1#ifndef SimTK_SimTKCOMMON_SUBSYSTEM_H_
2#define SimTK_SimTKCOMMON_SUBSYSTEM_H_
89{
return s.
allocateQ(getMySubsystemIndex(), qInit); }
91{
return s.
allocateU(getMySubsystemIndex(), uInit); }
93{
return s.
allocateZ(getMySubsystemIndex(), zInit); }
101 (getMySubsystemIndex(),invalidates,v,updateDependsOn); }
105 (getMySubsystemIndex(), dependsOn, computedBy, v); }
109{
return allocateCacheEntry(state, g, g, v); }
125{
return s.
getQ(getMySubsystemIndex()); }
127{
return s.
getU(getMySubsystemIndex()); }
129{
return s.
getZ(getMySubsystemIndex()); }
140{
return s.
getQDot(getMySubsystemIndex()); }
142{
return s.
getUDot(getMySubsystemIndex()); }
144{
return s.
getZDot(getMySubsystemIndex()); }
146{
return s.
getQDotDot(getMySubsystemIndex()); }
149{
return s.
updQDot(getMySubsystemIndex()); }
151{
return s.
updUDot(getMySubsystemIndex()); }
153{
return s.
updZDot(getMySubsystemIndex()); }
155{
return s.
updQDotDot(getMySubsystemIndex()); }
158{
return s.
getQErr(getMySubsystemIndex()); }
160{
return s.
getUErr(getMySubsystemIndex()); }
167{
return s.
getUDotErr(getMySubsystemIndex()); }
174{
return s.
updQErr(getMySubsystemIndex()); }
176{
return s.
updUErr(getMySubsystemIndex()); }
178{
return s.
updUDotErr(getMySubsystemIndex()); }
185{
return s.
getQStart(getMySubsystemIndex()); }
187{
return s.
getNQ(getMySubsystemIndex()); }
190{
return s.
getUStart(getMySubsystemIndex()); }
192{
return s.
getNU(getMySubsystemIndex()); }
195{
return s.
getZStart(getMySubsystemIndex()); }
197{
return s.
getNZ(getMySubsystemIndex()); }
202{
return s.
getNQErr(getMySubsystemIndex()); }
207{
return s.
getNUErr(getMySubsystemIndex()); }
288inline const String& getName()
const;
291inline const String& getVersion()
const;
294inline bool isInSystem()
const;
298inline bool isInSameSystem(
const Subsystem& otherSubsystem)
const;
303inline const System& getSystem()
const;
307inline System& updSystem();
323{
return guts && (guts==otherSubsystem.guts); }
328inline bool isOwnerHandle()
const;
333inline bool subsystemTopologyHasBeenRealized()
const;
342inline void invalidateSubsystemTopologyCache()
const;
#define SimTK_ASSERT(cond, msg)
Definition: ExceptionMacros.h:373
This file declares the base class AbstractMeasure for all derived Measure handle classes,...
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
This is the header which should be included in user programs that would like to make use of all the S...
Declares the user-visible part of a SimTK::State, the implementation is done in a separate internal c...
Includes internal headers providing declarations for the basic SimTK Core classes.
This is the base class for all Measure handle classes.
Definition: Measure.h:151
Abstract base class representing an arbitrary value of unknown type.
Definition: Value.h:49
This unique integer type is for selecting non-shared cache entries.
This unique integer type is for selecting discrete variables.
Unique integer type for Subsystem-local, per-stage event indexing.
This is the base handle class for all Measures whose value type is known, including all the Simbody b...
Definition: Measure.h:263
Unique integer type for Subsystem-local qErr indexing.
Unique integer type for Subsystem-local q indexing.
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
@ Infinity
Higher than any legitimate Stage.
Definition: Stage.h:79
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
SystemEventTriggerIndex getEventTriggerStartByStage(Stage) const
Return the index within the global event trigger array at which the first of the event triggers assoc...
int getNQErr() const
Return the total number nqerr=mp+nQuaternions of cache entries for position-level constraint errors.
int getNUDotErr() const
Return the total number nudotErr=mp+mv+ma of cache entries for acceleration-level constraint errors (...
Vector & updUDotErr(SubsystemIndex) const
const Vector & getQDot(SubsystemIndex) const
Per-subsystem access to the shared cache entries.
const Stage & getSubsystemStage(SubsystemIndex) const
SystemYErrIndex getUErrStart() const
Returns the yErr index at which the uErr's begin. Callable at Instance stage.
Vector & updUErr(SubsystemIndex) const
Vector & updZDot(SubsystemIndex) const
void markCacheValueNotRealized(SubsystemIndex, CacheEntryIndex) const
(Advanced) Normally cache entries are invalidated automatically, however this method allows manual in...
