The implementation for Integrate measures allocates a continuous state variable or variables from the State's z pool and generates zdot values to be integrated into those z variables. More...

#include <MeasureImplementation.h>

Inheritance diagram for SimTK::Measure_< T >::Integrate::Implementation:

List of all members.

Public Member Functions
	Implementation ()
	The derivative and initialConditions Measures will be empty handles if this is default constructed.
	Implementation (const Measure_< T > &deriv, const Measure_< T > &ic, const T &defaultValue)
	Here we're shallow-copying the Measure handles so we'll be referring to the original Measures.
	Implementation (const Implementation &source)
	Copy constructor shallow-copies the referenced measures, but we don't want to share our state variables.
void	setValue (State &s, const T &value) const
	Set the value of the state variables(s) that hold the integral.
const Measure_< T > &	getDerivativeMeasure () const
const Measure_< T > &	getInitialConditionMeasure () const
void	setDerivativeMeasure (const Measure_< T > &d)
void	setInitialConditionMeasure (const Measure_< T > &ic)
Implementation *	cloneVirtual () const override
int	getNumTimeDerivativesVirtual () const override
	This measure has one more time derivative than the integrand.
void	calcCachedValueVirtual (const State &s, int derivOrder, T &value) const override
	Concrete measures must override this if the state cache is used for precalculated values or derivatives.
const T &	getUncachedValueVirtual (const State &s, int derivOrder) const override
	This is only called when derivOrder >= the number of cache entries we have, but still <= the number of derivatives the Measure says it can deliver.
Stage	getDependsOnStageVirtual (int derivOrder) const override
void	initializeVirtual (State &s) const override
	Initialize the state to the current value of the initial condition measure, if there is one, otherwise to the default value.
void	realizeMeasureTopologyVirtual (State &s) const override
	Allocate one Real continuous state variable z per element of this Measure's data type T, using the default value to determine how many are needed (if that's not part of the type T), and initialize them to the corresponding element from the default value.
void	realizeMeasureAccelerationVirtual (const State &s) const override
	Set the zdots to the integrand (derivative measure) value.

Detailed Description

template<class T>
class SimTK::Measure_< T >::Integrate::Implementation

The implementation for Integrate measures allocates a continuous state variable or variables from the State's z pool and generates zdot values to be integrated into those z variables.

The z's are then copied into a type T, Time-stage cache entry so that we can return the value as a type T reference. Derivative requests are passed through to the integrand so only one cache entry is required here.

Constructor & Destructor Documentation

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation ( ) [inline]

The derivative and initialConditions Measures will be empty handles if this is default constructed.

Reimplemented from SimTK::AbstractMeasure::Implementation.

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation	(	const Measure_< T > &	deriv,
		const Measure_< T > &	ic,
		const T &	defaultValue
	)		`[inline]`

Here we're shallow-copying the Measure handles so we'll be referring to the original Measures.

template<class T>

SimTK::Measure_< T >::Integrate::Implementation::Implementation ( const Implementation & source ) [inline]

Copy constructor shallow-copies the referenced measures, but we don't want to share our state variables.

Reimplemented from SimTK::Measure_< T >::Implementation.

Member Function Documentation

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setValue	(	State &	s,
		const T &	value
	)		const `[inline]`

Set the value of the state variables(s) that hold the integral.

This cannot be used to change the size if the type T is a Vector; the supplied value must be the same length as the default value of this Measure.

template<class T>

const Measure_<T>& SimTK::Measure_< T >::Integrate::Implementation::getDerivativeMeasure ( ) const [inline]

template<class T>

const Measure_<T>& SimTK::Measure_< T >::Integrate::Implementation::getInitialConditionMeasure ( ) const [inline]

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setDerivativeMeasure ( const Measure_< T > & d ) [inline]

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::setInitialConditionMeasure ( const Measure_< T > & ic ) [inline]

template<class T>

Implementation* SimTK::Measure_< T >::Integrate::Implementation::cloneVirtual ( ) const [inline, override, virtual]

Implements SimTK::AbstractMeasure::Implementation.

template<class T>

int SimTK::Measure_< T >::Integrate::Implementation::getNumTimeDerivativesVirtual ( ) const [inline, override, virtual]

This measure has one more time derivative than the integrand.

Reimplemented from SimTK::AbstractMeasure::Implementation.

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::calcCachedValueVirtual	(	const State &	,
		int	derivOrder,
		T &	value
	)		const `[inline, override, virtual]`

Concrete measures must override this if the state cache is used for precalculated values or derivatives.

Reimplemented from SimTK::Measure_< T >::Implementation.

template<class T>

const T& SimTK::Measure_< T >::Integrate::Implementation::getUncachedValueVirtual	(	const State &	,
		int	derivOrder
	)		const `[inline, override, virtual]`

This is only called when derivOrder >= the number of cache entries we have, but still <= the number of derivatives the Measure says it can deliver.

You don't need to override this if that condition can't occur. This is commonly used for functions whose derivatives above a certain order are zero.

Reimplemented from SimTK::Measure_< T >::Implementation.

template<class T>

Stage SimTK::Measure_< T >::Integrate::Implementation::getDependsOnStageVirtual ( int derivOrder ) const [inline, override, virtual]

Implements SimTK::AbstractMeasure::Implementation.

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::initializeVirtual ( State & s ) const [inline, override, virtual]

Initialize the state to the current value of the initial condition measure, if there is one, otherwise to the default value.

Reimplemented from SimTK::AbstractMeasure::Implementation.

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::realizeMeasureTopologyVirtual ( State & s ) const [inline, override, virtual]

Allocate one Real continuous state variable z per element of this Measure's data type T, using the default value to determine how many are needed (if that's not part of the type T), and initialize them to the corresponding element from the default value.

Reimplemented from SimTK::Measure_< T >::Implementation.

template<class T>

void SimTK::Measure_< T >::Integrate::Implementation::realizeMeasureAccelerationVirtual ( const State & s ) const [inline, override, virtual]

Set the zdots to the integrand (derivative measure) value.

If no integrand was provided it is treated as though it were zero.

Reimplemented from SimTK::AbstractMeasure::Implementation.

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

MeasureImplementation.h

Public Member Functions

Detailed Description

template<class T> class SimTK::Measure_< T >::Integrate::Implementation

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class SimTK::Measure_< T >::Integrate::Implementation