a hint to other software as to which way this System's designer considers to be "up". More...

System &	setUseUniformBackground (bool useUniformBackground)
	This is a hint to visualization software that this System is best viewed against a uniform background (e.g. all white) rather than against a ground plane. More...

System &	setDefaultTimeScale (Real tc)
	(Advanced) This is a hint used for some default behaviors, such as determining an initial step size for an integrator, or the default unit error for a constraint error derivative from the original constraint. More...

System &	setDefaultLengthScale (Real lc)
	(Advanced) This is a hint that can be used to get a sense of what a "unit length" looks like for this System in the units it uses. More...

void	setHasTimeAdvancedEvents (bool)
	This determines whether this System wants to be notified whenever time advances irreversibly. More...

CoordinateDirection	getUpDirection () const
	Get the current setting of the "up" direction hint. More...

bool	getUseUniformBackground () const
	Get the current setting of the "use uniform background" visualization hint. More...

Real	getDefaultTimeScale () const
	Get the currently-set value for the default time scale, 0.1 time units if it has never been set. More...

Real	getDefaultLengthScale () const
	Get the currently-set value for the default length scale, 1 length unit if it has never been set. More...

bool	hasTimeAdvancedEvents () const
	Return the current value of the flag indicating whether this System wants an event generated whenever time advances irreversibly. More...

void	addEventHandler (ScheduledEventHandler *handler)
	Add a ScheduledEventHandler to this System, which takes over ownership of the event handler object. More...

void	addEventHandler (TriggeredEventHandler *handler)
	Add a TriggeredEventHandler to this System, which takes over ownership of the event handler object. More...

void	addEventReporter (ScheduledEventReporter *handler) const
	Add a ScheduledEventReporter to this System, which takes over ownership of the event reporter object. More...

void	addEventReporter (TriggeredEventReporter *handler) const
	Add a TriggeredEventReporter to this System, which takes over ownership of the event reporter object. More...

const State &	realizeTopology () const
	The following call must be made after any topological change has been made to this System, before the System can be used to perform any computations. More...

const State &	getDefaultState () const
	This is available after realizeTopology(), and will throw an exception if realizeTopology() has not been called since the most recent topological change to this System. More...

State &	updDefaultState ()
	Don't use this; make a copy of the default state instead and modify your copy. More...

void	realizeModel (State &state) const
	Realize the model to be used for subsequent computations with the given state. More...

void	realize (const State &state, Stage stage=Stage::HighestRuntime) const
	Realize the given state to the indicated stage. More...

void	project (State &state, Real accuracy=-1) const
	Apply prescribed motion and attempt to satisfy all position and velocity constraints by projecting the generalized coordinates q and generalized speeds u onto the position and velocity constraint manifolds. More...

void	projectQ (State &state, Real accuracy=-1) const
	Set prescribed positions q=q(t) and attempt to satisfy position constraints by modifying the remaining free q's. More...

void	projectU (State &state, Real accuracy=-1) const
	Set prescribed velocities u=u(t,q) and attempt to satisfy velocity constraints by modifying the remaining free u's. More...

void	projectQ (State &state, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
	(Advanced) Project free q's so that position constraints are satisfied and remove the corresponding error from the supplied error estimate. More...

void	projectU (State &state, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
	(Advanced) Project free u's so that velocity constraints are satisfied and remove the corresponding error from the supplied error estimate. More...

void	prescribe (State &state) const
	Set values for prescribed positions q and velocities u. More...

bool	prescribeQ (State &state) const
	This solver sets prescribed q's to their known values q=q(t) as a function of time (and possibly earlier-stage discrete state variables). More...

bool	prescribeU (State &state) const
	This solver sets prescribed u's to their known values u=u(t,q) as a function of time and position variables q (and possibly earlier-stage discrete state variables). More...

void	getFreeQIndex (const State &state, Array_< SystemQIndex > &freeQs) const
	Return the indices of the q's in the given state that are free; that is, they are not affected by prescribeQ(). More...

void	getFreeUIndex (const State &state, Array_< SystemUIndex > &freeUs) const
	Return the indices of the u's in the given state that are free; that is, they are not affected by prescribeU(). More...

void	handleEvents (State &state, Event::Cause cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
	This solver handles a set of events which a TimeStepper has denoted as having occurred at the given time and state. More...

void	reportEvents (const State &state, Event::Cause cause, const Array_< EventId > &eventIds) const
	This method is similar to handleEvents(), but does not allow the State to be modified. More...

void	calcEventTriggerInfo (const State &state, Array_< EventTriggerInfo > &triggerInfo) const
	This routine provides the Integrator with information it needs about the individual event trigger functions, such as which sign transitions are relevant and how tightly we need to localize. More...

void	calcTimeOfNextScheduledEvent (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
	This routine should be called to determine if and when there is an event scheduled to occur at a particular time. More...

void	calcTimeOfNextScheduledReport (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
	This routine is similar to calcTimeOfNextScheduledEvent(), but is used for "reporting events" which do not modify the state. More...

void	relax (State &state, Stage stage, Real accuracy=-1) const
	This optional method should modify fast variables at the given stage until they satisfy some relaxation criteria. More...

void	multiplyByN (const State &state, const Vector &u, Vector &dq) const
	Calculate dq=N*u in O(n) time (very fast). More...

void	multiplyByNTranspose (const State &state, const Vector &fq, Vector &fu) const
	Calculate fu=~N*fq in O(n) time (very fast). More...

void	multiplyByNPInv (const State &state, const Vector &dq, Vector &u) const
	Calculate u=pinv(N)*dq in O(n) time (very fast). More...