QIndex allocateQ(SubsystemIndex, const Vector &qInit)
Allocate generalized coordinates q, which are second order continuous state variables.
int getNQ() const
Get total number of shared q's (generalized coordinates; second order state variables).
const AbstractValue & getDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the current value of its associated update cache entry...
const Vector & getUErr(SubsystemIndex) const
const Vector & getZ(SubsystemIndex) const
const Vector & getEventTriggersByStage(Stage) const
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
Vector & updZ(SubsystemIndex)
const Vector & getU(SubsystemIndex) const
bool isDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Check whether the update value for this auto-update discrete variable has already been computed since...
const Vector & getQDotDot(SubsystemIndex) const
const Vector & getZWeights(SubsystemIndex) const
QErrIndex allocateQErr(SubsystemIndex, int nqerr) const
Allocate nqerr cache slots to hold the current error for position-level (holonomic) constraint equati...
const Vector & getQErrWeights(SubsystemIndex) const
const AbstractValue & getDiscreteVariable(SubsystemIndex, DiscreteVariableIndex) const
Get the current value of the indicated discrete variable.
const Vector & getUWeights(SubsystemIndex) const
const Vector & getUErrWeights(SubsystemIndex) const
SystemYIndex getUStart() const
Returns the y index at which the u's begin. Callable at Model stage.
SystemYErrIndex getQErrStart() const
Returns the yErr index at which the qErr's begin. Callable at Instance stage.
int getNU() const
Get total number of shared u's (generalized speeds; mobilities).
AbstractValue & updCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a writable reference to the value contained in a particular cache entry.
const AbstractValue & getCacheEntry(SubsystemIndex, CacheEntryIndex) const
Retrieve a const reference to the value contained in a particular cache entry.
const Vector & getZDot(SubsystemIndex) const
Vector & updQDot(SubsystemIndex) const
SystemYIndex getQStart() const
Returns the y index at which the q's begin. Callable at Model stage.
SystemMultiplierIndex getMultipliersStart(SubsystemIndex) const
Real getDiscreteVarLastUpdateTime(SubsystemIndex, DiscreteVariableIndex) const
Return the time of last update for this discrete variable.
void advanceSubsystemToStage(SubsystemIndex, Stage) const
Advance a particular Subsystem's current stage by one to the indicated stage.
AbstractValue & updDiscreteVarUpdateValue(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return a writable reference to the value of its associated up...
Vector & updQErr(SubsystemIndex) const
void markCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Mark the value of a particular cache entry as up to date after it has been recalculated.
UDotErrIndex allocateUDotErr(SubsystemIndex, int nudoterr) const
Allocate nudoterr cache slots to hold the current error for acceleration-level (acceleration-only,...
SystemYIndex getZStart() const
Returns the y index at which the z's begin. Callable at Model stage.
Vector & updQ(SubsystemIndex)
CacheEntryIndex getDiscreteVarUpdateIndex(SubsystemIndex, DiscreteVariableIndex) const
For an auto-updating discrete variable, return the CacheEntryIndex for its associated update cache en...
UErrIndex allocateUErr(SubsystemIndex, int nuerr) const
Allocate nuerr cache slots to hold the current error for velocity-level (nonholonomic and holonomic f...
Vector & updUDot(SubsystemIndex) const
int getNZ() const
Get total number of shared z's (auxiliary state variables).
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *, Stage updateDependsOn)
This method allocates a DiscreteVariable whose value should be updated automatically after each time ...
int getNUErr() const
Return the total number nuerr=mp+mv of cache entries for velocity-level constraint errors (including ...
Vector & updQDotDot(SubsystemIndex) const
const Vector & getQErr(SubsystemIndex) const
int getNMultipliers() const
Return the total number of constraint multipliers; necessarily the same as the number of acceleration...
const Vector & getMultipliers(SubsystemIndex) const
SystemUDotErrIndex getUDotErrStart(SubsystemIndex) const
Vector & updEventTriggersByStage(Stage) const
AbstractValue & updDiscreteVariable(SubsystemIndex, DiscreteVariableIndex)
Get a writable reference to the value stored in the indicated discrete state variable dv,...
CacheEntryIndex allocateCacheEntry(SubsystemIndex, Stage earliest, Stage latest, AbstractValue *value) const
There are two Stages supplied explicitly as arguments to this method: earliest and latest.
const Vector & getUDot(SubsystemIndex) const
void markDiscreteVarUpdateValueRealized(SubsystemIndex, DiscreteVariableIndex) const
Mark the update value for this auto-update discrete variable as up-to-date with respect to the state ...
UIndex allocateU(SubsystemIndex, const Vector &uInit)
Allocate generalized speeds u, which are first order continuous state variables related to the deriva...
Vector & updU(SubsystemIndex)
int getNEventTriggersByStage(Stage) const
Return the size of the partition of event trigger functions which are evaluated at a given Stage.
