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

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