Simbody  3.6
TimeStepper.h
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1 #ifndef SimTK_SIMMATH_TIMESTEPPER_H_
2 #define SimTK_SIMMATH_TIMESTEPPER_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2007-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: Michael Sherman *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon.h"
29 #include "simmath/Integrator.h"
30 
31 namespace SimTK {
32 class Integrator;
33 
47 public:
54  explicit TimeStepper(const System& system);
58  TimeStepper(const System& system, Integrator& integrator);
59  ~TimeStepper();
63  void setIntegrator(Integrator& integrator);
67  const Integrator& getIntegrator() const;
71  Integrator& updIntegrator();
79  bool getReportAllSignificantStates() const;
87  void setReportAllSignificantStates(bool b);
95  void initialize(const State&);
101  const State& getState() const;
105  Real getTime() const {return getState().getTime();}
118 private:
119  class TimeStepperRep* rep;
120  friend class TimeStepperRep;
121 };
122 
123 } // namespace SimTK
124 
125 #endif // SimTK_SIMMATH_TIMESTEPPER_H_
SimTK::State
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
SimTK::TimeStepper::getTime
Real getTime() const
Get the current time of the System being integrated.
Definition: TimeStepper.h:105
Integrator.h
SimTK::Integrator
An Integrator is an object that can advance the State of a System through time.
Definition: Integrator.h:116
SimTK_SIMMATH_EXPORT
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
SimTK
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
SimTKcommon.h
common.h
SimTK::State::getTime
const Real & getTime() const
You can call these as long as system stage >= Model.
SimTK::Integrator::SuccessfulStepStatus
SuccessfulStepStatus
When a step is successful, it will return an indication of what caused it to stop where it did.
Definition: Integrator.h:202
SimTK::TimeStepper
This class uses an Integrator to advance a System through time.
Definition: TimeStepper.h:46
SimTK::Real
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
SimTK::System
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97