SimTK::Subsystem Class Reference

The abstract parent of all Subsystems. More...

#include <Subsystem.h>

Inheritance diagram for SimTK::Subsystem:

Classes
class	Guts
	The abstract parent of all Subsystem "Guts" implementation classes. More...

Public Member Functions
	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

Friends
class	Guts

Detailed Description

The abstract parent of all Subsystems.

A Subsystem is expected to be part of a larger System and to have interdependencies with other subsystems of that same system. It must NOT have dependencies on objects which are outside the System. Consequently construction of any concrete subsystem requires specification of a system at that time. Subsystems go through an extended construction phase in which their contents and interdependencies are created. Thus all of a System's Subsystems generally need to be available simultaneously during construction, so that they can reference each other.

There are three distinct users of this class:

• the System class
• the concrete Subsystems derived from this class
• the end user of a concrete Subsystem Only end user methods are public here. Methods intended for use by the concrete Subsystem class can be found in the Subsystem::Guts class which is defined in a separate header file. End users need not look over there – trust me, you'll find it disturbing if you do!

Constructor & Destructor Documentation

SimTK::Subsystem::Subsystem ( )

inline

SimTK::Subsystem::Subsystem

(

const Subsystem &

)

SimTK::Subsystem::~Subsystem

(

)

SimTK::Subsystem::Subsystem ( Subsystem::Guts *  g )

inlineexplicit

Member Function Documentation

Subsystem& SimTK::Subsystem::operator=

(

const Subsystem &

)

const String& SimTK::Subsystem::getName

(

)

const

const String& SimTK::Subsystem::getVersion

(

)

const

QIndex SimTK::Subsystem::allocateQ	(	State &	,
		const Vector &	qInit
	)		const

UIndex SimTK::Subsystem::allocateU	(	State &	,
		const Vector &	uInit
	)		const

ZIndex SimTK::Subsystem::allocateZ	(	State &	,
		const Vector &	zInit
	)		const

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

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

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

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

inline

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

inline

QErrIndex SimTK::Subsystem::allocateQErr	(	const State &	,
		int	nqerr
	)		const

UErrIndex SimTK::Subsystem::allocateUErr	(	const State &	,
		int	nuerr
	)		const

UDotErrIndex SimTK::Subsystem::allocateUDotErr	(	const State &	,
		int	nudoterr
	)		const

EventTriggerByStageIndex SimTK::Subsystem::allocateEventTriggersByStage	(	const State &	,
		Stage	,
		int	ntriggers
	)		const

const Vector& SimTK::Subsystem::getQ

(

const State &

)

const

const Vector& SimTK::Subsystem::getU

(

const State &

)

const

const Vector& SimTK::Subsystem::getZ

(

const State &

)

const

const Vector& SimTK::Subsystem::getQDot

(

const State &

)

const

const Vector& SimTK::Subsystem::getUDot

(

const State &

)

const

const Vector& SimTK::Subsystem::getZDot

(

const State &

)

const

const Vector& SimTK::Subsystem::getQDotDot

(

const State &

)

const

const Vector& SimTK::Subsystem::getQErr

(

const State &

)

const

const Vector& SimTK::Subsystem::getUErr

(

const State &

)

const

const Vector& SimTK::Subsystem::getUDotErr

(

const State &

)

const

const Vector& SimTK::Subsystem::getMultipliers

(

const State &

)

const

const Vector& SimTK::Subsystem::getEventTriggersByStage	(	const State &	,
		Stage
	)		const

Vector& SimTK::Subsystem::updQ

(

State &

)

const

Vector& SimTK::Subsystem::updU

(

State &

)

const

Vector& SimTK::Subsystem::updZ

(

State &

)

const

void SimTK::Subsystem::setQ ( State &  s, const Vector &  q  ) const

inline

void SimTK::Subsystem::setU ( State &  s, const Vector &  u  ) const

inline

void SimTK::Subsystem::setZ ( State &  s, const Vector &  z  ) const

inline

Vector& SimTK::Subsystem::updQDot

(

const State &

)

const

Vector& SimTK::Subsystem::updUDot

(

const State &

)

const

Vector& SimTK::Subsystem::updZDot

(

const State &

)

const

Vector& SimTK::Subsystem::updQDotDot

(

const State &

)

const

Vector& SimTK::Subsystem::updQErr

(

const State &

)

const

Vector& SimTK::Subsystem::updUErr

(

const State &

)

const

Vector& SimTK::Subsystem::updUDotErr

(

const State &

)

const

Vector& SimTK::Subsystem::updMultipliers

(

const State &

)

const

Vector& SimTK::Subsystem::updEventTriggersByStage	(	const State &	,
		Stage
	)		const

