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What are realize_ functions?

Posted: Mon Feb 24, 2020 10:16 pm

by william_a

Hi All,

What are the differences between the following functions and when are they used?
1) realizeAcceleration()
2) realizeDynamics()
3) realizePosition()
4) realizeReport()

PS: I want to store all the states during the forward integration. Are these functions needed to do that?

Thanks,
William

Re: What are realize_ functions?

Posted: Mon Feb 24, 2020 11:18 pm

by sherm

Those functions ensure that the named computations have been performed at the current state. For example,
realizePosition() ensures that body poses are available (that is, position kinematics calculations have been performed mapping the state variables to Cartesian locations and orientations). "Dynamics" here means force calculations, and "Report" means everything is calculated (so you can "report" the results).

Each of these takes the state as input so none are necessary if all you want to do is store the state.

Regards,
Sherm