SimTK::System::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>

Inheritance diagram for SimTK::System::Guts:

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	getNumSubsystems () 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
StageVersion	getSystemTopologyCacheVersion () const
void	setSystemTopologyCacheVersion (StageVersion topoVersion) 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
void	multiplyByN (const State &state, const Vector &u, Vector &dq) const
void	multiplyByNTranspose (const State &state, const Vector &fq, Vector &fu) const
void	multiplyByNPInv (const State &state, const Vector &dq, Vector &u) const
void	multiplyByNPInvTranspose (const State &state, const Vector &fu, Vector &fq) const
bool	prescribeQ (State &) const
bool	prescribeU (State &) const
void	projectQ (State &, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
void	projectU (State &, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
void	handleEvents (State &, Event::Cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
void	reportEvents (const State &, Event::Cause, const Array_< EventId > &eventIds) const
void	calcEventTriggerInfo (const State &, Array_< EventTriggerInfo > &) const
void	calcTimeOfNextScheduledEvent (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
void	calcTimeOfNextScheduledReport (const State &, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
void	calcDecorativeGeometryAndAppend (const State &, Stage, Array_< DecorativeGeometry > &) const
Protected Member Functions
	Guts (const Guts &)
virtual System::Guts *	cloneImpl () const =0
virtual int	realizeTopologyImpl (State &state) const
virtual int	realizeModelImpl (State &state) const
virtual int	realizeInstanceImpl (const State &state) const
virtual int	realizeTimeImpl (const State &state) const
virtual int	realizePositionImpl (const State &state) const
virtual int	realizeVelocityImpl (const State &state) const
virtual int	realizeDynamicsImpl (const State &state) const
virtual int	realizeAccelerationImpl (const State &state) const
virtual int	realizeReportImpl (const State &state) const
virtual void	multiplyByNImpl (const State &state, const Vector &u, Vector &dq) const
virtual void	multiplyByNTransposeImpl (const State &state, const Vector &fq, Vector &fu) const
virtual void	multiplyByNPInvImpl (const State &state, const Vector &dq, Vector &u) const
virtual void	multiplyByNPInvTransposeImpl (const State &state, const Vector &fu, Vector &fq) const
virtual bool	prescribeQImpl (State &) const
virtual bool	prescribeUImpl (State &) const
virtual void	projectQImpl (State &state, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	projectUImpl (State &state, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const
virtual void	handleEventsImpl (State &state, Event::Cause cause, const Array_< EventId > &eventIds, const HandleEventsOptions &options, HandleEventsResults &results) const
virtual int	reportEventsImpl (const State &state, Event::Cause cause, const Array_< EventId > &eventIds) const
virtual int	calcEventTriggerInfoImpl (const State &state, Array_< EventTriggerInfo > &info) const
virtual int	calcTimeOfNextScheduledEventImpl (const State &state, Real &tNextEvent, Array_< EventId > &eventIds, bool includeCurrentTime) const
virtual int	calcTimeOfNextScheduledReportImpl (const State &state, Real &tNextEvent, Array_< 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 Simbody, then the System author should expose only the data-free handle class derived from System.

---

Constructor & Destructor Documentation

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

virtual SimTK::System::Guts::~Guts

(

)

[virtual]

SimTK::System::Guts::Guts

(

class GutsRep *

r

)

[inline, explicit]

SimTK::System::Guts::Guts

(

const Guts &

)

[protected]

---

Member Function Documentation

const String& SimTK::System::Guts::getName

(

)

const

const String& SimTK::System::Guts::getVersion

(

)

const

void SimTK::System::Guts::setHasTimeAdvancedEvents

(

bool

hasEm

)

bool SimTK::System::Guts::hasTimeAdvancedEvents

(

)

const

const State& SimTK::System::Guts::getDefaultState

(

)

const

State& SimTK::System::Guts::updDefaultState

(

)

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

SubsystemIndex SimTK::System::Guts::adoptSubsystem

(

Subsystem &

child

)

int SimTK::System::Guts::getNumSubsystems

(

)

const

const Subsystem& SimTK::System::Guts::getSubsystem

(

SubsystemIndex

)

const

Subsystem& SimTK::System::Guts::updSubsystem

(

SubsystemIndex

)

const System& SimTK::System::Guts::getSystem

(

)

const

System& SimTK::System::Guts::updSystem

(

)

void SimTK::System::Guts::setOwnerHandle

(

System &

)

bool SimTK::System::Guts::hasOwnerHandle

(

)

const

bool SimTK::System::Guts::hasRep

(

)

const [inline]

const GutsRep& SimTK::System::Guts::getRep

(

)

const [inline]

