Controller

java.lang.Object
- msim.control.Controller

```
@ThreadSafe
public class Controller
extends java.lang.Object
```
MSim model controller.

This class contains algorithms that pertain to the whole MSim model, such as analyze(), as well as the updateThread which synchronizes Solver rounds, Display rendering, and model access tasks scheduled with scheduleUpdateTask(java.lang.Runnable).

The update thread wakes up at least every UPDATE_MS milliseconds, or whenever a task is pending, to do the following
1. execute and notify() one pending updateTasks, if any (see scheduleUpdateTask(java.lang.Runnable), runUpdateTask(java.lang.Runnable), and sync(boolean, boolean, long)).
2. TrajectoryActor.update() any active TrajectoryActors that TrajectoryActor.needsUpdate()
3. WidgetInteractor#update any active WidgetInteractors that WidgetInteractor#needsUpdate
4. if structureChanged: re-analyze() the model topology to find all solve groups and setup the corresponding Solvers, and imply stateChanged
5. if stateChanged:
  1. set all joints outside of kinematic cycles to their current targets or postures
  2. updateAllCMTs()
  3. updateAllSubtreeCoMs()
  4. recomputeAllClosures()
  5. run an iteration on all current unconverged Solvers (which may change the state again)
6. if there is a UI with a Display: MSim.updateWidgetsRecursively() and JOGLDisplay.render() at least once every minRenderMS
Mutation and Synchronization

This class is designed to be thread safe. Synchronize on LOCK before updateMetricsLock.

Copyright (C) 2008 Marsette A. Vona, III
Author:

Marsette A. Vona, III

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

protected class Controller.UpdateThread
the async update thread, see class header doc

Nested Classes
Modifier and Type	Class and Description
`protected class`	`Controller.UpdateThread` the async update thread, see class header doc

Field Summary

Fields
Modifier and Type	Field and Description
`protected java.util.List<vona.time.TimeMetrics>`	`allUpdateMetrics` all metrics involved in periodic update
`protected vona.time.TimeMetrics`	`analyzeStructureMetrics` metrics for indicated computation
`protected boolean`	`convergenceEnabled` Synthetic or locally cached `solveParameters`.
`private static java.lang.String`	`cvsid`
`static boolean`	`dbgStateChanged` whether to save most recent stack trace of indicated call for dbg
`static boolean`	`dbgStructureChanged` whether to save most recent stack trace of indicated call for dbg
`static double`	`DEF_MIN_RENDER_MS` default `minRenderMS`
`protected boolean`	`disableOnDiverge` Synthetic or locally cached `solveParameters`.
`protected boolean`	`disableOnStall` Synthetic or locally cached `solveParameters`.
`protected boolean`	`forceOneSolve` whether to force one solver update
`protected java.lang.StackTraceElement[]`	`lastStateChangedStackTrace` most recent stack trace of indicated call iff corresp dbg flag is set
`protected java.lang.StackTraceElement[]`	`lastStructureChangedStackTrace` most recent stack trace of indicated call iff corresp dbg flag is set
`static java.lang.Object`	`LOCK` global model state and structure synchronization object
`protected double`	`minRenderMS` min ms between `JOGLDisplay.render()`s `updateThread`
`protected int`	`numSublinkageSCCs` total number of sublinkage DAG SCCs
`protected vona.time.TimeMetrics`	`populateSolversMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`recomputeAllClosuresMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`renderMetrics` metrics for indicated computation
`protected boolean`	`singleStep` Synthetic or locally cached `solveParameters`.
`protected vona.time.TimeMetrics`	`sleepMetrics` metrics for indicated computation
`protected java.util.Map<java.lang.String,java.lang.Object>`	`solveParameters` The currently set `Solver` parameters, see `setSolveParameter(java.lang.String, java.lang.Object)`.
`protected vona.time.TimeMetrics`	`solveRoundMetrics` metrics for indicated computation
`protected java.util.List<Solver>`	`solvers` current set of `Solver`s, see class header doc
`protected boolean`	`stateChanged` numeric dirty flag, see class header doc
`protected boolean`	`structureChanged` topology dirty flag, see class header doc
`protected vona.time.TimeMetrics`	`switchRoundsMetrics` metrics for indicated computation
`protected java.util.Set<TrajectoryActor>`	`trajectoryActors` currently active `TrajectoryActor`s
`protected java.util.Set<Joint>`	`unassignedChainClosures` Chain closure joints which have not yet been assigned to a `Solver` in `analyze()`.
`static int`	`UPDATE_MS` sleep ms between wakeup checks in `updateThread`
`protected vona.time.TimeMetrics`	`updateActorsMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateAllCMTsMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateAllSubtreeCoMsMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateCycleMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateForwardMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateKinematicStateMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateMetrics` metrics for indicated computation
`protected java.lang.Object`	`updateMetricsLock` lock for metrics state
`protected vona.time.TimeMetrics`	`updateOpenChainsMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateSolverMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateSolversMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateStateMetrics` metrics for indicated computation
`protected vona.time.TimeMetrics`	`updateStructureMetrics` metrics for indicated computation
`protected java.util.Queue<java.lang.Runnable>`	`updateTasks` currently queued update tasks, see class header doc
`protected vona.time.TimeMetrics`	`updateTasksMetrics` metrics for indicated computation
`protected Controller.UpdateThread`	`updateThread` the update thread instance
`protected java.lang.Object`	`updateThreadLock` lock object for `updateThread`
`protected vona.time.TimeMetrics`	`updateWidgetsMetrics` metrics for indicated computation
`protected java.util.Set<WidgetInteractor>`	`widgetInteractors` currently active `WidgetInteractor`s

