This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem. More...

#include <GeneralForceSubsystem.h>

Inheritance diagram for SimTK::GeneralForceSubsystem:

Public Member Functions
	GeneralForceSubsystem ()

	GeneralForceSubsystem (MultibodySystem &)

ForceIndex	adoptForce (Force &force)
	Attach a new force to this subsystem. More...

int	getNumForces () const
	Get the number of force elements which have been added to this Subsystem. More...

const Force &	getForce (ForceIndex index) const
	Get a const reference to a force element by index. More...

Force &	updForce (ForceIndex index)
	Get a writable reference to a force element by index. More...

bool	isForceDisabled (const State &state, ForceIndex index) const
	Find out whether a particular force element contained in this subsystem is currently disabled in the given state. More...

void	setForceIsDisabled (State &state, ForceIndex index, bool shouldBeDisabled) const
	Disable or enable a particular force element contained in this subsystem. More...

const MultibodySystem &	getMultibodySystem () const
	Every Subsystem is owned by a System; a GeneralForceSubsystem expects to be owned by a MultibodySystem. More...

Public Member Functions inherited from SimTK::ForceSubsystem
	ForceSubsystem ()

	SimTK_PIMPL_DOWNCAST (ForceSubsystem, Subsystem)

Guts &	updRep ()

const Guts &	getRep () const

Public Member Functions inherited from SimTK::Subsystem
	Subsystem ()

	Subsystem (const Subsystem &)

Subsystem &	operator= (const Subsystem &)

	~Subsystem ()

const String &	getName () const

const String &	getVersion () const

QIndex	allocateQ (State &, const Vector &qInit) const

UIndex	allocateU (State &, const Vector &uInit) const

ZIndex	allocateZ (State &, const Vector &zInit) const

DiscreteVariableIndex	allocateDiscreteVariable (State &, Stage invalidates, AbstractValue *v) const

DiscreteVariableIndex	allocateAutoUpdateDiscreteVariable (State &, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const

CacheEntryIndex	allocateCacheEntry (const State &, Stage dependsOn, Stage computedBy, AbstractValue *v) const

CacheEntryIndex	allocateCacheEntry (const State &state, Stage g, AbstractValue *v) const

CacheEntryIndex	allocateLazyCacheEntry (const State &state, Stage earliest, AbstractValue *v) const

QErrIndex	allocateQErr (const State &, int nqerr) const

UErrIndex	allocateUErr (const State &, int nuerr) const

UDotErrIndex	allocateUDotErr (const State &, int nudoterr) const

EventTriggerByStageIndex	allocateEventTriggersByStage (const State &, Stage, int ntriggers) 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

const Vector &	getEventTriggersByStage (const State &, Stage) 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

Vector &	updEventTriggersByStage (const State &, Stage) const

Stage	getStage (const State &) const

const AbstractValue &	getDiscreteVariable (const State &s, DiscreteVariableIndex dx) const

Real	getDiscreteVarLastUpdateTime (const State &s, DiscreteVariableIndex dx) const

CacheEntryIndex	getDiscreteVarUpdateIndex (const State &s, DiscreteVariableIndex dx) const

const AbstractValue &	getDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVarUpdateValue (const State &s, DiscreteVariableIndex dx) const

bool	isDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

void	markDiscreteVarUpdateValueRealized (const State &s, DiscreteVariableIndex dx) const

AbstractValue &	updDiscreteVariable (State &, DiscreteVariableIndex) const

const AbstractValue &	getCacheEntry (const State &, CacheEntryIndex) const

AbstractValue &	updCacheEntry (const State &, CacheEntryIndex) const

bool	isCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueRealized (const State &, CacheEntryIndex) const

