class dynamicSystem

container class for multiple mechanisms, influences, and other simulation objects.

Public Fields

int stateSize

the state size for all mechanisms in the system

int numDOFs

the number of degrees of freedom for all mechanisms in the system

int verboseLevel

indicates the desired level of debugging output

int ticksPerSecond

the number of clock ticks per second for dynoTimers.

ptrList mechs

a list of all mechanisms in the system

ptrList parentMechs

a list of parent mechanisms in the system

ptrList objects

a list of all objects in the system

Public Methods

dynamicSystem(void)

constructor

virtual ~dynamicSystem(void)

destructor

int readParams(paramParser* p)

reads parameters from the current context of a paramParser.

int reset(void)

resets all state, including current time

inline int setMode(systemMode newMode)

sets the simulation mode to KINEMATIC or DYNAMIC.

inline int getMode(void)

returns the current simulation mode

inline int useDynamics(void)

returns 1 if dynamic simluation is being used, and 0 otherwise

int addMechanism(mechanism* mech)

adds a mechanism to the system.

int removeMechanism(mechanism* mech)

removes a mechanism from the system

int addObject(dynoObject* obj)

adds a dynoObject to the system.

int deleteObject(dynoObject* obj)

removes the object from the system and deletes it

int getState(double* state)

copies the position and velocity of all mechanisms into 'state'

int setState(const double* state)

sets the position and velocity of all mechanisms from 'state'

int getState(vector &state)

saves the state (position and velocity) of all mechanisms into 'state', resizing it if necessary to stateSize

int setState(const vector &state)

sets the state of all mechanisms from the supplied state vector, returning 0 if 'state' was the wrong size or if an error occurred

inline double currentTime(void)

returns the current simulation time

double stepForward(double dt, int* error = NULL)

integrates the motion of all mechanisms for the indicated time period.

inline dynoSolver* getSolver(void) const

retuns the dynoSolver used for state integration

inline int numMechs(void) const

returns the number of mechanisms

inline int numParents(void) const

returns the number of parent mechanisms

inline int numObjects(void) const

returns the number of objects

inline mechanism* getMech(int i)

returns the i'th mechanism

inline mechanism* getParent(int i)

returns the i'th parent mechanism

inline dynoObject* getObject(int i)

returns the i'th object

dynoObject* getObjectByClassID(int classID, int derivedOk = 1)

returns the first dynoObject having the given classID, or if derivedOk = 1 having the classID of a subclass.

int getObjectsByClassID(int classID, ptrList* l, int derivedOk = 1)

adds all dynoObjects having the given classID (or classID of a derived class, if derivedOk is 1) to l.

Public Members

enum systemMode

indicates whether kinematic or dynamic simulation is used.

#define getDynoObjectByType(ds, classname, derivedOk)

A cover for getDynoObjectByClassID that uses the classID for the supplied class name and typecasts the returned result.

#define getDynoObjectsByType(classname, l, derivedOk)

A cover for getDynoObjectsByClassID that uses the classID for the supplied class name.

Protected Methods

inline int numInfluences(void) const

returns the number of influences

inline int numTimers(void) const

returns the number of timers

inline int numLimiters(void) const

returns the number of limiters

inline int numComponents(void) const

returns the number of dynoComponents

inline dynoInfluence* getInfluence(int i)

returns the i'th influence

inline dynoTimer* getTimer(int i)

returns the i'th timer

inline dynoLimiter* getLimiter(int i)

returns the i'th limiter

dynoComponent* getComponent(int i)

returns the i'th component

int addConstraint(constraint* c)

adds a constraint to the system.

int deleteConstraint(constraint* c)

removes a constraint from the system and deletes it

int addInfluence(dynoInfluence* inf)

Adds an influence to the system.

int deleteInfluence(dynoInfluence* inf)

removes the indicated influence from system and deletes it

int addLimiter(dynoLimiter* lim)

adds a limiter to the system.

int deleteLimiter(dynoLimiter* lim)

removes the indicated limiter from system and deletes it

int addTimer(dynoTimer* timer)

adds a timer to the system.

int deleteTimer(dynoTimer* timer)

removes the indicated timer from system and deletes it

int addComponent(dynoComponent* comp)

adds a dynoComponent to the system.

int deleteComponent(dynoComponent* comp)

removes the indicated component from system and deletes it

Documentation

container class for multiple mechanisms, influences, and other simulation objects.

Use addMechanism and removeMechanism to add and remove mechanisms from the system.

dynoConstraints, dynoInfluences, dynoComponents, dynoTimers, and dynoLimiters can be added to the system with addInfluence(), etc. To temporarily deactivate them, set their 'active' member to 0, rather than using deleteInfluence() et al, which deallocates the objects.

At some point, these interfaces may be made more consistent, but for the time being they're being kept separate.

enum systemMode

indicates whether kinematic or dynamic simulation is used.

