icarus::StateManager< Scalar > Class Template Reference

Manages state integration via signal discovery. More...

#include <StateManager.hpp>

Public Member Functions
	StateManager ()=default
void	DiscoverStates (const SignalRegistry< Scalar > &registry)
	Discover integrable states from the registry.
void	ZeroDerivatives ()
	Zero all derivatives.
std::size_t	TotalSize () const
	Get total state vector size.
JanusVector< Scalar >	GetState () const
	Get copy of current state as a vector.
void	SetState (const JanusVector< Scalar > &X)
	Set state from external vector.
JanusVector< Scalar >	GetDerivatives () const
	Get copy of current derivatives as a vector.
JanusVector< Scalar >	GetDerivatives (const std::unordered_set< std::string > &active_components) const
	Get derivatives with phase-based gating.
const std::vector< StateBinding< Scalar > > &	GetBindings () const
	Get state bindings (for introspection).
bool	IsAllocated () const
	Check if states have been discovered.

Detailed Description

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

Manages state integration via signal discovery.

Discovers integrable states from the SignalRegistry during Stage(). Components register states with register_state() during Provision(), and StateManager builds the integration vector by gathering pointers.

Template Parameters

Scalar

Numeric type (double or casadi::MX)

Constructor & Destructor Documentation

StateManager()

template<typename Scalar>

icarus::StateManager< Scalar >::StateManager ( )

default

Member Function Documentation

DiscoverStates()

template<typename Scalar>

void icarus::StateManager< Scalar >::DiscoverStates ( const SignalRegistry< Scalar > & registry )

inline

Discover integrable states from the registry.

Queries the registry for all state pairs registered via register_state(). Builds internal binding vector with pointers to each state/derivative.

Parameters

registry

SignalRegistry containing registered states

GetBindings()

template<typename Scalar>

const std::vector< StateBinding< Scalar > > & icarus::StateManager< Scalar >::GetBindings ( ) const

inlinenodiscard

Get state bindings (for introspection).

GetDerivatives() [1/2]

template<typename Scalar>

JanusVector< Scalar > icarus::StateManager< Scalar >::GetDerivatives ( ) const

inlinenodiscard

Get copy of current derivatives as a vector.

Gathers derivative values from component-owned storage.

GetDerivatives() [2/2]

template<typename Scalar>

JanusVector< Scalar > icarus::StateManager< Scalar >::GetDerivatives ( const std::unordered_set< std::string > & active_components ) const

inlinenodiscard

Get derivatives with phase-based gating.

Returns derivatives for active components, zeros for inactive ones. This "freezes" states for components not active in the current phase.

Parameters

active_components

Set of component names that are active. Empty set means all components are active.

Returns

Derivative vector with zeros for inactive components

GetState()

template<typename Scalar>

JanusVector< Scalar > icarus::StateManager< Scalar >::GetState ( ) const

inlinenodiscard

Get copy of current state as a vector.

Gathers state values from component-owned storage into a JanusVector.

IsAllocated()

template<typename Scalar>

bool icarus::StateManager< Scalar >::IsAllocated ( ) const

inlinenodiscard

Check if states have been discovered.

SetState()

template<typename Scalar>

void icarus::StateManager< Scalar >::SetState ( const JanusVector< Scalar > & X )

inline

Set state from external vector.

Scatters values from JanusVector back to component-owned storage.

Parameters

X	New state vector (must match size)

TotalSize()

template<typename Scalar>

std::size_t icarus::StateManager< Scalar >::TotalSize ( ) const

inlinenodiscard

Get total state vector size.

ZeroDerivatives()

template<typename Scalar>

void icarus::StateManager< Scalar >::ZeroDerivatives ( )

inline

Zero all derivatives.

Called before each Step() to ensure components accumulate derivatives.

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

• include/icarus/sim/StateManager.hpp