Namespaces
namespace	detail
namespace	LifecycleStrings
	Simulation phase names for logging banners.
namespace	io
namespace	signal
namespace	staging

Classes
struct	ForceContribution
	Force contribution from a single source. More...
class	Backplane
	Component-facing facade for signal registration and resolution. More...
struct	SignalDecl
	Signal declaration for introspection. More...
class	Component
	Base class for all simulation components. More...
struct	ComponentConfig
	Configuration container for components. More...
class	ComponentFactory
	Factory for creating components from configuration. More...
struct	Token
class	ConditionNode
class	ComparisonNode
	Comparison: signal <op> value or signal <op> signal. More...
class	AndNode
	Boolean AND. More...
class	OrNode
	Boolean OR. More...
class	NotNode
	Boolean NOT. More...
class	Tokenizer
class	CompiledCondition
	Compiled condition ready for evaluation. More...
class	ConditionParser
	Parser for condition expressions. More...
struct	RunConfig
	Run configuration for Stage phase. More...
struct	SimulationError
class	Error
	Base class for all Icarus exceptions. More...
class	SignalError
	Signal-related errors (registration, resolution, wiring). More...
class	ConfigError
	Configuration/parsing errors with optional file context. More...
class	LifecycleError
	Lifecycle ordering/state errors. More...
class	WiringError
	Wiring and signal routing errors. More...
class	IntegrationError
	Integration/ODE solver errors with time context. More...
class	StateError
	State vector management errors. More...
class	IOError
	File and I/O operation errors. More...
class	ConditionError
	Condition parsing and evaluation errors. More...
class	NotImplementedError
	Stub for unimplemented features. More...
class	ProvisionError
class	StageError
class	StepError
class	TypeMismatchError
class	DuplicateSignalError
class	SignalNotFoundError
class	UnwiredInputError
class	StateSizeMismatchError
class	StepSizeTooSmallError
class	PhysicalComponent
	Intermediate class for components with physical body attachment. More...
struct	ValidationIssue
	Single validation issue. More...
class	ValidationResult
	Structured validation result with errors and warnings. More...
struct	DataDictionary
	Complete catalog of simulation interface. More...
struct	IntrospectionEdge
	A single directed edge in the introspection graph. More...
struct	IntrospectionGraph
	Complete introspection graph: nodes (components) + typed edges. More...
class	Playback
	Simulation data playback interface. More...
class	Recorder
	Simulation data recorder interface. More...
class	ErrorHandler
	Central error handler integrating logging and exceptions. More...
class	ErrorScope
	RAII wrapper for try/catch with automatic error reporting. More...
class	HDF5Recorder
	HDF5 recorder for Icarus simulations. More...
struct	AnsiColor
	ANSI color codes. More...
struct	BoxChars
	Box-drawing characters (Unicode). More...
class	Console
	Console output with color and formatting support. More...
struct	LogConfig
	Logging configuration. More...
struct	LogContext
	Immutable log context - set by component/entity during execution. More...
struct	LogEntry
	A single log entry with full context. More...
class	LogContextManager
	Thread-local log context manager. More...
class	LogService
	Unified logging service for Icarus. More...
class	LogSinks
	Factory for common log sinks. More...
class	MissionLogger
	Mission Logger - Flight Recorder style logging. More...
class	AsciiTable
	ASCII table generator with box-drawing characters. More...
class	Banner
	ASCII art banners and headers. More...
class	FlightManifest
	Generate Flight Manifest (ASCII Data Dictionary). More...
struct	ComponentStats
	Component timing statistics. More...