Constructor Summary

Constructors
Constructor and Description

Controller()

Constructors
Constructor and Description
`Controller()`

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`addTrajectoryActor(TrajectoryActor actor)` add a `TrajectoryActor` to `trajectoryActors`
`void`	`addWidgetInteractor(WidgetInteractor interactor)` add a `WidgetInteractor` to `widgetInteractors`
`void`	`analyze()` (re)analyze the model topology, finding kinematic cycles and assigning them to `Solver`s.
`protected void`	`analyzeStructure(Link link, int depth)` Recursively DFS tree from link, tracing the kinematic cycles of chain closure joints as they are encountered.
`protected int`	`assignSolveRounds(Linkage l, int solveRound, int thisSCC, int nextSCC)` Assign `Linkage.solveRound` and `Linkage.sublinkageSCC` by DFS from l.
`boolean`	`converged()` covers `converged(boolean)`, ignoring disabled
`boolean`	`converged(boolean ignoreDisabled)` check if `getNumUnconvergedSolvers(boolean)` is zero
`boolean`	`deactivateTrajectoryActor(TrajectoryActor actor)` Correctly deactivate a `TrajectoryActor` even if it may be the `UI.manipulationDriver`.
`boolean`	`deactivateWidgetInteractor(WidgetInteractor interactor)` Correctly deactivate a `WidgetInteractor` even if it may be the `UI.widgetInteractor`.
`void`	`dumpLastStateChangedStackTrace()` `dumpLastStateChangedStackTrace(PrintStream)` to System.out
`void`	`dumpLastStateChangedStackTrace(java.io.PrintStream s)` Dump last `stateChanged` stack trace, which are only collected if `dbgStateChanged`.
`void`	`dumpLastStructureChangedStackTrace()` `dumpLastStructureChangedStackTrace(PrintStream)` to System.out
`void`	`dumpLastStructureChangedStackTrace(java.io.PrintStream s)` Dump last `structureChanged` stack trace, which are only collected if `dbgStructureChanged`.
`void`	`dumpSolveCounts()` `dumpSolveCounts(PrintStream)` to System.out
`void`	`dumpSolveCounts(java.io.PrintStream s)` Dump the total number of solvers, variables, and constraints, then chain to `dumpSolveRounds(java.io.PrintStream)`.
`void`	`dumpSolveDetails()` `dumpSolveDetails(PrintStream)` to System.out
`void`	`dumpSolveDetails(java.io.PrintStream s)` `Solver.dumpDetails(java.io.PrintStream)` all `solvers`
`void`	`dumpSolveNumericDetails()` `dumpSolveNumericDetails(PrintStream)` to System.out
`void`	`dumpSolveNumericDetails(java.io.PrintStream s)` `Solver.dumpNumericDetails(java.io.PrintStream)` all `solvers`
`void`	`dumpSolveParameters()` `dumpSolveParameters(PrintStream)` to System.out
`void`	`dumpSolveParameters(java.io.PrintStream s)` Dump all current solve parameters.
`void`	`dumpSolveRounds()` `dumpSolveRounds(PrintStream)` to System.out
`void`	`dumpSolveRounds(java.io.PrintStream s)` Dump the total number of solve rounds with at least one solver and their partition.
`void`	`dumpSolveStats()` `dumpSolveStats(PrintStream)` to System.out
`void`	`dumpSolveStats(java.io.PrintStream s)` `Solver.dumpStats(java.io.PrintStream)` all `solvers`
`void`	`dumpSolveStructure()` `dumpSolveStructure(PrintStream)` to System.out
`void`	`dumpSolveStructure(java.io.PrintStream s)` `Solver.dumpStructure(java.io.PrintStream)` all `solvers`
`protected void`	`dumpStackTrace(java.lang.StackTraceElement[] trace, java.lang.String name, java.io.PrintStream s)` common impl to dump stack traces
`void`	`dumpUpdateStats()` `dumpUpdateStats(PrintStream)` to System.out
`void`	`dumpUpdateStats(java.io.PrintStream s)` dump a collection of stats on `updateThread` processing
`protected boolean`	`findSources(Linkage l, java.util.List<Linkage> sources)` Find source sublinkages in solve round 0 by DFS from l.
`void`	`forceSolve()` Force one solver update.
`double`	`getMinRenderMS()` get the minimum render cycle time in milliseconds
`int`	`getNumSolveRounds()` get the total number of solve rounds containing at least one solver
`int`	`getNumSolvers()` get the total number of solvers