void	markCacheValueNotRealized (const State &, CacheEntryIndex) const

SystemQIndex	getQStart (const State &) const

int	getNQ (const State &) const

SystemUIndex	getUStart (const State &) const

int	getNU (const State &) const

SystemZIndex	getZStart (const State &) const

int	getNZ (const State &) const

SystemQErrIndex	getQErrStart (const State &) const

int	getNQErr (const State &) const

SystemUErrIndex	getUErrStart (const State &) const

int	getNUErr (const State &) const

SystemUDotErrIndex	getUDotErrStart (const State &) const

int	getNUDotErr (const State &) const

SystemMultiplierIndex	getMultipliersStart (const State &) const

int	getNMultipliers (const State &) const

SystemEventTriggerByStageIndex	getEventTriggerStartByStage (const State &, Stage) const

int	getNEventTriggersByStage (const State &, Stage) const

bool	isInSystem () const

bool	isInSameSystem (const Subsystem &otherSubsystem) const

const System &	getSystem () const

System &	updSystem ()

SubsystemIndex	getMySubsystemIndex () const

bool	isOwnerHandle () const

bool	isEmptyHandle () const

bool	isSameSubsystem (const Subsystem &otherSubsystem) const

bool	subsystemTopologyHasBeenRealized () const

void	invalidateSubsystemTopologyCache () const

MeasureIndex	adoptMeasure (AbstractMeasure &)

AbstractMeasure	getMeasure (MeasureIndex) const

template<class T >
Measure_< T >	getMeasure_ (MeasureIndex mx) const

const Subsystem::Guts &	getSubsystemGuts () const

Subsystem::Guts &	updSubsystemGuts ()

void	adoptSubsystemGuts (Subsystem::Guts *g)

void	setSystem (System &, SubsystemIndex)

	Subsystem (Subsystem::Guts *g)

bool	hasGuts () const

Detailed Description

This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.

Each force element is represented by a Force object. For example, to add a spring between two bodies, you would write

GeneralForceSubsystem forces(system);
// ...
Force::TwoPointLinearSpring(forces, body1, station1, body2, station2, k, x0);

Constructor & Destructor Documentation

SimTK::GeneralForceSubsystem::GeneralForceSubsystem ( )

SimTK::GeneralForceSubsystem::GeneralForceSubsystem ( MultibodySystem & )

explicit

Member Function Documentation

ForceIndex SimTK::GeneralForceSubsystem::adoptForce ( Force & force )

Attach a new force to this subsystem.

The subsystem takes over ownership of the force, leaving the passed in handle as a reference to it. This is normally called by the Force handle constructor.

Parameters

force A writable reference to a Force handle whose referenced force element is not yet owned by any subsystem. We will take over ownership of the ForceImpl implementation objected referenced by the handle, bumping the reference count and leaving the reference in place so that the original handle can continue to be used to reference and modify the force element.

Returns: A unique integer index for the adopted force element that can be used to retrieve this force element from the subsystem later if needed.

int SimTK::GeneralForceSubsystem::getNumForces ( ) const

Get the number of force elements which have been added to this Subsystem.

Legal ForceIndex values range from 0 to getNumForces()-1.

const Force& SimTK::GeneralForceSubsystem::getForce ( ForceIndex index ) const

Get a const reference to a force element by index.

Force& SimTK::GeneralForceSubsystem::updForce ( ForceIndex index )

Get a writable reference to a force element by index.

bool SimTK::GeneralForceSubsystem::isForceDisabled	(	const State &	state,
		ForceIndex	index
	)		const

Find out whether a particular force element contained in this subsystem is currently disabled in the given state.

void SimTK::GeneralForceSubsystem::setForceIsDisabled	(	State &	state,
		ForceIndex	index,
		bool	shouldBeDisabled
	)		const

Disable or enable a particular force element contained in this subsystem.

This can usually be done more conveniently through the Force handle's disable() and enable() methods. Note that although force elements are normally enabled when created, it is possible that the force element will have been constructed to be disabled by default in which case it must be explicitly enabled.

const MultibodySystem& SimTK::GeneralForceSubsystem::getMultibodySystem ( ) const

Every Subsystem is owned by a System; a GeneralForceSubsystem expects to be owned by a MultibodySystem.

This method returns a const reference to the containing MultibodySystem and will throw an exception if there is no containing System or it is not a MultibodySystem.

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

GeneralForceSubsystem.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation