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/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/
H A DObservedPointFitter.h56 const Array_<Array_<Vec3> >& stations,
57 const Array_<Array_<Vec3> >& targetLocations,
69 Array_<Array_<Vec3> > stationCopy(stations);
70 Array_<Array_<Vec3> > targetCopy(targetLocations);
94 const Array_<Array_<Vec3> >& stations,
95 const Array_<Array_<Vec3> >& targetLocations,
96 const Array_<Array_<Real> >& weights,
109 Array_<Array_<Vec3> > stationCopy(stations);
110 Array_<Array_<Vec3> > targetCopy(targetLocations);
111 Array_<Array_<Real> > weightCopy(weights);
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H A DSemiExplicitEulerTimeStepper.h346 Array_<ImpulseSolver::UniContactRT>& uniContacts,
347 Array_<int>& impacters,
348 Array_<int>& expanders,
349 Array_<int>& observers,
350 Array_<MultiplierIndex>& participaters,
357 Array_<ImpulseSolver::UniContactRT>& uniContacts,
358 Array_<int>& impacters,
359 Array_<int>& expanders,
360 Array_<int>& observers,
361 Array_<MultiplierIndex>& participaters,
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H A DMobilizedBody_FunctionBased.h67 int nmobilities, const Array_<const Function*>& functions,
68 const Array_<Array_<int> >& coordIndices,
77 Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
101 int nmobilities, const Array_<const Function*>& functions,
102 const Array_<Array_<int> >& coordIndices,
112 Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
135 int nmobilities, const Array_<const Function*>& functions,
136 const Array_<Array_<int> >& coordIndices, const Array_<Vec3>& axes,
145 Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
173 const Array_<Array_<int> >& coordIndices, const Array_<Vec3>& axes,
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H A DPLUSImpulseSolver.h47 const Array_<MultiplierIndex>& participating,
50 const Array_<MultiplierIndex>& expanding,
55 Array_<UncondRT>& unconditional,
56 Array_<UniContactRT>& uniContact,
57 Array_<UniSpeedRT>& uniSpeed,
58 Array_<BoundedRT>& bounded,
59 Array_<ConstraintLtdFrictionRT>& consLtdFriction,
60 Array_<StateLtdFrictionRT>& stateLtdFriction
93 void classifyFrictionals(Array_<UniContactRT>& uniContacts) const;
107 const Array_<UniContactRT>& bounded) const;
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H A DImpulseSolver.h187 Array_<UncondRT>& unconditional,
189 Array_<UniSpeedRT>& uniSpeed,
190 Array_<BoundedRT>& bounded,
191 Array_<ConstraintLtdFrictionRT>& consLtdFriction,
192 Array_<StateLtdFrictionRT>& stateLtdFriction
327 (const Array_<MultiplierIndex>& frictionComponents, in ConstraintLtdFrictionRT()
328 const Array_<MultiplierIndex>& normalComponents, in ConstraintLtdFrictionRT()
338 Array_<MultiplierIndex> m_Fk, m_Nk;
343 Array_<Real> m_Fimpulse; // same size as m_Fk
357 Array_<MultiplierIndex> m_Fk;
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H A DConstraint.h1451 Array_<Real,ConstrainedUIndex>& mobilityForces) const;
1473 Array_<Real,ConstrainedQIndex>& qForces) const;
1701 Array_<Real>& multipliers) const;
1807 const Array_<Transform,ConstrainedBodyIndex>& X_AB,
1825 const Array_<SpatialVec,ConstrainedBodyIndex>& V_AB,
1844 const Array_<SpatialVec,ConstrainedBodyIndex>& A_AB,
1869 const Array_<Real>& multipliers,
1891 const Array_<SpatialVec,ConstrainedBodyIndex>& V_AB,
1908 const Array_<SpatialVec,ConstrainedBodyIndex>& A_AB,
1933 const Array_<Real>& multipliers,
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H A DPGSImpulseSolver.h68 const Array_<MultiplierIndex>& participating,
71 const Array_<MultiplierIndex>& expanding, // nx<=m of these
76 Array_<UncondRT>& unconditional,