`int`	`getNumSublinkageSCCs()` get `numSublinkageSCCs`
`int`	`getNumUnconvergedSolvers()` covers `getNumUnconvergedSolvers(boolean)`, ignoring disabled
`int`	`getNumUnconvergedSolvers(boolean ignoreDisabled)` Get the number of unconverged `solvers`.
`java.lang.Object`	`getSolveParameter(java.lang.String name)` Get a previously set `Solver` parameter.
`int[]`	`getSolveRoundPartition()` covers `getSolveRoundPartition(int[])`, always conses
`int[]`	`getSolveRoundPartition(int[] partition)` Get the number of solvers in each round with at least one solver.
`int`	`getTotalNumConstraints()` get the total number of constraints
`int`	`getTotalNumVariables()` get the total number of variables
`boolean`	`inUpdateThread()` check if called from within `updateThread`
`protected boolean`	`isLockedWithRespectTo(Joint treeJoint, Joint closureJoint)` Check if treeJoint is considered locked with respect to closureJoint.
`boolean`	`isUpdateThreadLive()` check if the update thread is alive
`protected vona.time.TimeMetrics`	`makeUpdateMetrics(java.lang.String name)` Make an update metrics object with the given name and add it to `allUpdateMetrics`.
`protected void`	`populateSolver(Solver solver, Joint closureJoint)` Removes closureJoint from `unassignedChainClosures`, adds it to solver, and does same for all closure joints reachable from closureJoint.support.
`int`	`recomputeAllClosures()` Aliases corresponding recursive method in `MSim.getLinkage()`.
`void`	`removeTrajectoryActor(TrajectoryActor actor)` remove a `TrajectoryActor` from `trajectoryActors`
`void`	`removeWidgetInteractor(WidgetInteractor interactor)` remove a `WidgetInteractor` from `widgetInteractors`
`void`	`resetSolveStats()` `Solver.resetStats()` on all `solvers`
`void`	`resetUpdateStats()` reset all `updateThread` processing stats
`void`	`runUpdateTask(java.lang.Runnable task)` Same as `scheduleUpdateTask(java.lang.Runnable)` but synchronizes and on task and `wait()`s iff not `inUpdateThread()`.
`void`	`scheduleUpdateTask(java.lang.Runnable task)` Schedule a task to be run from within `updateThread`.
`void`	`setMinRenderMS(double ms)` set the minimum render cycle time in milliseconds
`java.lang.Object`	`setSolveParameter(java.lang.String name, java.lang.Object value)` Set a parameter on all current and future `solvers`.
`void`	`startUpdateThread()` Start or re-start `updateThread`.
`void`	`stateChanged()` Set `stateChanged` and save stack trace iff `dbgStateChanged`.
`void`	`structureChanged()` Set `structureChanged` and save stack trace iff `dbgStructureChanged`.
`boolean`	`sync()` Covers `sync(boolean, boolean, long)`, does not wait for convergence.
`boolean`	`sync(boolean waitForConvergence)` Covers `sync(boolean, boolean, long)`, ignores disabled solvers and waits indefinitely.
`boolean`	`sync(boolean waitForConvergence, boolean ignoreDisabled, long timeoutMS)` Convenience method to ensure that at least one full update cycle runs.
`boolean`	`sync(long timeoutMS)` Covers `sync(boolean, boolean, long)`, ignores disabled solvers and waits for convergence for the specified time.
`boolean`	`toggleSolveParameter(java.lang.String name)` Use `getSolveParameter(java.lang.String)` and `setSolveParameter(java.lang.String, java.lang.Object)` to toggle the value of a boolean parameter.
`void`	`updateAllCMTs()` Aliases corresponding recursive method in `MSim.getUltimateGroundLink()`.
`void`	`updateAllSubtreeCoMs()` Aliases corresponding recursive method in `MSim.getUltimateGroundLink()`.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - cvsid
```
private static final java.lang.String cvsid
```
    See Also:
    Constant Field Values
  - LOCK
```
public static final java.lang.Object LOCK
```
    global model state and structure synchronization object
  - UPDATE_MS
```
public static final int UPDATE_MS
```
    sleep ms between wakeup checks in updateThread
    