class	MissionDebrief
	Mission Debrief generator. More...
class	SignalHandle
	Type-safe handle for accessing a signal value. More...
class	SignalRegistry
	Central registry for all simulation signals. More...
class	InputHandle
	Handle to an input signal port. More...
struct	TypeTraits
	Primary template for TypeTraits (generates compile error if not specialized). More...
struct	TypeTraits< double >
	TypeTraits specialization for double. More...
struct	TypeTraits< int32_t >
	TypeTraits specialization for int32_t. More...
struct	TypeTraits< int64_t >
	TypeTraits specialization for int64_t. More...
struct	TypeTraits< SymbolicScalar >
	TypeTraits specialization for SymbolicScalar (casadi::MX). More...
struct	SignalDescriptor
	Descriptor for a signal on the backplane. More...
struct	Vec3Handle
	Handle for accessing a Vec3 signal as three scalar components. More...
struct	QuatHandle
	Handle for accessing a quaternion signal as four scalar components. More...
struct	Mat3Handle
	Handle for accessing a Mat3 signal as nine scalar components. More...
class	IntegrationManager
	Manages integrator lifecycle and stepping. More...
struct	AdaptiveStepResult
	Result from adaptive step integrators. More...
class	Integrator
	Abstract interface for numerical integrators. More...
class	AdaptiveIntegrator
	Interface for adaptive step integrators. More...
class	IntegratorFactory
	Factory for creating integrators from configuration. More...
struct	IntegratorConfig
	Configuration for integrator creation. More...
class	RK45Integrator
	Adaptive Dormand-Prince RK4(5) integrator. More...
class	EulerIntegrator
	Forward Euler integrator (1st order). More...
class	RK2Integrator
	Heun's method / RK2 integrator (2nd order). More...
class	RK4Integrator
	Classic 4th-order Runge-Kutta integrator. More...
struct	PhaseTransition
	Configuration for a single phase transition. More...
struct	PhaseConfig
	Configuration for phase management. More...
class	PhaseManager
	Manages flight phase transitions. More...
class	Scheduler
	Group-based execution scheduler. More...
class	Simulator
	Top-level simulation coordinator. More...
struct	EpochConfig
	Time epoch configuration for absolute time support. More...
struct	TrimConfig
	Trim configuration for state initialization. More...
struct	LinearizationConfig
	Linearization configuration. More...
struct	SymbolicsConfig
	Symbolic generation configuration. More...
struct	StageConfig
	Staging configuration. More...
struct	GroupMember
	A component member within a scheduler group. More...
struct	SchedulerGroupConfig
	A scheduler group with its own rate and priority. More...
struct	TopologyConfig
	Cycle detection and handling configuration. More...
struct	SchedulerConfig
	Scheduler configuration with rate groups. More...
struct	OutputConfig
	Output/export configuration. More...
struct	RecordingConfig
	HDF5 recording configuration. More...
struct	EntityTemplate
	Entity template loaded from YAML. More...
struct	EntityInstance
	Entity instance (template + name + overrides). More...
struct	SwarmConfig
	Swarm configuration for bulk entity spawning. More...
struct	EntitySystemConfig
	Entity system configuration. More...
struct	SimulatorConfig
	Complete simulation configuration. More...
struct	StateBinding
	Binding to a single scalar state value and its derivative. More...
class	StateManager
	Manages state integration via signal discovery. More...
struct	CycleInfo
	Information about a detected cycle in the dependency graph. More...
struct	TopologyResult
	Result of topological analysis. More...
class	DependencyGraph
	Dependency graph for component execution ordering. More...
class	TopologyAnalyzer
	Utility class for building and analyzing component dependency graphs. More...