77 Array_<UniContactRT>& uniContact,
78 Array_<UniSpeedRT>& uniSpeed,
79 Array_<BoundedRT>& bounded,
80 Array_<ConstraintLtdFrictionRT>& consLtdFriction,
81 Array_<StateLtdFrictionRT>& stateLtdFriction
90 (const Array_<MultiplierIndex>& participating, // p<=m of these
H A DAssemblyCondition_OrientationSensors.h243 { Array_<OSensorIx> osensorIxs(observationOrder.size()); in defineObservationOrder()
257 { const Array_<String> observations(observationOrder); // copy in defineObservationOrder()
263 { const Array_<String> observations(observationOrder); // copy in defineObservationOrder()
268 { Array_<OSensorIx> osensorIxs(n); in defineObservationOrder()
353 static const Array_<OSensorIx> empty; in getOSensorsOnBody()
398 void moveAllObservations(const Array_<Rotation>& observations) { in moveAllObservations()
445 const Array_<Rotation,ObservationIx>& getAllObservations() const in getAllObservations()
497 Array_<OSensor,OSensorIx> osensors;
502 Array_<OSensorIx,ObservationIx> observation2osensor;
507 Array_<ObservationIx,OSensorIx> osensor2observation;
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/dports/science/simbody/simbody-Simbody-3.7/SimTKcommon/tests/
H A DTestArray.cpp195 template class Array_<int>; variable
201 template Array_<float,int>::Array_(const float*,const float*);
208 template Array_<float,int>::Array_(const Array_<float,int>&);
210 Array_<float,int>::operator=(const Array_<float,int>&);
218 template Array_<double,int>&
237 Array_<int> nothing; in testConstruction()
238 Array_<int> def(5); in testConstruction()
359 Array_<int> a(v); in testConversion()
497 Array_<int> null; in testInsert()
668 Array_<float> farray; in testInputIterator()
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/dports/science/simbody/simbody-Simbody-3.7/SimTKmath/Geometry/include/simmath/internal/
H A DGeo_Point.h154 calcCentroid(const Array_<Vec3P>& points_F);
221 { Array_<int> support; in calcAxisAlignedBoundingBox()
233 { Array_<int> support; in calcAxisAlignedBoundingBoxIndirect()
280 { Array_<int> support; in calcOrientedBoundingBox()
294 { Array_<int> support;
341 Array_<int> which; in calcBoundingSphere()
349 Array_<int> which; in calcBoundingSphere()
356 Array_<int> which; in calcBoundingSphere()
364 Array_<int> which; in calcBoundingSphere()
380 Array_<int> which; in calcBoundingSphereIndirect()
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H A DGeodesic.h70 Array_<Real>& updArcLengths() {return arcLengths;} in updArcLengths()
74 Array_<Real>& updCurvatures() {return curvature;} in updCurvatures()
78 Array_<Vec2>& updDirectionalSensitivityPtoQ() in updDirectionalSensitivityPtoQ()
80 const Array_<Vec2>& getDirectionalSensitivityPtoQ() const in getDirectionalSensitivityPtoQ()
86 Array_<Vec2>& updDirectionalSensitivityQtoP() in updDirectionalSensitivityQtoP()
88 const Array_<Vec2>& getDirectionalSensitivityQtoP() const in getDirectionalSensitivityQtoP()
94 Array_<Vec2>& updPositionalSensitivityPtoQ() in updPositionalSensitivityPtoQ()
96 const Array_<Vec2>& getPositionalSensitivityPtoQ() const in getPositionalSensitivityPtoQ()
102 Array_<Vec2>& updPositionalSensitivityQtoP() in updPositionalSensitivityQtoP()
104 const Array_<Vec2>& getPositionalSensitivityQtoP() const in getPositionalSensitivityQtoP()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/
H A DConstraintImpl.h156 const Array_<SpatialVec, MobilizedBodyIndex>& V_GB,
165 const Array_<SpatialVec, MobilizedBodyIndex>& A_GB,
321 Array_<Real, ConstrainedUIndex> uForces(ncu); in calcConstraintForcesFromMultipliers()
409 const Array_<Real,ConstrainedQIndex>& cq, in getOneQ()
437 const Array_<Real,ConstrainedUIndex>& cu, in getOneU()
3125 Array_<ConstrainedMobilizerIndex> coordBodies;
3126 Array_<MobilizerQIndex> coordIndices;
3191 Array_<ConstrainedMobilizerIndex> speedBodies;
3192 Array_<MobilizedBodyIndex> coordBodies;
3193 Array_<MobilizerUIndex> speedIndices;
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H A DObservedPointFitter.cpp44 …t State& state, Array_<MobilizedBodyIndex> bodyIxs, Array_<Array_<Vec3> > stations, Array_<Array_<… in OptimizerFunction()
114 const Array_<Array_<Vec3> > stations;
115 const Array_<Array_<Vec3> > targetLocations;
116 const Array_<Array_<Real> > weights;
209 const Array_<Array_<Vec3> >& stations, in findBestFit()
210 const Array_<Array_<Vec3> >& targetLocations, in findBestFit()
213 Array_<Array_<Real> > weights(stations.size()); in findBestFit()
223 const Array_<Array_<Vec3> >& stations, in findBestFit()
224 const Array_<Array_<Vec3> >& targetLocations, in findBestFit()
225 const Array_<Array_<Real> >& weights, in findBestFit()
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H A DGeneralForceSubsystem.cpp567 const Array_<bool>& forceEnabled = Value< Array_<bool> >::downcast in isForceDisabled()
575 Array_<bool>& forceEnabled = Value< Array_<bool> >::updDowncast in setForceIsDisabled()
711 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemInstanceImpl()
718 const Array_<bool>& forceEnabled = Value< Array_<bool> >::downcast in realizeSubsystemInstanceImpl()
747 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemTimeImpl()
755 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemPositionImpl()
769 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemVelocityImpl()
877 const Array_<bool>& forceEnabled = Value<Array_<bool> >::downcast in calcPotentialEnergy()
890 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemAccelerationImpl()
898 const Array_<bool>& enabled = Value<Array_<bool> >::downcast in realizeSubsystemReportImpl()
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H A DSimbodyTreeState.h435 Array_<SBInstancePerConstrainedMobilizerInfo,
506 Array_<QIndex> presQ;
507 Array_<QIndex> zeroQ;
508 Array_<QIndex> freeQ; // must be integrated
522 Array_<UIndex> presU;
523 Array_<UIndex> zeroU;
524 Array_<UIndex> freeU; // must be integrated
535 Array_<UIndex> presUDot;
536 Array_<UIndex> zeroUDot;
545 Array_<UIndex> presForce;
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H A DConstraint_PointOnPlaneContactImpl.h82 const Array_<Transform,ConstrainedBodyIndex>& allX_AB, in calcPositionErrorsVirtual()
83 const Array_<Real, ConstrainedQIndex>& constrainedQ, in calcPositionErrorsVirtual()
104 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcPositionDotErrorsVirtual()
105 const Array_<Real, ConstrainedQIndex>& constrainedQDot, in calcPositionDotErrorsVirtual()
136 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcPositionDotDotErrorsVirtual()
179 Array_<SpatialVec,ConstrainedBodyIndex>& bodyForcesInA, in addInPositionConstraintForcesVirtual()
180 Array_<Real, ConstrainedQIndex>& qForces) in addInPositionConstraintForcesVirtual()
211 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcVelocityErrorsVirtual()
212 const Array_<Real, ConstrainedUIndex>& constrainedU, in calcVelocityErrorsVirtual()
243 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcVelocityDotErrorsVirtual()
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H A DConstraint_SphereOnSphereContactImpl.h189 const Array_<Transform,ConstrainedBodyIndex>& allX_AB, in calcPositionErrorsVirtual()
190 const Array_<Real, ConstrainedQIndex>& constrainedQ, in calcPositionErrorsVirtual()
227 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcPositionDotErrorsVirtual()
228 const Array_<Real, ConstrainedQIndex>& constrainedQDot, in calcPositionDotErrorsVirtual()
260 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcPositionDotDotErrorsVirtual()
297 Array_<SpatialVec,ConstrainedBodyIndex>& bodyForcesInA, in addInPositionConstraintForcesVirtual()
298 Array_<Real, ConstrainedQIndex>& qForces) in addInPositionConstraintForcesVirtual()
375 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcVelocityErrorsVirtual()
376 const Array_<Real, ConstrainedUIndex>& constrainedU, in calcVelocityErrorsVirtual()
412 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcVelocityDotErrorsVirtual()
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H A DGeneralContactSubsystem.cpp36 std::ostream& operator<<(std::ostream& o, const Array_<Array_<Contact> >&) { in operator <<()
43 Array_<MobilizedBody,ContactSurfaceIndex> bodies;
44 Array_<ContactGeometry,ContactSurfaceIndex> geometry;
45 Array_<Transform,ContactSurfaceIndex> transforms;
46 mutable Array_<Vec3,ContactSurfaceIndex> sphereCenters;
47 mutable Array_<Real,ContactSurfaceIndex> sphereRadii;
132 …Array_<Array_<Contact> >& contacts = Value<Array_<Array_<Contact> > >::updDowncast(updCacheEntry(s… in getContacts()
137 ….allocateCacheEntry(getMySubsystemIndex(), Stage::Dynamics, new Value<Array_<Array_<Contact> > >()… in realizeSubsystemTopologyImpl()
161 …Array_<Array_<Contact> >& contacts = Value<Array_<Array_<Contact> > >::updDowncast(updCacheEntry(s… in realizeSubsystemDynamicsImpl()
188 Array_<ContactBodyExtent> extents(numBodies); in realizeSubsystemDynamicsImpl()
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H A DConstraint_LineOnLineContactImpl.h283 const Array_<Transform,ConstrainedBodyIndex>& allX_AB, in calcPositionErrorsVirtual()
284 const Array_<Real, ConstrainedQIndex>& constrainedQ, in calcPositionErrorsVirtual()
315 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcPositionDotErrorsVirtual()
316 const Array_<Real, ConstrainedQIndex>& constrainedQDot, in calcPositionDotErrorsVirtual()
359 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcPositionDotDotErrorsVirtual()
415 Array_<SpatialVec,ConstrainedBodyIndex>& bodyForcesInA, in addInPositionConstraintForcesVirtual()
416 Array_<Real, ConstrainedQIndex>& qForces) in addInPositionConstraintForcesVirtual()
513 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcVelocityErrorsVirtual()
514 const Array_<Real, ConstrainedUIndex>& constrainedU, in calcVelocityErrorsVirtual()
557 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcVelocityDotErrorsVirtual()
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H A DConstraint_RodImpl.h157 (const State& s, Stage stage, Array_<DecorativeGeometry>& geom) const
195 const Array_<Transform,ConstrainedBodyIndex>& allX_AB, in calcPositionErrorsVirtual()
196 const Array_<Real, ConstrainedQIndex>& constrainedQ, in calcPositionErrorsVirtual()
197 Array_<Real>& perr) // mp of these in calcPositionErrorsVirtual()
231 const Array_<SpatialVec,ConstrainedBodyIndex>& allV_AB, in calcPositionDotErrorsVirtual()
232 const Array_<Real, ConstrainedQIndex>& constrainedQDot, in calcPositionDotErrorsVirtual()
233 Array_<Real>& pverr) // mp of these in calcPositionDotErrorsVirtual()
263 const Array_<SpatialVec,ConstrainedBodyIndex>& allA_AB, in calcPositionDotDotErrorsVirtual()
264 const Array_<Real, ConstrainedQIndex>& constrainedQDotDot, in calcPositionDotDotErrorsVirtual()
297 Array_<SpatialVec,ConstrainedBodyIndex>& bodyForcesInA, in addInPositionConstraintForcesVirtual()
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/dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/
H A DInverseKinematicsSolver.cpp44 SimTK::Array_<CoordinateReference>& coordinateReferences, in InverseKinematicsSolver()
53 SimTK::Array_<CoordinateReference>& coordinateReferences, in InverseKinematicsSolver()
71 const SimTK::Array_<std::string>& markerNames in InverseKinematicsSolver()
104 const Array_<std::string> &names = _markersReference.getNames(); in updateMarkerWeight()
183 const Array_<std::string> &names = _markersReference.getNames(); in computeCurrentMarkerLocation()
210 const Array_<std::string>& names = _markersReference.getNames(); in computeCurrentMarkerError()
237 const Array_<std::string>& names = _markersReference.getNames(); in computeCurrentSquaredMarkerError()
289 SimTK::Array_<SimTK::Rotation>& osensorOrientations) in computeCurrentSensorOrientations()
365 SimTK::Array_<double> markerWeights; in setupMarkersGoal()
410 const SimTK::Array_<SimTK::String> &osensorNames = in setupOrientationsGoal()
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H A DInverseKinematicsSolver.h81 SimTK::Array_<CoordinateReference>& coordinateReferences,
87 SimTK::Array_<CoordinateReference> &coordinateReferences,
127 void updateMarkerWeights(const SimTK::Array_<double> &weights);
139 void updateOrientationWeights(const SimTK::Array_<double> &weights);
149 void computeCurrentMarkerLocations(SimTK::Array_<SimTK::Vec3> &markerLocations);
159 void computeCurrentMarkerErrors(SimTK::Array_<double> &markerErrors);
172 void computeCurrentSquaredMarkerErrors(SimTK::Array_<double> &markerErrors);
189 SimTK::Array_<SimTK::Rotation>& osensorOrientations);
199 void computeCurrentOrientationErrors(SimTK::Array_<double>& osensorErrors);
231 SimTK::Array_<SimTK::Vec3> _markerValues;
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H A DReference.h78 virtual const SimTK::Array_<std::string>& getNames() const = 0;
81 SimTK::Array_<T> &values) const = 0;
84 SimTK::Array_<double>& weights) const = 0;
90 virtual SimTK::Array_<T> getValues(const SimTK::State &s) const { in getValues()
91 SimTK::Array_<T> values(getNumRefs()); in getValues()
96 virtual SimTK::Array_<double> getWeights(const SimTK::State &s) const { in getWeights()
97 SimTK::Array_<double> weights(getNumRefs()); in getWeights()
/dports/science/simbody/simbody-Simbody-3.7/SimTKcommon/Simulation/include/SimTKcommon/internal/
H A DSystemGuts.h153 void getFreeQIndex(const State&, Array_<SystemQIndex>& freeQs) const;
154 void getFreeUIndex(const State&, Array_<SystemUIndex>& freeUs) const;
162 (State&, Event::Cause, const Array_<EventId>& eventIds,
166 void calcEventTriggerInfo(const State&, Array_<EventTriggerInfo>&) const;
171 Array_<DecorativeGeometry>&) const;
224 (State& state, Event::Cause cause, const Array_<EventId>& eventIds,
228 const Array_<EventId>& eventIds) const;
234 (const State& state, Real& tNextEvent, Array_<EventId>& eventIds,
237 (const State& state, Real& tNextEvent, Array_<EventId>& eventIds,
243 (const State& s, Array_<SystemQIndex>& freeQs) const { in getFreeQIndexImpl()
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/dports/science/simbody/simbody-Simbody-3.7/SimTKcommon/Simulation/src/
H A DSystem.cpp695 Array_<StageVersion> stageVersions; in handleEvents()
858 Array_<EventId> eventsForSubsystem; in handleEventsImpl()
908 Array_<EventId> eventsForSubsystem; in reportEventsImpl()
941 Array_<EventTriggerInfo> subinfo; in calcEventTriggerInfoImpl()
964 Array_<EventId> ids; in calcTimeOfNextScheduledEventImpl()
993 Array_<EventId> ids; in calcTimeOfNextScheduledReportImpl()
1047 Array_<bool> useRelativeAccuracyU; // nu
1058 Array_<EventId> scheduledEventIds;
1060 Array_<EventId> triggeredEventIds;
1061 Array_<EventId> scheduledReportIds;
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