• KINEMATIC - kinematic simulation should be used
• DYNAMIC - kinematic simulation should be used

int stateSize

the state size for all mechanisms in the system

int numDOFs

the number of degrees of freedom for all mechanisms in the system

int verboseLevel

indicates the desired level of debugging output

int ticksPerSecond

the number of clock ticks per second for dynoTimers. This is the resolution used for scheduling timer updates.

ptrList mechs

a list of all mechanisms in the system

ptrList parentMechs

a list of parent mechanisms in the system

ptrList objects

a list of all objects in the system

dynamicSystem(void)

constructor

virtual ~dynamicSystem(void)

destructor

int readParams(paramParser* p)

reads parameters from the current context of a paramParser. The variables read by the dynamicSystem are:

• char solverContext[] - the name, if any, of the parser context containing variables for the dynoSolver.
• double maxDt - the size of the maximum timestep to take. Values for maxDt in the solver's context override the dynamicSystem's maxDt.
• int ticksPerSecond - the resolution of the dynamicSystem's scheduler for dynoTimers.
• int verboseLevel - the desired level of debugging output
• int useDynamicSimulation - indicates whether dynamic simulation should be used.

All of these variables are optional and have reasonable default values.

int reset(void)

resets all state, including current time

inline int setMode(systemMode newMode)

sets the simulation mode to KINEMATIC or DYNAMIC. in KINEMATIC simulation, each mechanism's acceleration vector can be set arbitrarily, while in DYNAMIC simulation the mechanism's acceleration is computed from the forces applied to the mechanism.

inline int getMode(void)

returns the current simulation mode

inline int useDynamics(void)

returns 1 if dynamic simluation is being used, and 0 otherwise

int addMechanism(mechanism* mech)

adds a mechanism to the system. The mechanism will be deleted by the system if it is not removed before the system is deleted.

int removeMechanism(mechanism* mech)

removes a mechanism from the system

int addObject(dynoObject* obj)

adds a dynoObject to the system. The object will be deleted by the dynamicSystem by ~dynamicSystem if it has not been deleted by deleteObject(). To temporarily disable an object without deleting it, set the object's active member to zero.

int deleteObject(dynoObject* obj)

removes the object from the system and deletes it

int getState(double* state)

copies the position and velocity of all mechanisms into 'state'

int setState(const double* state)

sets the position and velocity of all mechanisms from 'state'

int getState(vector &state)

saves the state (position and velocity) of all mechanisms into 'state', resizing it if necessary to stateSize

int setState(const vector &state)

sets the state of all mechanisms from the supplied state vector, returning 0 if 'state' was the wrong size or if an error occurred

inline double currentTime(void)

returns the current simulation time

double stepForward(double dt, int* error = NULL)

integrates the motion of all mechanisms for the indicated time period. returns the actual amount of time stepped forward, which is usually equal to the requested time. if error is non-NULL, it will be set to a non-zero value if any errors are detected.

inline dynoSolver* getSolver(void) const

retuns the dynoSolver used for state integration

inline int numMechs(void) const

returns the number of mechanisms

inline int numParents(void) const

returns the number of parent mechanisms

inline int numObjects(void) const

returns the number of objects

inline mechanism* getMech(int i)

returns the i'th mechanism

inline mechanism* getParent(int i)

returns the i'th parent mechanism

inline dynoObject* getObject(int i)

returns the i'th object

dynoObject* getObjectByClassID(int classID, int derivedOk = 1)

returns the first dynoObject having the given classID, or if derivedOk = 1 having the classID of a subclass.

int getObjectsByClassID(int classID, ptrList* l, int derivedOk = 1)

adds all dynoObjects having the given classID (or classID of a derived class, if derivedOk is 1) to l. Returns 1 if any matching dynoObjects were found, or 0 otherwise.

#define getDynoObjectByType(ds, classname, derivedOk)

A cover for getDynoObjectByClassID that uses the classID for the supplied class name and typecasts the returned result.

#define getDynoObjectsByType(classname, l, derivedOk)

A cover for getDynoObjectsByClassID that uses the classID for the supplied class name.

inline int numInfluences(void) const

returns the number of influences

inline int numTimers(void) const

returns the number of timers

inline int numLimiters(void) const

returns the number of limiters

inline int numComponents(void) const

returns the number of dynoComponents

inline dynoInfluence* getInfluence(int i)

returns the i'th influence

inline dynoTimer* getTimer(int i)

returns the i'th timer

inline dynoLimiter* getLimiter(int i)

returns the i'th limiter

dynoComponent* getComponent(int i)

returns the i'th component

int addConstraint(constraint* c)

adds a constraint to the system. The constraint will be deleted by the system if it is not removed before the system is deleted.

int deleteConstraint(constraint* c)

removes a constraint from the system and deletes it

int addInfluence(dynoInfluence* inf)

Adds an influence to the system. The influence will be deleted by the system if it is not removed before the system is deleted.

int deleteInfluence(dynoInfluence* inf)

removes the indicated influence from system and deletes it

int addLimiter(dynoLimiter* lim)

adds a limiter to the system. The limiter will be deleted by the system if it is not removed before the system is deleted.

int deleteLimiter(dynoLimiter* lim)

removes the indicated limiter from system and deletes it

int addTimer(dynoTimer* timer)

adds a timer to the system. The timer will be deleted by the system if it is not removed before the system is deleted.

int deleteTimer(dynoTimer* timer)

removes the indicated timer from system and deletes it

int addComponent(dynoComponent* comp)

adds a dynoComponent to the system. The dynoComponent will be deleted by the system if it is not removed before the system is deleted.

int deleteComponent(dynoComponent* comp)

removes the indicated component from system and deletes it

This class has no child classes.

Friends:

dynoSolver
mechanism
constraint
dynoInfluence
dynoObject
dynoTimer
dynoLimiter
dynoComponent
constraintSolver

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