    See Also:
    Constant Field Values
  - DEF_MIN_RENDER_MS
```
public static final double DEF_MIN_RENDER_MS
```
    default minRenderMS
    
    See Also:
    Constant Field Values
  - structureChanged
```
protected boolean structureChanged
```
    topology dirty flag, see class header doc
  - stateChanged
```
protected boolean stateChanged
```
    numeric dirty flag, see class header doc
  - updateTasks
```
protected final java.util.Queue<java.lang.Runnable> updateTasks
```
    currently queued update tasks, see class header doc
  - trajectoryActors
```
protected final java.util.Set<TrajectoryActor> trajectoryActors
```
    currently active TrajectoryActors
  - widgetInteractors
```
protected final java.util.Set<WidgetInteractor> widgetInteractors
```
    currently active WidgetInteractors
  - solvers
```
protected final java.util.List<Solver> solvers
```
    current set of Solvers, see class header doc
  - numSublinkageSCCs
```
protected int numSublinkageSCCs
```
    total number of sublinkage DAG SCCs
  - convergenceEnabled
```
protected boolean convergenceEnabled
```
    Synthetic or locally cached solveParameters.
  - singleStep
```
protected boolean singleStep
```
    Synthetic or locally cached solveParameters.
  - disableOnDiverge
```
protected boolean disableOnDiverge
```
    Synthetic or locally cached solveParameters.
  - disableOnStall
```
protected boolean disableOnStall
```
    Synthetic or locally cached solveParameters.
  - forceOneSolve
```
protected boolean forceOneSolve
```
    whether to force one solver update
  - solveParameters
```
protected final java.util.Map<java.lang.String,java.lang.Object> solveParameters
```
    The currently set Solver parameters, see setSolveParameter(java.lang.String, java.lang.Object).
    