void	multiplyByNPInvTranspose (const State &state, const Vector &fu, Vector &fq) const
	Calculate fq=~pinv(N)*fu in O(n) time (very fast). More...

void	resetAllCountersToZero ()
	Zero out the statistics for this System. More...

int	getNumRealizationsOfThisStage (Stage) const
	Whenever the system was realized from Stage-1 to the indicated Stage, this counter is bumped. More...

int	getNumRealizeCalls () const
	Return the total number of calls to realizeTopology(), realizeModel(), or realize(), regardless of whether these routines actually did anything when called. More...

int	getNumPrescribeQCalls () const
	Return the total number of calls to the System's prescribeQ() method. More...

int	getNumPrescribeUCalls () const
	Return the total number of calls to the System's prescribeU() method. More...

int	getNumProjectQCalls () const
	Return the total number of calls to projectQ(), regardless of whether the call did anything. More...

int	getNumFailedProjectQCalls () const
	Return the total number of calls to projectQ() that failed. More...

int	getNumQProjections () const
	How many of the successful projectQ() calls actually did a constraint projection, rather than returning quickly? More...

int	getNumQErrorEstimateProjections () const
	How many of the projectQ() calls that did a constraint projection also projected an error estimate? More...

int	getNumProjectUCalls () const
	Return the total number of calls to projectU(), regardless of whether the call did anything. More...

int	getNumFailedProjectUCalls () const
	Return the total number of calls to projectU() that failed. More...

int	getNumUProjections () const
	How many of the successful projectU() calls actually did a constraint projection, rather than returning quickly? More...

int	getNumUErrorEstimateProjections () const
	How many of the projectU() calls that did a constraint projection also projected an error estimate? More...

int	getNumHandlerCallsThatChangedStage (Stage) const
	handleEvents() reports the lowest Stage it modified and we bump the counter for that Stage. More...

int	getNumHandleEventCalls () const
	This is the total number of calls to handleEvents() regardless of the outcome. More...

int	getNumReportEventCalls () const
	This is the total number of calls to reportEvents() regardless of the outcome. More...

	System ()
	Default constructor creates an empty handle. More...

	System (const System &)
	Copy constructor (untested). More...

System &	operator= (const System &)
	Copy assignment (untested). More...

	~System ()
	Destructor here will invoke the virtual destructor in the System::Guts class and thus clean up all unneeded detritus owned by this System. More...

const String &	getName () const
	Return the name assigned to this System (arbitrary). More...

const String &	getVersion () const
	Return the version string assigned to this System (arbitrary). More...

SubsystemIndex	adoptSubsystem (Subsystem &child)
	Take over ownership of the supplied subsystem and install it into the next free subsystem slot. More...

int	getNumSubsystems () const
	How may Subsystems are in here? More...

const Subsystem &	getSubsystem (SubsystemIndex) const
	Obtain read-only access to a particular subsystem by its index. More...

Subsystem &	updSubsystem (SubsystemIndex)
	Obtain writable access to a particular subsystem by its index. More...

const DefaultSystemSubsystem &	getDefaultSubsystem () const
	Get read-only access to the default subsystem which is present in every system. More...

DefaultSystemSubsystem &	updDefaultSubsystem ()
	Get writable access to the default subsystem which is present in every system. More...

	operator const Subsystem & () const
	Implicitly convert this System into a const Subsystem reference; this actually returns a reference to the DefaultSystemSubsystem contained in this System. More...

	operator Subsystem & ()
	Implicitly convert this System into a writable Subsystem reference; this actually returns a reference to the DefaultSystemSubsystem contained in this System. More...

bool	systemTopologyHasBeenRealized () const
	(Advanced) You can check whether realizeTopology() has been called since the last topological change to this Syatem. More...

StageVersion	getSystemTopologyCacheVersion () const
	(Advanced) Return the current version number of this system's Topology cache information. More...

void	setSystemTopologyCacheVersion (StageVersion topoVersion) const
	(Really advanced) Set the current version number of this system's Topology cache information. More...

void	invalidateSystemTopologyCache () const
	(Advanced) Mark the Topology stage of this system and all its subsystems "not realized." This is normally handled automatically by whenever you make a Topology-stage change to any subsystem. More...

void	calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const
	(Advanced) Generate all decorative geometry computable at a specific stage; this is useful for visualizers. More...

bool	isSameSystem (const System &otherSystem) const
	There can be multiple handles referring to the same System::Guts object; they are considered to be the same System. More...

const Guts &	getSystemGuts () const
	Obtain a const reference to the System::Guts object to which this handle refers. More...

Guts &	updSystemGuts ()
	Obtain a writable reference to the System::Guts object to which this handle refers. More...

void	adoptSystemGuts (System::Guts *g)
	Put new unowned Guts into this empty handle and take over ownership. More...

	System (System::Guts *g)
	Constructor for internal use only. More...

bool	hasGuts () const
	Return true if this System handle is not empty. More...

bool	isOwnerHandle () const
	Internal use only. More...

bool	isEmptyHandle () const
	Internal use only. More...

Constructor & Destructor Documentation

SimTK::ParticleConSurfaceSystem::ParticleConSurfaceSystem ( const ContactGeometryImpl & geom )

inline

Member Function Documentation

const ParticleConSurfaceSystemGuts& SimTK::ParticleConSurfaceSystem::getGuts ( ) const

inline

ParticleConSurfaceSystemGuts& SimTK::ParticleConSurfaceSystem::updGuts ( )

inline

void SimTK::ParticleConSurfaceSystem::setDefaultTimeAndState	(	Real	t,
		const Vector &	q,
		const Vector &	u
	)

inline

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

ParticleConSurfaceSystem.h

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation