/usr/include/simbody/simmath/TimeStepper.h is in libsimbody-dev 3.5.4+dfsg-1ubuntu2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 | #ifndef SimTK_SIMMATH_TIMESTEPPER_H_
#define SimTK_SIMMATH_TIMESTEPPER_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKmath *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2007-12 Stanford University and the Authors. *
* Authors: Peter Eastman *
* Contributors: Michael Sherman *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "SimTKcommon.h"
#include "simmath/internal/common.h"
#include "simmath/Integrator.h"
namespace SimTK {
class Integrator;
/**
* This class uses an Integrator to advance a System through time. For example:
*
* <pre>
* TimeStepper stepper(system, integrator);
* stepper.initialize(initialState);
* stepper.stepTo(finalTime);
* </pre>
*
* stepTo() invokes the Integrator to advance time. It detects events which may occur, calls event handlers as
* appropriate, then invokes the Integrator again to continue advancing time until the target time is reached.
*/
class SimTK_SIMMATH_EXPORT TimeStepper {
public:
/**
* Create a TimeStepper to advance a System.
*
* This constructor leaves the Integrator unspecified. You therefore must call setIntegrator()
* before calling initialize().
*/
explicit TimeStepper(const System& system);
/**
* Create a TimeStepper to advance a System using an Integrator.
*/
TimeStepper(const System& system, Integrator& integrator);
~TimeStepper();
/**
* Set the Integrator this TimeStepper will use to advance the System.
*/
void setIntegrator(Integrator& integrator);
/**
* Get the Integrator being used to advance the System.
*/
const Integrator& getIntegrator() const;
/**
* Get a non-const reference to the Integrator being used to advance the System.
*/
Integrator& updIntegrator();
/**
* Get whether the TimeStepper should report every significant state returned by the Integrator.
* If this is true, stepTo() will return whenever the Integrator reports a significant state,
* such as when an event occurs or the start of a new continuous interval. If this is false,
* stepTo() will only return when the specified time has been reached or when the simulation is
* terminated.
*/
bool getReportAllSignificantStates() const;
/**
* Set whether the TimeStepper should report every significant state returned by the Integrator.
* If this is true, stepTo() will return whenever the Integrator reports a significant state,
* such as when an event occurs or the start of a new continuous interval. If this is false,
* stepTo() will only return when the specified time has been reached or when the simulation is
* terminated.
*/
void setReportAllSignificantStates(bool b);
/**
* Supply the time stepper with a starting state. This must be called after the Integrator has
* been set, and before the first call to stepTo().
*
* The specified state is copied into the Integrator's internally maintained "advanced" state;
* subsequent changes to the State object passed in here will not affect the simulation.
*/
void initialize(const State&);
/**
* Get the current State of the System being integrated. Usually this will correspond to the
* time specified in the most recent call to stepTo(). It may be an interpolated state which
* is earlier than the Integrator's "advanced" state.
*/
const State& getState() const;
/**
* Get the current time of the System being integrated. This is identical to calling getState().getTime().
*/
Real getTime() const {return getState().getTime();}
/**
* Use the Integrator to advance the System up to the specified time. This method will repeatedly
* invoke the Integrator as necessary, handling any events which occur. The TimeStepper must be
* initialized by calling initialize() before this method may be called.
*
* When this method returns, the System will usually have been advanced all the way to the specified
* final time. There are situations where it may return sooner, however: if setReportAllSignificantStates()
* was set to true, and a significant state occurred; if {@link Integrator#setFinalTime setFinalTime()} was invoked on the Integrator,
* and the final time was reached; or if an event handler requested that the simulation terminate
* immediately.
*/
Integrator::SuccessfulStepStatus stepTo(Real time);
private:
class TimeStepperRep* rep;
friend class TimeStepperRep;
};
} // namespace SimTK
#endif // SimTK_SIMMATH_TIMESTEPPER_H_
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