Central registry for all simulation signals. More...

#include <Registry.hpp>

Public Types
using	SignalIndex = std::size_t

Public Member Functions
void	set_current_component (const std::string &name)
	Set the current component context for registration.
void	clear_current_component ()
	Clear the current component context.
const std::string &	current_component () const
	Get the current component name.
template<typename T>
void	register_output (const std::string &name, T *data_ptr, const std::string &unit="", const std::string &description="")
	Register an output signal with pointer binding.
template<typename S>
void	register_output_vec3 (const std::string &name, Vec3< S > *data_ptr, const std::string &unit="", const std::string &description="")
	Register a Vec3 output signal as three scalar components.
template<typename S>
void	register_output_quat (const std::string &name, Vec4< S > *data_ptr, const std::string &unit="", const std::string &description="")
	Register a Vec4/Quaternion output signal as four scalar components.
template<typename T>
void	register_state (const std::string &name, T value, T derivative, const std::string &unit="", const std::string &description="")
	Register a scalar state with its derivative.
template<typename S>
void	register_state_vec3 (const std::string &name, Vec3< S > value, Vec3< S > derivative, const std::string &unit="", const std::string &description="")
	Register a Vec3 state with its derivative.
template<typename S>
void	register_state_quat (const std::string &name, Vec4< S > value, Vec4< S > derivative, const std::string &unit="", const std::string &description="")
	Register a quaternion state with its derivative.
const auto &	get_state_pairs () const
	Get all integrable state pairs.
std::vector< const SignalDescriptor * >	get_integrable_signals () const
	Get all integrable signal descriptors.
template<typename T>
SignalHandle< T >	resolve (const std::string &name)
	Resolve a signal by name and return a type-safe handle.
template<typename T>
SignalHandle< const T >	resolve_const (const std::string &name) const
	Resolve a signal as const (for read-only access).
template<typename S>
Vec3Handle< S >	resolve_vec3 (const std::string &name)
	Resolve a Vec3 signal as a Vec3Handle.
template<typename S>
QuatHandle< S >	resolve_quat (const std::string &name)
	Resolve a quaternion signal as a QuatHandle.
SignalIndex	RegisterSignal (const SignalDescriptor &descriptor)
	Register a new signal output (legacy API).
SignalIndex	Resolve (const std::string &name) const
	Resolve a signal by name (legacy API).
bool	HasSignal (const std::string &name) const
	Check if a signal exists.
const Scalar &	Get (SignalIndex index) const
	Get signal value by index (hot path, legacy).
void	Set (SignalIndex index, const Scalar &value)
	Set signal value by index (hot path, legacy).
const Scalar &	GetByName (const std::string &name) const
	Get signal value by name (slow path, for debugging).
void	SetByName (const std::string &name, const Scalar &value)
	Set signal value by name (slow path, for initialization).
const std::deque< SignalDescriptor > &	GetDescriptors () const
	Get all signal descriptors.
std::size_t	Size () const
	Get number of registered signals.
std::vector< const SignalDescriptor * >	query (const std::string &pattern) const
	Query signals matching a pattern.
const SignalDescriptor *	get_descriptor (const std::string &name) const
	Get descriptor by name.
template<typename T>
void	register_input (const std::string &name, InputHandle< T > *handle, const std::string &units="", const std::string &description="")
	Register an input port.
void	register_param (const std::string &name, Scalar *storage, Scalar initial_value, const std::string &units="", const std::string &description="")
	Register a parameter.
void	register_config (const std::string &name, int *storage, int initial_value, const std::string &description="")
	Register an int config value.
void	register_config (const std::string &name, bool *storage, bool initial_value, const std::string &description="")
	Register a bool config value.
template<typename T>
void	wire_input (const std::string &input_name, const std::string &source_name)
	Wire an input to a source signal.
std::vector< std::string >	get_unwired_inputs () const
	Get list of unwired input names.
void	validate_wiring () const
	Validate all inputs are wired.
std::vector< SignalDescriptor >	get_outputs () const
	Get all output signal descriptors.
std::vector< SignalDescriptor >	get_outputs_for_component (const std::string &component_name) const
	Get output signals for a specific component.
std::vector< SignalDescriptor >	get_inputs_for_component (const std::string &component_name) const
	Get inputs for a specific component.
std::vector< SignalDescriptor >	get_params_for_component (const std::string &component_name) const
	Get parameters for a specific component.
std::vector< SignalDescriptor >	get_config_for_component (const std::string &component_name) const
	Get config for a specific component.
std::vector< SignalDescriptor >	get_inputs () const
	Get all input info.
std::vector< SignalDescriptor >	get_params () const
	Get all parameter info.
std::vector< SignalDescriptor >	get_config () const
	Get all config info.
bool	has_input (const std::string &name) const
	Check if an input exists.
bool	has_param (const std::string &name) const
	Check if a parameter exists.
bool	has_config (const std::string &name) const
	Check if a config exists.
std::vector< std::string >	get_all_signal_names () const
	Get all output signal names.
std::vector< std::string >	get_all_input_names () const
	Get all input signal names.
std::vector< std::string >	get_all_output_names () const
	Get all output signal names.
bool	HasOutput (const std::string &name) const
	Check if an output signal exists (PascalCase alias).
bool	HasInput (const std::string &name) const
	Check if an input port exists (PascalCase alias).
std::vector< std::string >	GetAllInputPaths () const
	Get all declared input paths (for SignalRouter validation).
std::vector< std::string >	GetAllOutputPaths () const
	Get all declared output paths (for SignalRouter validation).
template<typename T>
void	wire_input_with_gain (const std::string &input_name, const std::string &source_name, double gain=1.0)
	Wire an input to a source signal with gain factor.
void	wire_input_with_gain (const std::string &input_name, const std::string &source_name, double gain=1.0)
	Wire an input with gain (type-erased version).