    This is used to determine the existing parameter settings when creating new Solvers and also to service getSolveParameter(java.lang.String) queries.
  - unassignedChainClosures
```
protected final java.util.Set<Joint> unassignedChainClosures
```
    Chain closure joints which have not yet been assigned to a Solver in analyze().
  - minRenderMS
```
protected double minRenderMS
```
    min ms between JOGLDisplay.render()s updateThread
  - dbgStateChanged
```
public static final boolean dbgStateChanged
```
    whether to save most recent stack trace of indicated call for dbg
    
    See Also:
    Constant Field Values
  - dbgStructureChanged
```
public static final boolean dbgStructureChanged
```
    whether to save most recent stack trace of indicated call for dbg
    
    See Also:
    Constant Field Values
  - lastStateChangedStackTrace
```
protected java.lang.StackTraceElement[] lastStateChangedStackTrace
```
    most recent stack trace of indicated call iff corresp dbg flag is set
  - lastStructureChangedStackTrace
```
protected java.lang.StackTraceElement[] lastStructureChangedStackTrace
```
    most recent stack trace of indicated call iff corresp dbg flag is set
  - updateMetricsLock
```
protected final java.lang.Object updateMetricsLock
```
    lock for metrics state
  - allUpdateMetrics
```
protected final java.util.List<vona.time.TimeMetrics> allUpdateMetrics
```
    all metrics involved in periodic update
  - updateCycleMetrics
```
protected final vona.time.TimeMetrics updateCycleMetrics
```
    metrics for indicated computation
  - updateMetrics
```
protected final vona.time.TimeMetrics updateMetrics
```
    metrics for indicated computation
  - updateTasksMetrics
```
protected final vona.time.TimeMetrics updateTasksMetrics
```
    metrics for indicated computation
  - updateActorsMetrics
```
protected final vona.time.TimeMetrics updateActorsMetrics
```
    metrics for indicated computation
  - updateStructureMetrics
```
protected final vona.time.TimeMetrics updateStructureMetrics
```
    metrics for indicated computation
  - analyzeStructureMetrics
```
protected final vona.time.TimeMetrics analyzeStructureMetrics
```
    metrics for indicated computation
  - populateSolversMetrics
```
protected final vona.time.TimeMetrics populateSolversMetrics
```
    metrics for indicated computation
  - updateStateMetrics
```
protected final vona.time.TimeMetrics updateStateMetrics
```
    metrics for indicated computation
  - updateOpenChainsMetrics
```
protected final vona.time.TimeMetrics updateOpenChainsMetrics
```
    metrics for indicated computation
  - updateAllCMTsMetrics
```
protected final vona.time.TimeMetrics updateAllCMTsMetrics
```
    metrics for indicated computation
  - updateAllSubtreeCoMsMetrics
```
protected final vona.time.TimeMetrics updateAllSubtreeCoMsMetrics
```
    metrics for indicated computation
  - recomputeAllClosuresMetrics
```
protected final vona.time.TimeMetrics recomputeAllClosuresMetrics
```
    metrics for indicated computation
  - updateKinematicStateMetrics
```
protected final vona.time.TimeMetrics updateKinematicStateMetrics
```
    metrics for indicated computation
  - updateForwardMetrics
```
protected final vona.time.TimeMetrics updateForwardMetrics
```
    metrics for indicated computation
  - updateWidgetsMetrics
```
protected final vona.time.TimeMetrics updateWidgetsMetrics
```
    metrics for indicated computation
  - renderMetrics
```
protected final vona.time.TimeMetrics renderMetrics
```
    metrics for indicated computation
  - updateSolversMetrics
```
protected final vona.time.TimeMetrics updateSolversMetrics
```
    metrics for indicated computation
  - updateSolverMetrics
```
protected final vona.time.TimeMetrics updateSolverMetrics
```
    metrics for indicated computation
  - solveRoundMetrics
```
protected final vona.time.TimeMetrics solveRoundMetrics
```
    metrics for indicated computation
  - switchRoundsMetrics
```
protected final vona.time.TimeMetrics switchRoundsMetrics
```
    metrics for indicated computation
  - sleepMetrics
```
protected final vona.time.TimeMetrics sleepMetrics
```
    metrics for indicated computation
  - updateThreadLock
```
protected final java.lang.Object updateThreadLock
```
    lock object for updateThread
  - updateThread
```
protected Controller.UpdateThread updateThread
```
    the update thread instance
- Constructor Detail
  - Controller
```
public Controller()
```
- Method Detail
  - makeUpdateMetrics
```
protected vona.time.TimeMetrics makeUpdateMetrics(java.lang.String name)
```
    Make an update metrics object with the given name and add it to allUpdateMetrics.
  - inUpdateThread
```
public boolean inUpdateThread()
```
    check if called from within updateThread
  - scheduleUpdateTask
```
public void scheduleUpdateTask(java.lang.Runnable task)
```
    Schedule a task to be run from within updateThread.
    
    If called from inUpdateThread(), the task is run directly.
    
    MT safe.
    
    task will be notify()d after it is executed.
    
    See class header doc for more info.
  - runUpdateTask
```
public void runUpdateTask(java.lang.Runnable task)
                   throws java.lang.InterruptedException
```
    Same as scheduleUpdateTask(java.lang.Runnable) but synchronizes and on task and wait()s iff not inUpdateThread().
    
    Throws:
    
    java.lang.InterruptedException
  - sync
```
public boolean sync(boolean waitForConvergence,
           boolean ignoreDisabled,
           long timeoutMS)
             throws java.lang.InterruptedException
```
    Convenience method to ensure that at least one full update cycle runs.
    
    Specifically, inserts two update tasks into the queue and waits for them both to complete. This will ensure that any previously pending update tasks complete first, and then a full update cycle runs.
    
    Does nothing if inUpdateThread().
    .
    
    Parameters:
    waitForConvergence - whether to continue to block until an update cycle completes with all solvers converged(boolean)
    ignoreDisabled - whether to ignore disabled solvers in the call to converged(boolean)
    timeoutMS - the maximum time to block in milliseconds if waitForConvergence, or 0 to block indefinitely
    
    Returns:
    true if converged(boolean)
    
    Throws:
    
    java.lang.InterruptedException
  - sync
```
public boolean sync(boolean waitForConvergence)
             throws java.lang.InterruptedException
```
    Covers sync(boolean, boolean, long), ignores disabled solvers and waits indefinitely.
    
    Throws:
    
    java.lang.InterruptedException
  - sync
```
public boolean sync(long timeoutMS)
             throws java.lang.InterruptedException
```
    Covers sync(boolean, boolean, long), ignores disabled solvers and waits for convergence for the specified time.
    
    Throws:
    
    java.lang.InterruptedException
  - sync
```
public boolean sync()
             throws java.lang.InterruptedException
```
    Covers sync(boolean, boolean, long), does not wait for convergence.
    
    Throws:
    
    java.lang.InterruptedException
  - setMinRenderMS
```
public void setMinRenderMS(double ms)
```
    set the minimum render cycle time in milliseconds
  - getMinRenderMS
```
public double getMinRenderMS()
```
    get the minimum render cycle time in milliseconds
  - startUpdateThread
```
public void startUpdateThread()
```
    Start or re-start updateThread.
    
    This is called automatically at app start, and normally that would be the only call. The update thread can die due to uncaught exceptions or errors, in which case restarting it may help with debugging.
    
    Throws:
    
    java.lang.IllegalStateException - if there is already a running update thread
  - isUpdateThreadLive
```
public boolean isUpdateThreadLive()
```
    check if the update thread is alive
  - stateChanged
```
public void stateChanged()
```
    Set stateChanged and save stack trace iff dbgStateChanged.
  - structureChanged
```
public void structureChanged()
```
    Set structureChanged and save stack trace iff dbgStructureChanged.
  - forceSolve
```
public void forceSolve()
```
    Force one solver update.
  - dumpStackTrace
```
protected void dumpStackTrace(java.lang.StackTraceElement[] trace,
                  java.lang.String name,
                  java.io.PrintStream s)
```
    common impl to dump stack traces
  - dumpLastStateChangedStackTrace
```
public void dumpLastStateChangedStackTrace(java.io.PrintStream s)
```
    Dump last stateChanged stack trace, which are only collected if dbgStateChanged.
  - dumpLastStateChangedStackTrace
```
public void dumpLastStateChangedStackTrace()
```
    dumpLastStateChangedStackTrace(PrintStream) to System.out
  - dumpLastStructureChangedStackTrace
```
public void dumpLastStructureChangedStackTrace(java.io.PrintStream s)
```
    Dump last structureChanged stack trace, which are only collected if dbgStructureChanged.
  - dumpLastStructureChangedStackTrace
```
public void dumpLastStructureChangedStackTrace()
```
    dumpLastStructureChangedStackTrace(PrintStream) to System.out
  - setSolveParameter
```
public java.lang.Object setSolveParameter(java.lang.String name,
                                 java.lang.Object value)
```
    Set a parameter on all current and future solvers.
    
    Note: when future Solvers are consed they will be configured in the same order in which the parameters were set.
    
    Parameters:
    name - identifies a public field of Solver or one of its superclasses, or a method setname or setName
    value - the new value
    
    Returns:
    the old value if any (see semantics of getSolveParameter(java.lang.String))
    
    Throws:
    
    java.lang.IllegalStateException - if no matching field or method was found, or if there was a security or other problem in setting the parameter
  - getSolveParameter
```
public java.lang.Object getSolveParameter(java.lang.String name)
```
    Get a previously set Solver parameter.
    
    This will only find values that have been previously set with a call to setSolveParameter(java.lang.String, java.lang.Object), plus disableOnStall, disableOnDiverge, convergenceEnabled, and singleStep.
    
    Parameters:
    name - the parameter name
    
    Returns:
    the parameter value, or null if not found
  - dumpSolveParameters
```
public void dumpSolveParameters(java.io.PrintStream s)
```
    Dump all current solve parameters.
    
    This will only dump values that have been previously set with a call to setSolveParameter(java.lang.String, java.lang.Object), plus disableOnStall and disableOnDiverge.
  - dumpSolveParameters
```
public void dumpSolveParameters()
```
    dumpSolveParameters(PrintStream) to System.out
  - toggleSolveParameter
```
public boolean toggleSolveParameter(java.lang.String name)
```
    Use getSolveParameter(java.lang.String) and setSolveParameter(java.lang.String, java.lang.Object) to toggle the value of a boolean parameter.
    
    If no existing value is found the parameter is assumed true.
  - addTrajectoryActor
```
public void addTrajectoryActor(TrajectoryActor actor)
```
    add a TrajectoryActor to trajectoryActors
  - removeTrajectoryActor
```
public void removeTrajectoryActor(TrajectoryActor actor)
```
    remove a TrajectoryActor from trajectoryActors
  - addWidgetInteractor
```
public void addWidgetInteractor(WidgetInteractor interactor)
```
    add a WidgetInteractor to widgetInteractors
  - removeWidgetInteractor
```
public void removeWidgetInteractor(WidgetInteractor interactor)
```
    remove a WidgetInteractor from widgetInteractors
  - deactivateTrajectoryActor
```
public boolean deactivateTrajectoryActor(TrajectoryActor actor)
```
    Correctly deactivate a TrajectoryActor even if it may be the UI.manipulationDriver.
    