Concepts
concept	IcarusScalar
	Alias for Icarus-specific documentation.
concept	ComponentType
	Concept for types that can serve as Icarus components.
concept	ExtendedComponent
	Concept for components with optional extended hooks.

Typedefs
using	RoutingError = WiringError
using	ConfigurationError = ConfigError
using	IntegratorError = IntegrationError
using	ErrorCallback = std::function<ErrorPolicy(const SimulationError &)>
	Error handler callback signature.
using	RecordingReader = vulcan::io::HDF5Reader
	HDF5 recording reader (re-export of Vulcan's HDF5Reader).
template<typename Scalar>
using	ScalarInput = InputHandle<Scalar>
	Scalar input handle.
template<typename Scalar>
using	Vec3Input = InputHandle<Vec3<Scalar>>
	Vec3 input handle.
template<typename Scalar>
using	QuatInput = InputHandle<Vec4<Scalar>>
	Vec4/Quaternion input handle.
using	SignalType = vulcan::io::SignalType
	Signal data type (re-exported from Vulcan for consistency).
using	SignalLifecycle = vulcan::io::SignalLifecycle
	Signal lifecycle (re-exported from Vulcan for consistency).

Enumerations
enum class	Frame : uint8_t { BODY , WIND , LOCAL , INERTIAL }
	Reference frame for force/moment quantities. More...
enum class	SourceLifecycle : uint8_t { STATIC , DYNAMIC }
	Signal lifecycle for mass/force sources. More...
enum class	TokenType { Number , Identifier , Less , LessEqual , Greater , GreaterEqual , Equal , NotEqual , And , Or , Not , LeftParen , RightParen , Eof }
enum class	Lifecycle : uint8_t { Uninitialized , Provisioned , Staged , Running , Paused , Completed , Error }
	Simulation lifecycle phases. More...
enum class	Severity : uint8_t { INFO , WARNING , ERROR , FATAL }
enum class	SignalErrorKind { NotFound , Duplicate , TypeMismatch , Unwired , NullPointer }
	Signal-related error categories. More...
enum class	LifecyclePhase { Provision , Stage , Step , Reset , Other }
	Simulation lifecycle phases. More...
enum class	ValidationSeverity { Error , Warning , Info }
	Severity level for validation issues. More...
enum class	EdgeKind { Route , Resolve }
	Edge classification for the introspection graph. More...
enum class	ErrorPolicy { Continue , Pause , Abort , Crash }
	Error handling policy. More...
enum class	LogLevel { Trace , Debug , Info , Event , Warning , Error , Fatal }
	Log severity levels. More...
enum class	ExitStatus { Success , EndConditionMet , UserAbort , Error , Divergence }
	Exit status codes. More...
enum class	SignalKind { Output , Input , Parameter , Config }
	Classification of signal types in the component interface. More...
enum class	IntegratorType { Euler , RK2 , RK4 , RK45 }
	Available integrator methods. More...
enum class	SchedulingMode { Automatic , Explicit }
	Scheduling mode enumeration. More...

Functions
const char *	FrameToString (Frame frame)
	Convert Frame enum to string for logging.
template<>
std::string	ComponentConfig::Get< std::string > (const std::string &key, const std::string &def) const
template<>
std::string	ComponentConfig::Require< std::string > (const std::string &key) const
template<>
bool	ComponentConfig::Has< std::string > (const std::string &key) const
template<>
std::vector< double >	ComponentConfig::Get< std::vector< double > > (const std::string &key, const std::vector< double > &def) const
template<>
std::vector< double >	ComponentConfig::Require< std::vector< double > > (const std::string &key) const
template<>
bool	ComponentConfig::Has< std::vector< double > > (const std::string &key) const
template<>
std::vector< std::string >	ComponentConfig::Get< std::vector< std::string > > (const std::string &key, const std::vector< std::string > &def) const
template<>
std::vector< std::string >	ComponentConfig::Require< std::vector< std::string > > (const std::string &key) const
template<>
bool	ComponentConfig::Has< std::vector< std::string > > (const std::string &key) const
constexpr int	VersionMajor ()
	Major version number.
constexpr int	VersionMinor ()
	Minor version number.
constexpr int	VersionPatch ()
	Patch version number.
constexpr const char *	Version ()
	Version string (derived from components).
std::string	MakeFullPath (const std::string &entity, const std::string &name)
	Build a full path from entity and name.
template<typename E>
void	ThrowError (E &&error, double time=0.0, const std::string &component="")
	Helper to throw an error and optionally log it.
LogLevel	SeverityToLogLevel (Severity severity)
	Convert error severity to log level.
void	LogError (const Error &error, double time=0.0, const std::string &component="")
	Log an error to the global LogService.
template<typename E>
void	ThrowAndLog (E &&error, double time=0.0, const std::string &component="")
	Throw an error after logging it.
LogService &	GetLogService ()
	Global log service singleton.
const char *	to_string (SignalKind kind)
	Convert SignalKind to string.
std::string	to_string (IntegratorType type)
	Convert integrator type to string.
IntegratorType	parse_integrator_type (const std::string &name)
	Parse integrator type from string (case-insensitive).

Variables
constexpr bool	kDebugMode = false
	Check if we're in debug mode at compile time.

Typedef Documentation

◆ ConfigurationError

using icarus::ConfigurationError = ConfigError

◆ ErrorCallback

using icarus::ErrorCallback = std::function<ErrorPolicy(const SimulationError &)>

Error handler callback signature.

◆ IntegratorError

using icarus::IntegratorError = IntegrationError

◆ QuatInput

template<typename Scalar>

using icarus::QuatInput = InputHandle<Vec4<Scalar>>

Vec4/Quaternion input handle.

◆ RecordingReader

using icarus::RecordingReader = vulcan::io::HDF5Reader

HDF5 recording reader (re-export of Vulcan's HDF5Reader).

Reads recordings created by Recorder. See vulcan::io::HDF5Reader for full API documentation.

Example:

RecordingReader reader("sim.h5");
 
auto times = reader.times();
auto positions = reader.read_vec3("Satellite.position");
 
std::cout << "Frames: " << reader.frame_count() << "\n";

◆ RoutingError

using icarus::RoutingError = WiringError

◆ ScalarInput

template<typename Scalar>

using icarus::ScalarInput = InputHandle<Scalar>

Scalar input handle.

◆ SignalLifecycle

using icarus::SignalLifecycle = vulcan::io::SignalLifecycle

Signal lifecycle (re-exported from Vulcan for consistency).

◆ SignalType

using icarus::SignalType = vulcan::io::SignalType

Signal data type (re-exported from Vulcan for consistency).

◆ Vec3Input

template<typename Scalar>

using icarus::Vec3Input = InputHandle<Vec3<Scalar>>

Vec3 input handle.

Enumeration Type Documentation

◆ EdgeKind

enum class icarus::EdgeKind

strong

Edge classification for the introspection graph.

Enumerator
Route	Explicit SignalRouter connection (input_path <- output_path).
Resolve	Implicit dependency via Backplane::resolve() (source binding).

◆ ErrorPolicy

enum class icarus::ErrorPolicy

strong

Error handling policy.

Enumerator
Continue	Log and continue (for warnings).
Pause	Pause simulation, allow resume.
Abort	Clean shutdown with debrief.
Crash	Immediate termination (for fatal errors).

◆ ExitStatus

enum class icarus::ExitStatus

strong

Exit status codes.

Enumerator
Success	Normal completion.
EndConditionMet	End condition triggered.
UserAbort	User requested abort.
Error	Error during simulation.
Divergence	Numerical divergence.

◆ Frame

enum class icarus::Frame : uint8_t

strong

Reference frame for force/moment quantities.

Forces can be expressed in different reference frames. The aggregator must transform all forces to body frame before summing.

Enumerator
BODY	Body-fixed frame (X=forward, Y=right, Z=down).
WIND	Velocity-aligned frame (X=airspeed direction).
LOCAL	Component-local frame (e.g., nozzle axis).
INERTIAL	Inertial frame (ECI or ECEF).

◆ IntegratorType

enum class icarus::IntegratorType

strong

Available integrator methods.

Maps directly to Janus step functions.

Enumerator
Euler	Forward Euler (1st order, 1 eval) - janus::euler_step.
RK2	Heun's method (2nd order, 2 evals) - janus::rk2_step.
RK4	Classic RK4 (4th order, 4 evals) - janus::rk4_step.
RK45	Dormand-Prince adaptive (5th order, 7 evals) - janus::rk45_step.

◆ Lifecycle

enum class icarus::Lifecycle : uint8_t

strong

Simulation lifecycle phases.

Enumerator
Uninitialized	Before Provision.
Provisioned	After Provision, before Stage.
Staged	After Stage, ready to run.
Running	During Step loop.
Paused	Temporarily halted.
Completed	Simulation finished.
Error	Error state.

◆ LifecyclePhase

enum class icarus::LifecyclePhase

strong

Simulation lifecycle phases.

Enumerator
Provision
Stage
Step
Reset
Other

◆ LogLevel

enum class icarus::LogLevel

strong

Log severity levels.

Enumerator
Trace	Most verbose, internal debugging.
Debug	Debugging info.
Info	Normal operation.
Event	Simulation events (phase changes, etc.).
Warning	Potential issues.
Error	Recoverable errors.
Fatal	Unrecoverable errors.

◆ SchedulingMode

enum class icarus::SchedulingMode

strong

Scheduling mode enumeration.

Enumerator
Automatic	Topological sort from signal dependencies (Future TODO).
Explicit	User-defined execution order.

◆ Severity

enum class icarus::Severity : uint8_t

strong

Enumerator
INFO	Informational (logged, no action).
WARNING	Warning (may trigger graceful degradation).
ERROR	Error (simulation may continue with fallback).
FATAL	Fatal (simulation must stop).

◆ SignalErrorKind

enum class icarus::SignalErrorKind

strong

Signal-related error categories.

Enumerator
NotFound	Signal does not exist.
Duplicate	Signal already registered.
TypeMismatch	Type mismatch during resolution.
Unwired	Input not wired to output.
NullPointer	Null data pointer provided.

◆ SignalKind

enum class icarus::SignalKind

strong

Classification of signal types in the component interface.

Enumerator
Output	Dynamic output signal (Scalar, Vec3, etc.).
Input	Input port (wired to an output).
Parameter	Scalar-typed parameter (optimizable).
Config	Discrete config (int/bool/enum, not optimizable).

◆ SourceLifecycle

enum class icarus::SourceLifecycle : uint8_t

strong

Signal lifecycle for mass/force sources.

Used to distinguish static (constant) vs dynamic (time-varying) quantities.

Enumerator
STATIC	Constant during run (e.g., dry mass, structure).
DYNAMIC	Time-varying (e.g., fuel mass, sloshing).

◆ TokenType

enum class icarus::TokenType

strong

Enumerator
Number
Identifier
Less
LessEqual
Greater
GreaterEqual
Equal
NotEqual
And
Or
Not
LeftParen
RightParen
Eof

◆ ValidationSeverity

enum class icarus::ValidationSeverity

strong

Severity level for validation issues.

Enumerator
Error	Fatal - operation cannot proceed.
Warning	Proceed with caution.
Info	Informational note.

Function Documentation

◆ ComponentConfig::Get< std::string >()

template<>

std::string icarus::ComponentConfig::Get< std::string >	(	const std::string &	key,
		const std::string &	def ) const

inline

◆ ComponentConfig::Get< std::vector< double > >()

template<>

std::vector< double > icarus::ComponentConfig::Get< std::vector< double > >	(	const std::string &	key,
		const std::vector< double > &	def ) const

inline

◆ ComponentConfig::Get< std::vector< std::string > >()

template<>

std::vector< std::string > icarus::ComponentConfig::Get< std::vector< std::string > >	(	const std::string &	key,
		const std::vector< std::string > &	def ) const

inline

◆ ComponentConfig::Has< std::string >()

template<>

bool icarus::ComponentConfig::Has< std::string > ( const std::string & key ) const

inline

◆ ComponentConfig::Has< std::vector< double > >()

template<>

bool icarus::ComponentConfig::Has< std::vector< double > > ( const std::string & key ) const

inline

◆ ComponentConfig::Has< std::vector< std::string > >()

template<>

bool icarus::ComponentConfig::Has< std::vector< std::string > > ( const std::string & key ) const

inline

◆ ComponentConfig::Require< std::string >()

template<>

std::string icarus::ComponentConfig::Require< std::string > ( const std::string & key ) const

inline

◆ ComponentConfig::Require< std::vector< double > >()

template<>

std::vector< double > icarus::ComponentConfig::Require< std::vector< double > > ( const std::string & key ) const

inline

◆ ComponentConfig::Require< std::vector< std::string > >()

template<>

std::vector< std::string > icarus::ComponentConfig::Require< std::vector< std::string > > ( const std::string & key ) const

inline

◆ FrameToString()

const char * icarus::FrameToString ( Frame frame )

inline

Convert Frame enum to string for logging.

◆ GetLogService()

LogService & icarus::GetLogService ( )

inline

Global log service singleton.

◆ LogError()

void icarus::LogError	(	const Error &	error,
		double	time = 0.0,
		const std::string &	component = "" )

inline

Log an error to the global LogService.

◆ MakeFullPath()

std::string icarus::MakeFullPath	(	const std::string &	entity,
		const std::string &	name )

inline

Build a full path from entity and name.