Static Public Attributes
static constexpr SignalIndex	InvalidIndex = static_cast<SignalIndex>(-1)

Detailed Description

template<typename Scalar>
class icarus::SignalRegistry< Scalar >

Central registry for all simulation signals.

The SignalRegistry manages the signal backplane, providing:

Signal registration during Provision (with pointer binding)
Type-safe signal resolution during Stage (returning SignalHandle)
Fast indexed access during Step (hot path)
Vec3/Mat3 expansion for vector signals
Owner tracking for collision detection

Template Parameters

Scalar The numeric type (double or casadi::MX)

Member Typedef Documentation

◆ SignalIndex

template<typename Scalar>

using icarus::SignalRegistry< Scalar >::SignalIndex = std::size_t

Member Function Documentation

◆ clear_current_component()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::clear_current_component ( )

inline

Clear the current component context.

◆ current_component()

template<typename Scalar>

const std::string & icarus::SignalRegistry< Scalar >::current_component ( ) const

inlinenodiscard

Get the current component name.

◆ Get()

template<typename Scalar>

const Scalar & icarus::SignalRegistry< Scalar >::Get ( SignalIndex index ) const

inlinenodiscard

Get signal value by index (hot path, legacy).

Deprecated: Use SignalHandle<T> for direct pointer access

◆ get_all_input_names()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::get_all_input_names ( ) const

inlinenodiscard

Get all input signal names.

◆ get_all_output_names()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::get_all_output_names ( ) const

inlinenodiscard

Get all output signal names.

◆ get_all_signal_names()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::get_all_signal_names ( ) const

inlinenodiscard

Get all output signal names.

Returns only signal names where kind != SignalKind::Input.

◆ get_config()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_config ( ) const

inlinenodiscard

Get all config info.

◆ get_config_for_component()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_config_for_component ( const std::string & component_name ) const

inlinenodiscard

Get config for a specific component.

◆ get_descriptor()

template<typename Scalar>

const SignalDescriptor * icarus::SignalRegistry< Scalar >::get_descriptor ( const std::string & name ) const

inlinenodiscard

Get descriptor by name.

◆ get_inputs()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_inputs ( ) const

inlinenodiscard

Get all input info.

◆ get_inputs_for_component()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_inputs_for_component ( const std::string & component_name ) const

inlinenodiscard

Get inputs for a specific component.

◆ get_integrable_signals()

template<typename Scalar>

std::vector< const SignalDescriptor * > icarus::SignalRegistry< Scalar >::get_integrable_signals ( ) const

inlinenodiscard

Get all integrable signal descriptors.

Returns descriptors for signals where is_integrable == true.

◆ get_outputs()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_outputs ( ) const

inlinenodiscard

Get all output signal descriptors.

Returns only signals with kind != SignalKind::Input (i.e., actual outputs).

◆ get_outputs_for_component()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_outputs_for_component ( const std::string & component_name ) const

inlinenodiscard

Get output signals for a specific component.

Returns only signals with kind != SignalKind::Input for the component.

◆ get_params()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_params ( ) const

inlinenodiscard

Get all parameter info.

◆ get_params_for_component()

template<typename Scalar>

std::vector< SignalDescriptor > icarus::SignalRegistry< Scalar >::get_params_for_component ( const std::string & component_name ) const

inlinenodiscard

Get parameters for a specific component.

◆ get_state_pairs()

template<typename Scalar>

const auto & icarus::SignalRegistry< Scalar >::get_state_pairs ( ) const

inlinenodiscard

Get all integrable state pairs.

Returns pairs of (value_ptr, derivative_ptr) for building integration vectors. Used by StateManager::DiscoverStates().

◆ get_unwired_inputs()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::get_unwired_inputs ( ) const

inlinenodiscard

Get list of unwired input names.

◆ GetAllInputPaths()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::GetAllInputPaths ( ) const

inlinenodiscard

Get all declared input paths (for SignalRouter validation).

◆ GetAllOutputPaths()

template<typename Scalar>

std::vector< std::string > icarus::SignalRegistry< Scalar >::GetAllOutputPaths ( ) const

inlinenodiscard

Get all declared output paths (for SignalRouter validation).

◆ GetByName()

template<typename Scalar>

const Scalar & icarus::SignalRegistry< Scalar >::GetByName ( const std::string & name ) const

inlinenodiscard

Get signal value by name (slow path, for debugging).

◆ GetDescriptors()

template<typename Scalar>

const std::deque< SignalDescriptor > & icarus::SignalRegistry< Scalar >::GetDescriptors ( ) const

inlinenodiscard

Get all signal descriptors.

◆ has_config()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::has_config ( const std::string & name ) const

inlinenodiscard

Check if a config exists.

◆ has_input()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::has_input ( const std::string & name ) const

inlinenodiscard

Check if an input exists.

◆ has_param()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::has_param ( const std::string & name ) const

inlinenodiscard

Check if a parameter exists.

◆ HasInput()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::HasInput ( const std::string & name ) const

inlinenodiscard

Check if an input port exists (PascalCase alias).

◆ HasOutput()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::HasOutput ( const std::string & name ) const

inlinenodiscard

Check if an output signal exists (PascalCase alias).

◆ HasSignal()

template<typename Scalar>

bool icarus::SignalRegistry< Scalar >::HasSignal ( const std::string & name ) const

inlinenodiscard

Check if a signal exists.

◆ query()

template<typename Scalar>

std::vector< const SignalDescriptor * > icarus::SignalRegistry< Scalar >::query ( const std::string & pattern ) const

inlinenodiscard

Query signals matching a pattern.

Parameters

pattern Regex pattern to match signal names

Returns: Vector of pointers to matching descriptors

Exceptions

std::regex_error if pattern is invalid

◆ register_config() [1/2]

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::register_config	(	const std::string &	name,
		bool *	storage,
		bool	initial_value,
		const std::string &	description = "" )

inline

Register a bool config value.

◆ register_config() [2/2]

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::register_config	(	const std::string &	name,
		int *	storage,
		int	initial_value,
		const std::string &	description = "" )

inline

Register an int config value.

◆ register_input()

template<typename Scalar>

template<typename T>

void icarus::SignalRegistry< Scalar >::register_input	(	const std::string &	name,
		InputHandle< T > *	handle,
		const std::string &	units = "",
		const std::string &	description = "" )

inline

Register an input port.

Inputs are declared at Provision and wired at Stage.

Template Parameters

T	The value type (Scalar, Vec3<Scalar>, etc.)

Parameters

name	Local signal name
handle	Pointer to component-owned InputHandle
units	Physical units
description	Human-readable description

◆ register_output()

template<typename Scalar>

template<typename T>

void icarus::SignalRegistry< Scalar >::register_output	(	const std::string &	name,
		T *	data_ptr,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register an output signal with pointer binding.

Template Parameters

T	The signal value type (must have TypeTraits specialization)

Parameters

name	Signal path
data_ptr	Pointer to component-owned storage
unit	Physical unit (optional)
description	Human-readable description (optional)

◆ register_output_quat()

template<typename Scalar>

template<typename S>

void icarus::SignalRegistry< Scalar >::register_output_quat	(	const std::string &	name,
		Vec4< S > *	data_ptr,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register a Vec4/Quaternion output signal as four scalar components.

Creates four output signals with .w, .x, .y, .z suffixes.

◆ register_output_vec3()

template<typename Scalar>

template<typename S>

void icarus::SignalRegistry< Scalar >::register_output_vec3	(	const std::string &	name,
		Vec3< S > *	data_ptr,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register a Vec3 output signal as three scalar components.

Creates three output signals with .x, .y, .z suffixes.

Template Parameters

S	The scalar type (typically same as Scalar template)

Parameters

name	Base signal path (e.g., "position")
data_ptr	Pointer to Vec3 storage
unit	Physical unit (optional)
description	Human-readable description (optional)

◆ register_param()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::register_param	(	const std::string &	name,
		Scalar *	storage,
		Scalar	initial_value,
		const std::string &	units = "",
		const std::string &	description = "" )

inline

Register a parameter.

Parameters are Scalar-typed and can be optimization variables.

Parameters

name	Local parameter name
storage	Pointer to component-owned Scalar storage
initial_value	Initial value
units	Physical units
description	Human-readable description

◆ register_state()

template<typename Scalar>

template<typename T>

void icarus::SignalRegistry< Scalar >::register_state	(	const std::string &	name,
		T *	value,
		T *	derivative,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register a scalar state with its derivative.

Creates two signals: the state value (integrable) and its derivative. StateManager will discover these and build the integration vector.

Template Parameters

T	The scalar type

Parameters

name	State name (e.g., "altitude")
value	Pointer to state value storage
derivative	Pointer to derivative storage
unit	Physical unit
description	Human-readable description

◆ register_state_quat()

template<typename Scalar>

template<typename S>

void icarus::SignalRegistry< Scalar >::register_state_quat	(	const std::string &	name,
		Vec4< S > *	value,
		Vec4< S > *	derivative,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register a quaternion state with its derivative.

Creates 8 signals: 4 for value (.w/.x/.y/.z) and 4 for derivative (_dot.w/.x/.y/.z).

◆ register_state_vec3()

template<typename Scalar>

template<typename S>

void icarus::SignalRegistry< Scalar >::register_state_vec3	(	const std::string &	name,
		Vec3< S > *	value,
		Vec3< S > *	derivative,
		const std::string &	unit = "",
		const std::string &	description = "" )

inline

Register a Vec3 state with its derivative.

Creates 6 signals: 3 for value (.x/.y/.z) and 3 for derivative (_dot.x/.y/.z).

◆ RegisterSignal()

template<typename Scalar>

SignalIndex icarus::SignalRegistry< Scalar >::RegisterSignal ( const SignalDescriptor & descriptor )

inline

Register a new signal output (legacy API).

Deprecated: Use register_output<T>() instead for pointer-based registration

Called during Provision phase to declare a signal. Creates internal storage managed by the registry.

Parameters

descriptor Signal metadata

Returns: Index for fast access during Step

◆ Resolve()

template<typename Scalar>

SignalIndex icarus::SignalRegistry< Scalar >::Resolve ( const std::string & name ) const

inlinenodiscard

Resolve a signal by name (legacy API).

Deprecated: Use resolve<T>() for type-safe handle-based access

Parameters

name	Full signal path

Returns: Index for fast access during Step

◆ resolve()

template<typename Scalar>

template<typename T>

SignalHandle< T > icarus::SignalRegistry< Scalar >::resolve ( const std::string & name )

inlinenodiscard

Resolve a signal by name and return a type-safe handle.

Template Parameters

T	The expected signal value type

Parameters

name	Signal path

Returns: SignalHandle<T> for zero-overhead access

Exceptions

SignalNotFoundError	if signal doesn't exist
TypeMismatchError	if type doesn't match registered type

◆ resolve_const()

template<typename Scalar>

template<typename T>

SignalHandle< const T > icarus::SignalRegistry< Scalar >::resolve_const ( const std::string & name ) const

inlinenodiscard

Resolve a signal as const (for read-only access).

◆ resolve_quat()

template<typename Scalar>

template<typename S>

QuatHandle< S > icarus::SignalRegistry< Scalar >::resolve_quat ( const std::string & name )

inlinenodiscard

Resolve a quaternion signal as a QuatHandle.

◆ resolve_vec3()

template<typename Scalar>

template<typename S>

Vec3Handle< S > icarus::SignalRegistry< Scalar >::resolve_vec3 ( const std::string & name )

inlinenodiscard

Resolve a Vec3 signal as a Vec3Handle.

