SPH::StateEngine::StateVariable Class Reference

#include <state_engine.h>

Inherited by SPH::StateEngine::AddedStateVariable.

Public Member Functions
	StateVariable ()
	StateVariable (std::string &name, StateEngine &owner, SimTK::SubsystemIndex subsys, int varindex)
std::string &	getName ()
StateEngine &	getOwner ()
int &	getVarIndex ()
SimTK::SubsystemIndex &	getSubsysIndex ()
SimTK::SystemYIndex &	getSystemYIndex ()
void	setVarIndex (int index)
void	setSubsystemIndex (SimTK::SubsystemIndex &subsysindx)
virtual Real	getValue ()=0
virtual void	setValue (Real value)=0
virtual Real	getDerivative ()=0
virtual void	setDerivative (Real deriv)=0

Detailed Description

Derived simbodysate must create concrete StateVariables to expose their state variables. When exposing state variables allocated by the underlying Simbody (MobilizedBody, Constraint, Force, etc...) use its interface to implement the virtual methods below.

Constructor & Destructor Documentation

StateVariable() [1/2]

SPH::StateEngine::StateVariable::StateVariable ( )

inline

Concstructor and destructor.

StateVariable() [2/2]

SPH::StateEngine::StateVariable::StateVariable ( std::string &  name, StateEngine &  owner, SimTK::SubsystemIndex  subsys, int  varindex  )

inlineexplicit

Parameters

name	state var name.
owner	owning component.
subsys	subsystem for allocation.
varindex	variable's index in subsystem.

Member Function Documentation

getSubsysIndex()

SimTK::SubsystemIndex& SPH::StateEngine::StateVariable::getSubsysIndex ( )

inline

Return the index of the subsystem used to make resource allocations.

getSystemYIndex()

SimTK::SystemYIndex& SPH::StateEngine::StateVariable::getSystemYIndex ( )

inline

Return the index in the global list of continuous state variables, Y.

getValue()

virtual Real SPH::StateEngine::StateVariable::getValue ( )

pure virtual

Concrete StateEngines implement how the state variable value is evaluated.

Implemented in SPH::StateEngine::AddedStateVariable.

getVarIndex()

int& SPH::StateEngine::StateVariable::getVarIndex ( )

inline

Get the index of simbody state variable.

setDerivative()

virtual void SPH::StateEngine::StateVariable::setDerivative ( Real  deriv )

pure virtual

The derivative a state should be a cache entry and thus does not change the state.

Implemented in SPH::StateEngine::AddedStateVariable.

setSubsystemIndex()

void SPH::StateEngine::StateVariable::setSubsystemIndex ( SimTK::SubsystemIndex &  subsysindx )

inline

Set the index of the subsystem used to resource allocations.

setVarIndex()

void SPH::StateEngine::StateVariable::setVarIndex ( int  index )

inline

Set the index of simbody variable.

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

• SPHINXsys/src/shared/simbody_sphinxsys/state_engine.h