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Drake
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Drake
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Holds the status return value from a call to Simulator::AdvanceTo() and related methods.
The argument t to AdvanceTo(t) is called the boundary time, and represents the maximum time to which the simulation trajectory will be advanced by a call to AdvanceTo(). (For methods that don't advance time, the current time is considered to be the boundary time.) A normal, successful return means that simulated time advanced successfully to the boundary time, without encountering a termination condition or error condition. AdvanceTo() may return earlier than the boundary time if one of those conditions is encountered. In that case the return object holds a reference to the subsystem that detected the condition and a human-friendly message from that subsystem that hopefully explains what happened.
#include <drake/systems/analysis/simulator_status.h>
Public Types | |
| enum | ReturnReason { kReachedBoundaryTime, kReachedTerminationCondition, kEventHandlerFailed } |
Public Member Functions | |
| void | SetReachedBoundaryTime () |
| Sets this status to "reached boundary time" with no message and with the final time set to the boundary time (this is the same as the post-construction default). More... | |
| void | SetReachedTermination (double termination_time, const SystemBase *system, std::string message) |
| Sets this status to "reached termination" with the early-termination time and a message explaining why. More... | |
| void | SetEventHandlerFailed (double failure_time, const SystemBase *system, std::string message) |
| Sets this status to "event handler failed" with the early-termination time and a message explaining why. More... | |
| std::string | FormatMessage () const |
| Returns a human-readable message explaining the return result. More... | |
| bool | succeeded () const |
| Returns true if we reached the boundary time with no surprises. More... | |
| double | boundary_time () const |
| Returns the maximum time we could have reached with this call; whether we actually got there depends on the status. More... | |
| double | return_time () const |
| Returns the time that was actually reached. More... | |
| ReturnReason | reason () const |
| Returns the reason that a Simulator call returned. More... | |
| const SystemBase * | system () const |
| Optionally, returns the subsystem to which the status and contained message should be attributed. More... | |
| const std::string & | message () const |
| For termination or error conditions, returns a human-readable message explaining what happened. More... | |
| bool | IsIdenticalStatus (const SimulatorStatus &other) |
Returns true if the other status contains exactly the same information as this status. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| SimulatorStatus (const SimulatorStatus &)=default | |
| SimulatorStatus & | operator= (const SimulatorStatus &)=default |
| SimulatorStatus (SimulatorStatus &&)=default | |
| SimulatorStatus & | operator= (SimulatorStatus &&)=default |
| enum ReturnReason |
| Enumerator | |
|---|---|
| kReachedBoundaryTime | This is the normal return: no termination or error condition was encountered before reaching the boundary time. There is no message and no saved System. |
| kReachedTerminationCondition | An event handler or monitor function returned with a "reached termination condition" EventStatus (has message with details). For AdvanceTo() the return time may be earlier than the boundary time. |
| kEventHandlerFailed | An event handler or monitor function returned with a "failed" EventStatus (has message with details). For AdvanceTo() the return time may be earlier than the boundary time. |
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| double boundary_time | ( | ) | const |
Returns the maximum time we could have reached with this call; whether we actually got there depends on the status.
This is the time supplied in an AdvanceTo() call or the current time for methods that don't advance time, that is, Initialize() and AdvancePendingEvents().
| std::string FormatMessage | ( | ) | const |
Returns a human-readable message explaining the return result.
| bool IsIdenticalStatus | ( | const SimulatorStatus & | other | ) |
Returns true if the other status contains exactly the same information as this status.
This is likely only useful for unit testing of SimulatorStatus.
| const std::string& message | ( | ) | const |
For termination or error conditions, returns a human-readable message explaining what happened.
This is the message from the subsystem that detected the condition. FormatMessage() returns additional information and also includes this message.
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| ReturnReason reason | ( | ) | const |
Returns the reason that a Simulator call returned.
| double return_time | ( | ) | const |
Returns the time that was actually reached.
This will be boundary_time() if succeeded() returns true. Otherwise it is the time at which a termination or error condition was detected and may be earlier than boundary_time().
| void SetEventHandlerFailed | ( | double | failure_time, |
| const SystemBase * | system, | ||
| std::string | message | ||
| ) |
Sets this status to "event handler failed" with the early-termination time and a message explaining why.
| void SetReachedBoundaryTime | ( | ) |
Sets this status to "reached boundary time" with no message and with the final time set to the boundary time (this is the same as the post-construction default).
| void SetReachedTermination | ( | double | termination_time, |
| const SystemBase * | system, | ||
| std::string | message | ||
| ) |
Sets this status to "reached termination" with the early-termination time and a message explaining why.
| bool succeeded | ( | ) | const |
Returns true if we reached the boundary time with no surprises.
| const SystemBase* system | ( | ) | const |
Optionally, returns the subsystem to which the status and contained message should be attributed.
May be nullptr in which case the status should be attributed to the System as a whole.