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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -17,18 +17,7 @@ class Study { { return getSystemVirtual(); } /** Return a const reference to the "current" state of this %Study, with the precise meaning up to the concrete %Study to define. ... See updInternalState() to get write access to meaningful internal data of the %Study. **/ const State& getCurrentState() const This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -17,18 +17,7 @@ class Study { { return implementGetSystem(); } /** Return a const reference to the "current" state of this %Study, with the precise meaning up to the concrete %Study to define. ... See updInternalState() to get write access to meaningful internal data of the %Study. **/ const State& getCurrentState() const -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -2,25 +2,10 @@ // STUDY //============================================================================== /** This is the abstract base class for all Simbody studies. ... The %Study class has a public interface for users of Studies, and a pure virtual protected interface for implementors of Studies. **/ class Study { public: /** Destructor is virtual to support derived class cleanup. **/ virtual ~Study() = default; This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -2,25 +2,10 @@ // STUDY //============================================================================== /** This is the abstract base class for all Simbody studies. ... The %Study class has a public interface for users of Studies, and a pure virtual protected interface for implementors of Studies. **/ class Study { public: /** Destructor is virtual to support derived class cleanup. **/ virtual ~Study() = default; -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -1,39 +1,3 @@ //============================================================================== // STUDY //============================================================================== @@ -164,6 +128,3 @@ class SimTK_SimTKCOMMON_EXPORT Study { virtual Real getConstraintToleranceInUseVirtual() const = 0; }; This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -1,39 +1,3 @@ //============================================================================== // STUDY //============================================================================== @@ -164,6 +128,3 @@ class SimTK_SimTKCOMMON_EXPORT Study { virtual Real implementGetConstraintToleranceInUse() const = 0; }; -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -0,0 +1,169 @@ #ifndef SimTK_SimTKCOMMON_STUDY_H_ #define SimTK_SimTKCOMMON_STUDY_H_ /* -------------------------------------------------------------------------- * * Simbody(tm): SimTKcommon * * -------------------------------------------------------------------------- * * 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) 2006-15 Stanford University and the Authors. * * Authors: Michael Sherman * * Contributors: * * * * 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. * * -------------------------------------------------------------------------- */ /** @file This file declares the Study base class. **/ #include "SimTKcommon/basics.h" #include "SimTKcommon/Simmatrix.h" #include "SimTKcommon/internal/State.h" #include "SimTKcommon/internal/System.h" namespace SimTK { //============================================================================== // STUDY //============================================================================== /** This is the abstract base class for all Simbody studies. A %Study is an object that combines a System with an internal State, and generates as output a sequence of State values that satisfies some specified conditions. This sequence is called a *trajectory*. For example, an Integrator study returns a sequence of states that satisfies Newton's laws. An Assembler study return a single State that satisfies a set of position-level constraints. A Monte Carlo study would generate a trajectory satisfying a particular probability distribution. A %Study can provide some basic information through the interface here. It can provide a const reference to the System it is studying, the current State, and accuracy requirements. The exact meaning of these quantities is defined by the concrete %Study object. For any more detailed information you must know a more-specific %Study type (such as Integrator) and downcast. The %Study class has a public interface for users of Studies, and a pure virtual protected interface for implementors of Studies. **/ class SimTK_SimTKCOMMON_EXPORT Study { public: /** Destructor is virtual to support derived class cleanup. **/ virtual ~Study() = default; /** Return the System that is the subject of this %Study. This is only available as a const reference because a System is immutable during a %Study. **/ const System& getSystem() const { return getSystemVirtual(); } /** Return a const reference to the "current" state of this %Study, with the precise meaning up to the concrete %Study to define. This is typically the state that should be reported next; it is the logical next state of the trajectory being generated by the %Study. However, it is possible that the %Study has already progressed further than this internally; see getInternalState() for access to that state. The returned reference here *may* be the same as that returned by getInternalState() but it does not have to be. The referenced object may change from step to step so you should not assume it will remain fixed during a %Study. For an Integrator, this may be an interpolated state. In general this is an estimated, calculated state placed into a temporary object so it does not make sense to provide write access. See updInternalState() to get write access to meaningful internal data of the %Study. **/ const State& getCurrentState() const { return getCurrentStateVirtual(); } /** Return a const reference to the "internal" state of this %Study, with the precise meaning up to the concrete %Study to define. This should be a reference to the object that the %Study modifies internally that represents the furthest progress of the trajectory. Note that it may be further along that what gets returned by getCurrentState(). **/ const State& getInternalState() const { return getInternalStateVirtual(); } /** Return a writable reference to the "internal" state of this %Study. Modifying this state will affect the progression of the %Study. This is typically done in event handlers and during initialization. See getInternalState() for more information. **/ State& updInternalState() { return updInternalStateVirtual(); } /** Return the current accuracy setting in use by this %Study. The precise meaning of this parameter varies according to the concrete %Study type, but it can usually be interpreted to mean something related to the number of correct digits in the results. For example, 1e-3 would mean that we are requesting three correct digits, that is, an accuracy of 0.1%. If this doesn't make sense for a particular concrete %Study it returns `NaN`. **/ Real getAccuracyInUse() const { return getAccuracyInUseVirtual(); } /** Return the current constraint tolerance in use by this %Study. The precise meaning of this parameter varies according to the concrete %Study type, but is usually the value determining how precisely constraints or other algebraic equations are to be satisfied. If this doesn't make sense for a particular concrete %Study it returns `NaN`. **/ Real getConstraintToleranceInUse() const { return getConstraintToleranceInUseVirtual(); } /** Studies can't be copied. **/ Study(const Study&) = delete; /** Studies can't be copied. **/ Study& operator=(const Study&) = delete; protected: /** Constructor is for derived class use only. **/ Study() {} /** You must provide a const reference to the System you are studying. **/ virtual const System& getSystemVirtual() const = 0; /** Return your %Study's notion of current state. It is fine if this is the same as your internal state. Note that you must return a reference so if you create a temporary state you must do so into an internal object that persists at least until the next step. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual const State& getCurrentStateVirtual() const = 0; /** This should be a reference to the internal object that you use to represent the furthest your %Study algorithm has progressed along the generated trajectory. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual const State& getInternalStateVirtual() const = 0; /** This should be a writable reference to the same object returned by getInternalState(). This should be the state that you want an event handler to modify to affect the subsequent trajectory. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual State& updInternalStateVirtual() = 0; /** This should be the accuracy you are currently using, not necessarily regurgitating a user setting. If this doesn't make sense for your particular concrete %Study, just return `NaN`. Make sure your documentation explains exactly what is meant by "accuracy" in your %Study. **/ virtual Real getAccuracyInUseVirtual() const = 0; /** This should be the constraint tolerance you are currently using, not necessarily regurgitating a user setting. If this doesn't make sense for your particular concrete %Study, just return `NaN`. Make sure your documentation explains exactly what is meant by "constraint tolerance" in your %Study. **/ virtual Real getConstraintToleranceInUseVirtual() const = 0; }; } // namespace SimTK #endif // SimTK_SimTKCOMMON_STUDY_H_ This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -0,0 +1,169 @@ #ifndef SimTK_SimTKCOMMON_STUDY_H_ #define SimTK_SimTKCOMMON_STUDY_H_ /* -------------------------------------------------------------------------- * * Simbody(tm): SimTKcommon * * -------------------------------------------------------------------------- * * 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) 2006-15 Stanford University and the Authors. * * Authors: Michael Sherman * * Contributors: * * * * 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. * * -------------------------------------------------------------------------- */ /** @file This file declares the Study base class. **/ #include "SimTKcommon/basics.h" #include "SimTKcommon/Simmatrix.h" #include "SimTKcommon/internal/State.h" #include "SimTKcommon/internal/System.h" namespace SimTK { //============================================================================== // STUDY //============================================================================== /** This is the abstract base class for all Simbody studies. A %Study is an object that combines a System with an internal State, and generates as output a sequence of State values that satisfies some specified conditions. This sequence is called a *trajectory*. For example, an Integrator study returns a sequence of states that satisfies Newton's laws. An Assembler study return a single State that satisfies a set of position-level constraints. A Monte Carlo study would generate a trajectory satisfying a particular probability distribution. A %Study can provide some basic