model_state.h

Go to the documentation of this file.

#pragma once
 
#include <libopynsim/model_state_stage.h>
#include <libopynsim/symbol.h>
 
#include <liboscar/utilities/copy_on_upd_ptr.h>
 
#include <unordered_map>
 
namespace opyn { class Model; }
namespace SimTK { class State; }
 
namespace opyn
{
    // Represents all state information for a `Model`.
    //
    // Related: https://simtk.org/api_docs/simbody/3.5/classSimTK_1_1State.html#details
    // Related: https://opensimconfluence.atlassian.net/wiki/spaces/OpenSim/pages/53089017/SimTK+Simulation+Concepts
    class ModelState final {
    public:
        using attrs_type = std::unordered_map<Symbol, double>;
 
        ModelState();
 
        explicit ModelState(SimTK::State&&);
 
        ModelStateStage stage() const;
 
        double time() const;
 
        const attrs_type& attrs() const;
 
        void set_attrs(attrs_type new_attrs);
 
        const SimTK::State& simbody_state() const;
 
        SimTK::State& upd_simbody_state();
 
    private:
        class Impl;
        osc::CopyOnUpdPtr<Impl> impl_;
    };
}