DiscreteVariableIndex allocateDiscreteVariable(SubsystemIndex, Stage invalidates, AbstractValue *)
The Stage supplied here in the call is the earliest subsystem stage which is invalidated by a change ...
EventTriggerByStageIndex allocateEventTrigger(SubsystemIndex, Stage stage, int nevent) const
Allocate room for nevent witness function values that will be available at the indicated stage.
ZIndex allocateZ(SubsystemIndex, const Vector &zInit)
Allocate auxiliary first order continuous state variables z.
bool isCacheValueRealized(SubsystemIndex, CacheEntryIndex) const
Check whether the value in a particular cache entry has been recalculated since the last change to th...
Vector & updMultipliers(SubsystemIndex) const
const Vector & getUDotErr(SubsystemIndex) const
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
Provide a unique integer type for identifying Subsystems.
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
Vector & updQDot(const State &s) const
Definition: Subsystem.h:148
const Vector & getUDotErr(const State &s) const
Definition: Subsystem.h:166
Vector & updZDot(const State &s) const
Definition: Subsystem.h:152
int getNQErr(const State &s) const
Definition: Subsystem.h:201
ZIndex allocateZ(State &s, const Vector &zInit) const
Definition: Subsystem.h:92
bool hasGuts() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:362
bool isSameSubsystem(const Subsystem &otherSubsystem) const
Determine if this Subsystem handle refers to the same Subsystem::Guts object as handle otherSubsystem...
Definition: Subsystem.h:322
void setZ(State &s, const Vector &z) const
Definition: Subsystem.h:234
const Vector & getU(const State &s) const
Definition: Subsystem.h:126
Vector & updUDotErr(const State &s) const
Definition: Subsystem.h:177
~Subsystem()
Destructor deletes the referenced Subsystem::Guts object if this is the owner handle of that object,...
Vector & updEventTriggersByStage(const State &s, Stage g) const
Definition: Subsystem.h:181
Subsystem::Guts & updSubsystemGuts()
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:354
CacheEntryIndex getDiscreteVarUpdateIndex(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:256
AbstractValue & updDiscreteVariable(State &s, DiscreteVariableIndex index) const
Definition: Subsystem.h:247
CacheEntryIndex allocateCacheEntry(const State &s, Stage dependsOn, Stage computedBy, AbstractValue *v) const
Definition: Subsystem.h:103
AbstractValue & updDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:262
SystemMultiplierIndex getMultipliersStart(const State &s) const
Definition: Subsystem.h:214
QErrIndex allocateQErr(const State &s, int nqerr) const
Definition: Subsystem.h:114
SystemUErrIndex getUErrStart(const State &s) const
Definition: Subsystem.h:204
Vector & updQErr(const State &s) const
Definition: Subsystem.h:173
Vector & updU(State &s) const
Definition: Subsystem.h:136
const Vector & getUErr(const State &s) const
Definition: Subsystem.h:159
int getNMultipliers(const State &s) const
Definition: Subsystem.h:216
const Subsystem::Guts & getSubsystemGuts() const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:353
const Vector & getUDot(const State &s) const
Definition: Subsystem.h:141
SystemUIndex getUStart(const State &s) const
Definition: Subsystem.h:189
int getNUDotErr(const State &s) const
Definition: Subsystem.h:211
Stage getStage(const State &s) const
Definition: Subsystem.h:239
void markDiscreteVarUpdateValueRealized(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:268
UIndex allocateU(State &s, const Vector &uInit) const
Definition: Subsystem.h:90
SystemZIndex getZStart(const State &s) const
Definition: Subsystem.h:194
Subsystem()
Default constructor creates and empty handle with a null Subsystem::Guts pointer.
Definition: Subsystem.h:62
void markCacheValueNotRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:275
CacheEntryIndex allocateCacheEntry(const State &state, Stage g, AbstractValue *v) const
Definition: Subsystem.h:108
Subsystem & operator=(const Subsystem &)
Copy assignment deletes the Subsystem::Guts object if there is one and then behaves like the copy con...