GutsRep& SimTK::System::Guts::updRep

(

)

const [inline]

bool SimTK::System::Guts::systemTopologyHasBeenRealized

(

)

const

StageVersion SimTK::System::Guts::getSystemTopologyCacheVersion

(

)

const

void SimTK::System::Guts::setSystemTopologyCacheVersion

(

StageVersion

topoVersion

)

const

void SimTK::System::Guts::invalidateSystemTopologyCache

(

)

const

System::Guts* SimTK::System::Guts::clone

(

)

const

const State& SimTK::System::Guts::realizeTopology

(

)

const

void SimTK::System::Guts::realizeModel

(

State &

)

const

void SimTK::System::Guts::realizeInstance

(

const State &

s

)

const

void SimTK::System::Guts::realizeTime

(

const State &

s

)

const

void SimTK::System::Guts::realizePosition

(

const State &

s

)

const

void SimTK::System::Guts::realizeVelocity

(

const State &

s

)

const

void SimTK::System::Guts::realizeDynamics

(

const State &

s

)

const

void SimTK::System::Guts::realizeAcceleration

(

const State &

s

)

const

void SimTK::System::Guts::realizeReport

(

const State &

s

)

const

void SimTK::System::Guts::multiplyByN	(	const State &	state,
		const Vector &	u,
		Vector &	dq
	)		const

void SimTK::System::Guts::multiplyByNTranspose	(	const State &	state,
		const Vector &	fq,
		Vector &	fu
	)		const

void SimTK::System::Guts::multiplyByNPInv	(	const State &	state,
		const Vector &	dq,
		Vector &	u
	)		const

void SimTK::System::Guts::multiplyByNPInvTranspose	(	const State &	state,
		const Vector &	fu,
		Vector &	fq
	)		const

bool SimTK::System::Guts::prescribeQ

(

State &

)

const

bool SimTK::System::Guts::prescribeU

(

State &

)

const

void SimTK::System::Guts::projectQ	(	State &	,
		Vector &	qErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

void SimTK::System::Guts::projectU	(	State &	,
		Vector &	uErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const

void SimTK::System::Guts::handleEvents	(	State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds,
		const HandleEventsOptions &	options,
		HandleEventsResults &	results
	)		const

void SimTK::System::Guts::reportEvents	(	const State &	,
		Event::Cause	,
		const Array_< EventId > &	eventIds
	)		const

void SimTK::System::Guts::calcEventTriggerInfo	(	const State &	,
		Array_< EventTriggerInfo > &
	)		const

void SimTK::System::Guts::calcTimeOfNextScheduledEvent	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

void SimTK::System::Guts::calcTimeOfNextScheduledReport	(	const State &	,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const

void SimTK::System::Guts::calcDecorativeGeometryAndAppend	(	const State &	,
		Stage	,
		Array_< DecorativeGeometry > &
	)		const

virtual System::Guts* SimTK::System::Guts::cloneImpl

(

)

const [protected, pure virtual]

Implemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeTopologyImpl

(

State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeModelImpl

(

State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeInstanceImpl

(

const State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeTimeImpl

(

const State &

state

)

const [inline, protected, virtual]

virtual int SimTK::System::Guts::realizePositionImpl

(

const State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeVelocityImpl

(

const State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeDynamicsImpl

(

const State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeAccelerationImpl

(

const State &

state

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual int SimTK::System::Guts::realizeReportImpl

(

const State &

state

)

const [inline, protected, virtual]

virtual void SimTK::System::Guts::multiplyByNImpl	(	const State &	state,
		const Vector &	u,
		Vector &	dq
	)		const [protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNTransposeImpl	(	const State &	state,
		const Vector &	fq,
		Vector &	fu
	)		const [protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNPInvImpl	(	const State &	state,
		const Vector &	dq,
		Vector &	u
	)		const [protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::multiplyByNPInvTransposeImpl	(	const State &	state,
		const Vector &	fu,
		Vector &	fq
	)		const [protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual bool SimTK::System::Guts::prescribeQImpl

(

State &

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual bool SimTK::System::Guts::prescribeUImpl

(

State &

)

const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::projectQImpl	(	State &	state,
		Vector &	qErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::projectUImpl	(	State &	state,
		Vector &	uErrEst,
		const ProjectOptions &	options,
		ProjectResults &	results
	)		const [inline, protected, virtual]

Reimplemented in SimTK::ParticleConSurfaceSystemGuts.

virtual void SimTK::System::Guts::handleEventsImpl	(	State &	state,
		Event::Cause	cause,
		const Array_< EventId > &	eventIds,
		const HandleEventsOptions &	options,
		HandleEventsResults &	results
	)		const [protected, virtual]

virtual int SimTK::System::Guts::reportEventsImpl	(	const State &	state,
		Event::Cause	cause,
		const Array_< EventId > &	eventIds
	)		const [protected, virtual]

virtual int SimTK::System::Guts::calcEventTriggerInfoImpl	(	const State &	state,
		Array_< EventTriggerInfo > &	info
	)		const [protected, virtual]

virtual int SimTK::System::Guts::calcTimeOfNextScheduledEventImpl	(	const State &	state,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const [protected, virtual]

virtual int SimTK::System::Guts::calcTimeOfNextScheduledReportImpl	(	const State &	state,
		Real &	tNextEvent,
		Array_< EventId > &	eventIds,
		bool	includeCurrentTime
	)		const [protected, virtual]

---

Friends And Related Function Documentation

friend class GutsRep [friend]

---

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

• SystemGuts.h