state_engine.h File Reference

#include "base_data_package.h"
#include "array.h"
#include "exception.h"
#include "all_simbody.h"
#include <iostream>
#include <string>
#include <cstdio>
#include <stdexcept>
#include "Simbody.h"
#include "SimTKmath.h"
#include "SimTKcommon.h"
#include "simbody/internal/MultibodySystem.h"

Go to the source code of this file.

Classes
class	SPH::StateEngine
class	SPH::StateEngine::StateVariable
class	SPH::StateEngine::AddedStateVariable
	Class for handling state variable added (allocated) by this StateEngine. More...
struct	SPH::StateEngine::StateVariableInfo
	To hold related info about discrete variables. More...

Namespaces
	SPH

Detailed Description

The StateEngine class defines the interface used to add computational elements to the underlying SimTK::System (MultibodySystem). It specifies the interface that simbodystates must satisfy in order to be part of the system and provides a series of helper methods for adding variables (state, discrete, cache, ...) to the underlying system. As such, SimbodyState handles all of the bookkeeping of system indices and provides convenience access to variable values (incl. derivatives) via their names as strings.

Author

Chi Zhang and Xiangyu Hu.