const Vector & getZ(const State &s) const
Definition: Subsystem.h:128
Measure_< T > getMeasure_(MeasureIndex mx) const
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:348
const Vector & getQDot(const State &s) const
Definition: Subsystem.h:139
void adoptSubsystemGuts(Subsystem::Guts *g)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
SystemUDotErrIndex getUDotErrStart(const State &s) const
Definition: Subsystem.h:209
Vector & updQ(State &s) const
Definition: Subsystem.h:135
int getNQ(const State &s) const
Definition: Subsystem.h:186
int getNZ(const State &s) const
Definition: Subsystem.h:196
const Vector & getQErrWeights(const State &s) const
Definition: Subsystem.h:161
SystemEventTriggerByStageIndex getEventTriggerStartByStage(const State &s, Stage g) const
Definition: Subsystem.h:219
QIndex allocateQ(State &s, const Vector &qInit) const
Definition: Subsystem.h:88
Vector & updUDot(const State &s) const
Definition: Subsystem.h:150
Vector & updZ(State &s) const
Definition: Subsystem.h:137
const Vector & getQ(const State &s) const
Definition: Subsystem.h:124
CacheEntryIndex allocateLazyCacheEntry(const State &state, Stage earliest, AbstractValue *v) const
Definition: Subsystem.h:111
bool isDiscreteVarUpdateValueRealized(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:265
const Vector & getQErr(const State &s) const
Definition: Subsystem.h:157
int getNUErr(const State &s) const
Definition: Subsystem.h:206
SystemQIndex getQStart(const State &s) const
Definition: Subsystem.h:184
Vector & updMultipliers(const State &s) const
Definition: Subsystem.h:179
const AbstractValue & getDiscreteVariable(const State &s, DiscreteVariableIndex index) const
Definition: Subsystem.h:245
const AbstractValue & getCacheEntry(const State &s, CacheEntryIndex index) const
Definition: Subsystem.h:249
const Vector & getEventTriggersByStage(const State &s, Stage g) const
Definition: Subsystem.h:170
Vector & updQDotDot(const State &s) const
Definition: Subsystem.h:154
void setU(State &s, const Vector &u) const
Definition: Subsystem.h:230
void setQ(State &s, const Vector &q) const
Definition: Subsystem.h:226
int getNEventTriggersByStage(const State &s, Stage g) const
Definition: Subsystem.h:221
const Vector & getZDot(const State &s) const
Definition: Subsystem.h:143
UDotErrIndex allocateUDotErr(const State &s, int nudoterr) const
Definition: Subsystem.h:118
const Vector & getUWeights(const State &s) const
Definition: Subsystem.h:130
AbstractValue & updCacheEntry(const State &s, CacheEntryIndex index) const
Definition: Subsystem.h:251
DiscreteVariableIndex allocateAutoUpdateDiscreteVariable(State &s, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const
Definition: Subsystem.h:99
bool isCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:271
DiscreteVariableIndex allocateDiscreteVariable(State &s, Stage g, AbstractValue *v) const
Definition: Subsystem.h:96
Vector & updUErr(const State &s) const
Definition: Subsystem.h:175
Real getDiscreteVarLastUpdateTime(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:253
const Vector & getMultipliers(const State &s) const
Definition: Subsystem.h:168
bool isEmptyHandle() const
Return true if this handle has a null Subsystem::Guts pointer.
Definition: Subsystem.h:317
EventTriggerByStageIndex allocateEventTriggersByStage(const State &s, Stage g, int ntriggers) const
Definition: Subsystem.h:121
Subsystem(const Subsystem &)
Copy constructor clones the Subsystem::Guts object if there is one and makes this the owner handle of...
SystemQErrIndex getQErrStart(const State &s) const
Definition: Subsystem.h:199
const Vector & getUErrWeights(const State &s) const
Definition: Subsystem.h:163
const AbstractValue & getDiscreteVarUpdateValue(const State &s, DiscreteVariableIndex dx) const
Definition: Subsystem.h:259
UErrIndex allocateUErr(const State &s, int nuerr) const
Definition: Subsystem.h:116
void advanceToStage(const State &s, Stage g) const
Definition: Subsystem.h:241
const Vector & getZWeights(const State &s) const
Definition: Subsystem.h:132
void markCacheValueRealized(const State &s, CacheEntryIndex cx) const
Definition: Subsystem.h:273
int getNU(const State &s) const
Definition: Subsystem.h:191
const Vector & getQDotDot(const State &s) const
Definition: Subsystem.h:145
Subsystem(Subsystem::Guts *g)
Obtain the Subsystem name if one was given on construction of the concrete Subsystem.
Definition: Subsystem.h:361
This unique integer type is for identifying a triggered event within a particular Stage of the full S...
This unique integer type is for indexing global "multiplier-like" arrays, that is,...
This unique integer type is for indexing global "qErr-like" arrays, that is, arrays that inherently h...
This unique integer type is for indexing global "q-like" arrays, that is, arrays that inherently have...
This unique integer type is for indexing global "uDotErr-like" arrays, that is, arrays that inherentl...
This unique integer type is for indexing global "uErr-like" arrays, that is, arrays that inherently h...
This unique integer type is for indexing global "u-like" arrays, that is, arrays that inherently have...
This unique integer type is for indexing global "z-like" arrays, that is, arrays that inherently have...
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
Unique integer type for Subsystem-local uDotErr indexing.
Unique integer type for Subsystem-local uErr indexing.
Unique integer type for Subsystem-local u indexing.
int size() const
Definition: VectorBase.h:396
Unique integer type for Subsystem-local z indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606