Template Parameters

S	The scalar type

Parameters

name	Base signal path (without .x/.y/.z suffix)

Returns: Vec3Handle ~~with handles for each component~~

◆ Set()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::Set	(	SignalIndex	index,
		const Scalar &	value )

inline

Set signal value by index (hot path, legacy).

Deprecated: Use SignalHandle<T> for direct pointer access

◆ set_current_component()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::set_current_component ( const std::string & name )

inline

Set the current component context for registration.

All signals registered after this call will be attributed to this component.

Parameters

name	Component name

◆ SetByName()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::SetByName	(	const std::string &	name,
		const Scalar &	value )

inline

Set signal value by name (slow path, for initialization).

◆ Size()

template<typename Scalar>

std::size_t icarus::SignalRegistry< Scalar >::Size ( ) const

inlinenodiscard

Get number of registered signals.

◆ validate_wiring()

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::validate_wiring ( ) const

inline

Validate all inputs are wired.

Exceptions

WiringError with list of unwired inputs

◆ wire_input()

template<typename Scalar>

template<typename T>

void icarus::SignalRegistry< Scalar >::wire_input	(	const std::string &	input_name,
		const std::string &	source_name )

inline

Wire an input to a source signal.

Parameters

input_name	Full name of the input port
source_name	Full name of the source signal

Exceptions

SignalNotFoundError	if source doesn't exist
WiringError	if input not found or source is an input (not a valid wiring source)

◆ wire_input_with_gain() [1/2]

template<typename Scalar>

void icarus::SignalRegistry< Scalar >::wire_input_with_gain	(	const std::string &	input_name,
		const std::string &	source_name,
		double	gain = 1.0 )

inline

Wire an input with gain (type-erased version).

Uses the input's registered type information to perform wiring. Only supports Scalar type - gain wiring is not applicable to vector types.

Exceptions

WiringError if input type is not Scalar

◆ wire_input_with_gain() [2/2]

template<typename Scalar>

template<typename T>

void icarus::SignalRegistry< Scalar >::wire_input_with_gain	(	const std::string &	input_name,
		const std::string &	source_name,
		double	gain = 1.0 )

inline

Wire an input to a source signal with gain factor.

The gain is applied when reading the input value. gain = 1.0 means no scaling (pass-through).

Parameters

input_name	Full name of the input port
source_name	Full name of the source signal
gain	Scale factor (default 1.0)

Exceptions

WiringError if input not found or source is an input (not a valid wiring source)

Member Data Documentation

◆ InvalidIndex

template<typename Scalar>

SignalIndex icarus::SignalRegistry< Scalar >::InvalidIndex = static_cast<SignalIndex>(-1)

staticconstexpr

The documentation for this class was generated from the following files:

include/icarus/signal/InputHandle.hpp
include/icarus/signal/Registry.hpp

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ SignalIndex

Member Function Documentation

◆ clear_current_component()

◆ current_component()

◆ Get()

◆ get_all_input_names()

◆ get_all_output_names()

◆ get_all_signal_names()

◆ get_config()

◆ get_config_for_component()

◆ get_descriptor()

◆ get_inputs()

◆ get_inputs_for_component()

◆ get_integrable_signals()

◆ get_outputs()

◆ get_outputs_for_component()

◆ get_params()

◆ get_params_for_component()

◆ get_state_pairs()

◆ get_unwired_inputs()

◆ GetAllInputPaths()

◆ GetAllOutputPaths()

◆ GetByName()

◆ GetDescriptors()

◆ has_config()

◆ has_input()

◆ has_param()

◆ HasInput()

◆ HasOutput()

◆ HasSignal()

◆ query()

◆ register_config() [1/2]

◆ register_config() [2/2]

◆ register_input()

◆ register_output()

◆ register_output_quat()

◆ register_output_vec3()

◆ register_param()

◆ register_state()

◆ register_state_quat()

◆ register_state_vec3()

◆ RegisterSignal()

◆ Resolve()

◆ resolve()

◆ resolve_const()

◆ resolve_quat()

◆ resolve_vec3()

◆ Set()

◆ set_current_component()

◆ SetByName()

◆ Size()

◆ validate_wiring()

◆ wire_input()

◆ wire_input_with_gain() [1/2]

◆ wire_input_with_gain() [2/2]

Member Data Documentation

◆ InvalidIndex