information through the interface here. It can provide a const reference to the System it is studying, the current State, and accuracy requirements. The exact meaning of these quantities is defined by the concrete %Study object. For any more detailed information you must know a more-specific %Study type (such as Integrator) and downcast. The %Study class has a public interface for users of Studies, and a pure virtual protected interface for implementors of Studies. **/ class SimTK_SimTKCOMMON_EXPORT Study { public: /** Destructor is virtual to support derived class cleanup. **/ virtual ~Study() = default; /** Return the System that is the subject of this %Study. This is only available as a const reference because a System is immutable during a %Study. **/ const System& getSystem() const { return implementGetSystem(); } /** Return a const reference to the "current" state of this %Study, with the precise meaning up to the concrete %Study to define. This is typically the state that should be reported next; it is the logical next state of the trajectory being generated by the %Study. However, it is possible that the %Study has already progressed further than this internally; see getInternalState() for access to that state. The returned reference here *may* be the same as that returned by getInternalState() but it does not have to be. The referenced object may change from step to step so you should not assume it will remain fixed during a %Study. For an Integrator, this may be an interpolated state. In general this is an estimated, calculated state placed into a temporary object so it does not make sense to provide write access. See updInternalState() to get write access to meaningful internal data of the %Study. **/ const State& getCurrentState() const { return implementGetCurrentState(); } /** Return a const reference to the "internal" state of this %Study, with the precise meaning up to the concrete %Study to define. This should be a reference to the object that the %Study modifies internally that represents the furthest progress of the trajectory. Note that it may be further along that what gets returned by getCurrentState(). **/ const State& getInternalState() const { return implementGetInternalState(); } /** Return a writable reference to the "internal" state of this %Study. Modifying this state will affect the progression of the %Study. This is typically done in event handlers and during initialization. See getInternalState() for more information. **/ State& updInternalState() { return implementUpdInternalState(); } /** Return the current accuracy setting in use by this %Study. The precise meaning of this parameter varies according to the concrete %Study type, but it can usually be interpreted to mean something related to the number of correct digits in the results. For example, 1e-3 would mean that we are requesting three correct digits, that is, an accuracy of 0.1%. If this doesn't make sense for a particular concrete %Study it returns `NaN`. **/ Real getAccuracyInUse() const { return implementGetAccuracyInUse(); } /** Return the current constraint tolerance in use by this %Study. The precise meaning of this parameter varies according to the concrete %Study type, but is usually the value determining how precisely constraints or other algebraic equations are to be satisfied. If this doesn't make sense for a particular concrete %Study it returns `NaN`. **/ Real getConstraintToleranceInUse() const { return implementGetConstraintToleranceInUse(); } /** Studies can't be copied. **/ Study(const Study&) = delete; /** Studies can't be copied. **/ Study& operator=(const Study&) = delete; protected: /** Constructor is for derived class use only. **/ Study() {} /** You must provide a const reference to the System you are studying. **/ virtual const System& implementGetSystem() const = 0; /** Return your %Study's notion of current state. It is fine if this is the same as your internal state. Note that you must return a reference so if you create a temporary state you must do so into an internal object that persists at least until the next step. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual const State& implementGetCurrentState() const = 0; /** This should be a reference to the internal object that you use to represent the furthest your %Study algorithm has progressed along the generated trajectory. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual const State& implementGetInternalState() const = 0; /** This should be a writable reference to the same object returned by getInternalState(). This should be the state that you want an event handler to modify to affect the subsequent trajectory. If this doesn't make sense for your %Study you should throw an exception with a helpful message. **/ virtual State& implementUpdInternalState() = 0; /** This should be the accuracy you are currently using, not necessarily regurgitating a user setting. If this doesn't make sense for your particular concrete %Study, just return `NaN`. Make sure your documentation explains exactly what is meant by "accuracy" in your %Study. **/ virtual Real implementGetAccuracyInUse() const = 0; /** This should be the constraint tolerance you are currently using, not necessarily regurgitating a user setting. If this doesn't make sense for your particular concrete %Study, just return `NaN`. Make sure your documentation explains exactly what is meant by "constraint tolerance" in your %Study. **/ virtual Real implementGetConstraintToleranceInUse() const = 0; }; } // namespace SimTK #endif // SimTK_SimTKCOMMON_STUDY_H_