Guts Class Reference

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

#include <SystemGuts.h>

List of all members.

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	getNSubsystems () 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
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
Real	calcTimescale (const State &) const
void	calcYUnitWeights (const State &, Vector &weights) const
void	project (State &, Real consAccuracy, const Vector &yweights, const Vector &ootols, Vector &yerrest, System::ProjectOptions) const
void	calcYErrUnitTolerances (const State &, Vector &tolerances) const
void	handleEvents (State &, Event::Cause, const std::vector< EventId > &eventIds, Real accuracy, const Vector &yWeights, const Vector &ooConstraintTols, Stage &lowestModified, bool &shouldTerminate) const
void	reportEvents (const State &, Event::Cause, const std::vector< EventId > &eventIds) const
void	calcEventTriggerInfo (const State &, std::vector< EventTriggerInfo > &) const
void	calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) const
void	calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) const
void	calcDecorativeGeometryAndAppend (const State &, Stage, std::vector< DecorativeGeometry > &) const
Protected Member Functions
	Guts (const Guts &)
virtual System::Guts *	cloneImpl () const =0
virtual int	realizeTopologyImpl (State &) const
virtual int	realizeModelImpl (State &) const
virtual int	realizeInstanceImpl (const State &) const
virtual int	realizeTimeImpl (const State &) const
virtual int	realizePositionImpl (const State &) const
virtual int	realizeVelocityImpl (const State &) const
virtual int	realizeDynamicsImpl (const State &) const
virtual int	realizeAccelerationImpl (const State &) const
virtual int	realizeReportImpl (const State &) const
virtual Real	calcTimescaleImpl (const State &) const
virtual int	calcYUnitWeightsImpl (const State &, Vector &weights) const
virtual int	projectImpl (State &, Real consAccuracy, const Vector &yweights, const Vector &ootols, Vector &yerrest, System::ProjectOptions) const
virtual int	calcYErrUnitTolerancesImpl (const State &, Vector &tolerances) const
virtual int	handleEventsImpl (State &, Event::Cause, const std::vector< EventId > &eventIds, Real accuracy, const Vector &yWeights, const Vector &ooConstraintTols, Stage &lowestModified, bool &shouldTerminate) const
virtual int	reportEventsImpl (const State &, Event::Cause, const std::vector< EventId > &eventIds) const
virtual int	calcEventTriggerInfoImpl (const State &, std::vector< EventTriggerInfo > &) const
virtual int	calcTimeOfNextScheduledEventImpl (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) const
virtual int	calcTimeOfNextScheduledReportImpl (const State &, Real &tNextEvent, std::vector< EventId > &eventIds, bool includeCurrentTime) 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 the SimTK Core, then the System author should expose only the data-free handle class derived from System.

---

Constructor & Destructor Documentation

Guts	(	const String &	name = "<NONAME>",
		const String &	version = "0.0.0"
	)			[explicit]

virtual ~Guts

(

)

[virtual]

Guts

(

class GutsRep *

r

)

[inline, explicit]

Guts

(

const Guts &

)

[protected]

---

Member Function Documentation

SubsystemIndex adoptSubsystem

(

Subsystem &

child

)

void calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		std::vector< DecorativeGeometry > &
	)			const

void calcEventTriggerInfo	(	const State &	,
		std::vector< EventTriggerInfo > &
	)			const

virtual int calcEventTriggerInfoImpl	(	const State &	,
		std::vector< EventTriggerInfo > &
	)			const [protected, virtual]

void calcTimeOfNextScheduledEvent	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const

virtual int calcTimeOfNextScheduledEventImpl	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const [protected, virtual]

void calcTimeOfNextScheduledReport	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const

virtual int calcTimeOfNextScheduledReportImpl	(	const State &	,
		Real &	tNextEvent,
		std::vector< EventId > &	eventIds,
		bool	includeCurrentTime
	)			const [protected, virtual]