Returns "entity.name" if entity is non-empty, otherwise just "name". Used consistently across Component, ComponentConfig, and logging.

◆ parse_integrator_type()

IntegratorType icarus::parse_integrator_type ( const std::string & name )

inlinenodiscard

Parse integrator type from string (case-insensitive).

Exceptions

std::invalid_argument if type name is not recognized

◆ SeverityToLogLevel()

LogLevel icarus::SeverityToLogLevel ( Severity severity )

inline

Convert error severity to log level.

◆ ThrowAndLog()

template<typename E>

void icarus::ThrowAndLog	(	E &&	error,
		double	time = 0.0,
		const std::string &	component = "" )

Throw an error after logging it.

Usage:

ThrowAndLog(SignalError::NotFound("mySignal"), 0.0, "MyComponent");

icarus::SignalError::NotFound

static SignalError NotFound(const std::string &name)

Definition Error.hpp:109

icarus::ThrowAndLog

void ThrowAndLog(E &&error, double time=0.0, const std::string &component="")

Throw an error after logging it.

Definition ErrorLogging.hpp:59

◆ ThrowError()

template<typename E>

void icarus::ThrowError	(	E &&	error,
		double	time = 0.0,
		const std::string &	component = "" )

Helper to throw an error and optionally log it.

Usage with LogService integration (in files that include LogService.hpp):

ICARUS_THROW(SignalError::NotFound("mySignal"), time, "MyComponent");

ICARUS_THROW

#define ICARUS_THROW(error)

Throw an error (simple version, no logging).

Definition Error.hpp:515

The error will be logged before being thrown if ICARUS_LOG_ERRORS is defined.

◆ to_string() [1/2]

std::string icarus::to_string ( IntegratorType type )

inlinenodiscard

Convert integrator type to string.

◆ to_string() [2/2]

const char * icarus::to_string ( SignalKind kind )

inline

Convert SignalKind to string.

◆ Version()

const char * icarus::Version ( )

constexpr

Version string (derived from components).

◆ VersionMajor()

int icarus::VersionMajor ( )

constexpr

Major version number.

◆ VersionMinor()

int icarus::VersionMinor ( )

constexpr

Minor version number.

◆ VersionPatch()

int icarus::VersionPatch ( )

constexpr

Patch version number.

Variable Documentation

◆ kDebugMode

bool icarus::kDebugMode = false

constexpr

Check if we're in debug mode at compile time.

Namespaces

Classes

Concepts

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ConfigurationError

◆ ErrorCallback

◆ IntegratorError

◆ QuatInput

◆ RecordingReader

◆ RoutingError

◆ ScalarInput

◆ SignalLifecycle

◆ SignalType

◆ Vec3Input

Enumeration Type Documentation

◆ EdgeKind

◆ ErrorPolicy

◆ ExitStatus

◆ Frame

◆ IntegratorType

◆ Lifecycle

◆ LifecyclePhase

◆ LogLevel

◆ SchedulingMode

◆ Severity

◆ SignalErrorKind

◆ SignalKind

◆ SourceLifecycle

◆ TokenType

◆ ValidationSeverity

Function Documentation

◆ ComponentConfig::Get< std::string >()

◆ ComponentConfig::Get< std::vector< double > >()

◆ ComponentConfig::Get< std::vector< std::string > >()

◆ ComponentConfig::Has< std::string >()

◆ ComponentConfig::Has< std::vector< double > >()

◆ ComponentConfig::Has< std::vector< std::string > >()

◆ ComponentConfig::Require< std::string >()

◆ ComponentConfig::Require< std::vector< double > >()

◆ ComponentConfig::Require< std::vector< std::string > >()

◆ FrameToString()

◆ GetLogService()

◆ LogError()

◆ MakeFullPath()

◆ parse_integrator_type()

◆ SeverityToLogLevel()

◆ ThrowAndLog()

◆ ThrowError()

◆ to_string() [1/2]

◆ to_string() [2/2]

◆ Version()

◆ VersionMajor()

◆ VersionMinor()

◆ VersionPatch()

Variable Documentation

◆ kDebugMode