Stage SimTK::Subsystem::getStage

(

const State &

)

const

const AbstractValue& SimTK::Subsystem::getDiscreteVariable	(	const State &	s,
		DiscreteVariableIndex	dx
	)		const

Real SimTK::Subsystem::getDiscreteVarLastUpdateTime ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

CacheEntryIndex SimTK::Subsystem::getDiscreteVarUpdateIndex ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

const AbstractValue& SimTK::Subsystem::getDiscreteVarUpdateValue ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

AbstractValue& SimTK::Subsystem::updDiscreteVarUpdateValue ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

bool SimTK::Subsystem::isDiscreteVarUpdateValueRealized ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

void SimTK::Subsystem::markDiscreteVarUpdateValueRealized ( const State &  s, DiscreteVariableIndex  dx  ) const

inline

AbstractValue& SimTK::Subsystem::updDiscreteVariable	(	State &	,
		DiscreteVariableIndex
	)		const

const AbstractValue& SimTK::Subsystem::getCacheEntry	(	const State &	,
		CacheEntryIndex
	)		const

AbstractValue& SimTK::Subsystem::updCacheEntry	(	const State &	,
		CacheEntryIndex
	)		const

bool SimTK::Subsystem::isCacheValueRealized	(	const State &	,
		CacheEntryIndex
	)		const

void SimTK::Subsystem::markCacheValueRealized	(	const State &	,
		CacheEntryIndex
	)		const

void SimTK::Subsystem::markCacheValueNotRealized	(	const State &	,
		CacheEntryIndex
	)		const

SystemQIndex SimTK::Subsystem::getQStart

(

const State &

)

const

int SimTK::Subsystem::getNQ

(

const State &

)

const

SystemUIndex SimTK::Subsystem::getUStart

(

const State &

)

const

int SimTK::Subsystem::getNU

(

const State &

)

const

SystemZIndex SimTK::Subsystem::getZStart

(

const State &

)

const

int SimTK::Subsystem::getNZ

(

const State &

)

const

SystemQErrIndex SimTK::Subsystem::getQErrStart

(

const State &

)

const

int SimTK::Subsystem::getNQErr

(

const State &

)

const

SystemUErrIndex SimTK::Subsystem::getUErrStart

(

const State &

)

const

int SimTK::Subsystem::getNUErr

(

const State &

)

const

SystemUDotErrIndex SimTK::Subsystem::getUDotErrStart

(

const State &

)

const

int SimTK::Subsystem::getNUDotErr

(

const State &

)

const

SystemMultiplierIndex SimTK::Subsystem::getMultipliersStart

(

const State &

)

const

int SimTK::Subsystem::getNMultipliers

(

const State &

)

const

SystemEventTriggerByStageIndex SimTK::Subsystem::getEventTriggerStartByStage	(	const State &	,
		Stage
	)		const

int SimTK::Subsystem::getNEventTriggersByStage	(	const State &	,
		Stage
	)		const

bool SimTK::Subsystem::isInSystem

(

)

const

bool SimTK::Subsystem::isInSameSystem

(

const Subsystem &

otherSubsystem

)

const

const System& SimTK::Subsystem::getSystem

(

)

const

System& SimTK::Subsystem::updSystem

(

)

SubsystemIndex SimTK::Subsystem::getMySubsystemIndex

(

)

const

bool SimTK::Subsystem::isOwnerHandle

(

)

const

bool SimTK::Subsystem::isEmptyHandle

(

)

const

bool SimTK::Subsystem::isSameSubsystem

(

const Subsystem &

otherSubsystem

)

const

bool SimTK::Subsystem::subsystemTopologyHasBeenRealized

(

)

const

void SimTK::Subsystem::invalidateSubsystemTopologyCache

(

)

const

MeasureIndex SimTK::Subsystem::adoptMeasure

(

AbstractMeasure &

)

AbstractMeasure SimTK::Subsystem::getMeasure

(

MeasureIndex

)

const

template<class T >

Measure_<T> SimTK::Subsystem::getMeasure_ ( MeasureIndex  mx ) const

inline

const Subsystem::Guts& SimTK::Subsystem::getSubsystemGuts ( ) const

inline

Subsystem::Guts& SimTK::Subsystem::updSubsystemGuts ( )

inline

void SimTK::Subsystem::adoptSubsystemGuts

(

Subsystem::Guts *

g

)

void SimTK::Subsystem::setSystem	(	System &	,
		SubsystemIndex
	)

bool SimTK::Subsystem::hasGuts ( ) const

inline

Friends And Related Function Documentation

friend class Guts

friend

---

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

• Subsystem.h