Real calcTimescale

(

const State &

)

const

virtual Real calcTimescaleImpl

(

const State &

)

const [protected, virtual]

void calcYErrUnitTolerances	(	const State &	,
		Vector &	tolerances
	)			const

virtual int calcYErrUnitTolerancesImpl	(	const State &	,
		Vector &	tolerances
	)			const [protected, virtual]

void calcYUnitWeights	(	const State &	,
		Vector &	weights
	)			const

virtual int calcYUnitWeightsImpl	(	const State &	,
		Vector &	weights
	)			const [protected, virtual]

System::Guts* clone

(

)

const

virtual System::Guts* cloneImpl

(

)

const [protected, pure virtual]

const State& getDefaultState

(

)

const

const String& getName

(

)

const

int getNSubsystems

(

)

const

const GutsRep& getRep

(

)

const [inline]

const Subsystem& getSubsystem

(

SubsystemIndex

)

const

const System& getSystem

(

)

const

const String& getVersion

(

)

const

void handleEvents	(	State &	,
		Event::Cause	,
		const std::vector< EventId > &	eventIds,
		Real	accuracy,
		const Vector &	yWeights,
		const Vector &	ooConstraintTols,
		Stage &	lowestModified,
		bool &	shouldTerminate
	)			const

virtual int handleEventsImpl	(	State &	,
		Event::Cause	,
		const std::vector< EventId > &	eventIds,
		Real	accuracy,
		const Vector &	yWeights,
		const Vector &	ooConstraintTols,
		Stage &	lowestModified,
		bool &	shouldTerminate
	)			const [protected, virtual]

bool hasOwnerHandle

(

)

const

bool hasRep

(

)

const [inline]

bool hasTimeAdvancedEvents

(

)

const

void invalidateSystemTopologyCache

(

)

const

void project	(	State &	,
		Real	consAccuracy,
		const Vector &	yweights,
		const Vector &	ootols,
		Vector &	yerrest,
		System::ProjectOptions
	)			const

virtual int projectImpl	(	State &	,
		Real	consAccuracy,
		const Vector &	yweights,
		const Vector &	ootols,
		Vector &	yerrest,
		System::ProjectOptions
	)			const [protected, virtual]

void realize	(	const State &	s,
		Stage	g = Stage::HighestRuntime
	)			const

void realizeAcceleration

(

const State &

s

)

const

virtual int realizeAccelerationImpl

(

const State &

)

const [protected, virtual]

void realizeDynamics

(

const State &

s

)

const

virtual int realizeDynamicsImpl

(

const State &

)

const [protected, virtual]

void realizeInstance

(

const State &

s

)

const

virtual int realizeInstanceImpl

(

const State &

)

const [protected, virtual]

void realizeModel

(

State &

)

const

virtual int realizeModelImpl

(

State &

)

const [protected, virtual]

void realizePosition

(

const State &

s

)

const

virtual int realizePositionImpl

(

const State &

)

const [protected, virtual]

void realizeReport

(

const State &

s

)

const

virtual int realizeReportImpl

(

const State &

)

const [protected, virtual]

void realizeTime

(

const State &

s

)

const

virtual int realizeTimeImpl

(

const State &

)

const [protected, virtual]

const State& realizeTopology

(

)

const

virtual int realizeTopologyImpl

(

State &

)

const [protected, virtual]

void realizeVelocity

(

const State &

s

)

const

virtual int realizeVelocityImpl

(

const State &

)

const [protected, virtual]

void reportEvents	(	const State &	,
		Event::Cause	,
		const std::vector< EventId > &	eventIds
	)			const

virtual int reportEventsImpl	(	const State &	,
		Event::Cause	,
		const std::vector< EventId > &	eventIds
	)			const [protected, virtual]

void setHasTimeAdvancedEvents

(

bool

hasEm

)

void setOwnerHandle

(

System &

)

bool systemTopologyHasBeenRealized

(

)

const

State& updDefaultState

(

)

GutsRep& updRep

(

)

const [inline]

Subsystem& updSubsystem

(

SubsystemIndex

)

System& updSystem

(

)

---

Friends And Related Function Documentation

friend class GutsRep [friend]

---

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

• SystemGuts.h