    Returns:
    true iff actor was active
  - deactivateWidgetInteractor
```
public boolean deactivateWidgetInteractor(WidgetInteractor interactor)
```
    Correctly deactivate a WidgetInteractor even if it may be the UI.widgetInteractor.
    
    Returns:
    true iff interactor was active
  - updateAllCMTs
```
public void updateAllCMTs()
```
    Aliases corresponding recursive method in MSim.getUltimateGroundLink().
  - updateAllSubtreeCoMs
```
public void updateAllSubtreeCoMs()
```
    Aliases corresponding recursive method in MSim.getUltimateGroundLink().
  - recomputeAllClosures
```
public int recomputeAllClosures()
```
    Aliases corresponding recursive method in MSim.getLinkage().
  - analyze
```
public void analyze()
```
    (re)analyze the model topology, finding kinematic cycles and assigning them to Solvers.
    
    Sets Joint.support and Joint.branchLink on all joints, and sets solvers to the new set of Solvers.
    
    Also sets LinkageNode.entityClass.
    
    Time complexity is linear in the sum of the total number of joints plus the sizes of all Joint supports, which in the worst case may be O(n)^2 where n is the number of Joints.
    
    Called automatically as necessary by updateThread.
```
 Joint.resetSolveFields() on every joint
 considering the Linkage containment tree as a directed graph where
   an edge
     from a Linkage.Disposition.DRIVING child linkage points to its parent
     to a Linkage.Disposition.DRIVEN child linkage points from its parent
     to/from a Linkage.Disposition.SIMULTANEOUS child lkg is bidirectional
   assign Linkage.solveRound by topological sort from source verts
 
```
```
 DFS 
   upon visiting a chain closure cj
     add cj to unassignedChainClosures
     trace all tree Joints tj in cj.support,
       storing LCA to cj.branchLink, and 
       appending unlocked cj to the support of tj
 
```
```
 while unassignedChainClosures is not empty
   remove cj from unassignedChainClosures
   make a new Solver s
   add cj to s.chainClosures
   for every closure joint ocj reachable from cj.support
     remove ocj from unassignedChainClosures
     add ocj to s.chainClosures
   add s to solvers
   init s
 
```
  - findSources
```
protected boolean findSources(Linkage l,
                  java.util.List<Linkage> sources)
```
    Find source sublinkages in solve round 0 by DFS from l.
    
    A linkage is a source in solve round 0 iff it's (1) the top-level or any DRIVING sublinkage (2) with no DRIVING descendant reachable only via a SIMULTANEOUS chain.
    
    Returns:
    true iff l drives its parent, either because it is Linkage.Disposition.DRIVING itself or because it's Linkage.Disposition.SIMULTANEOUS but driven by a descendant
  - assignSolveRounds
```
protected int assignSolveRounds(Linkage l,
                    int solveRound,
                    int thisSCC,
                    int nextSCC)
```
    Assign Linkage.solveRound and Linkage.sublinkageSCC by DFS from l.
    
    The DFS is pruned whenever a child linkage is Linkage.Disposition.DRIVING or whenever a linkage is Linkage.Disposition.DRIVEN in its parent.
    
    Parameters:
    thisSCC - the SCC identifier to assign to the SCC containing l
    nextSCC - the next unused SCC identifier
    
    Returns:
    the new next unused SCC identifier
  - populateSolver
```
protected void populateSolver(Solver solver,
                  Joint closureJoint)
```
    Removes closureJoint from unassignedChainClosures, adds it to solver, and does same for all closure joints reachable from closureJoint.support.
    
    Time complexity for all calls to this method, including from analyze() and recursive calls, is bounded by the sum of the sizes of all Joint.supports.
  - analyzeStructure
```
protected void analyzeStructure(Link link,
                    int depth)
```
    Recursively DFS tree from link, tracing the kinematic cycles of chain closure joints as they are encountered.
    
    Also sets LinkageNode.entityClass.
    
    Time complexity is proportional to the total number of joints plus the sum of the sizes of all kinematic cycles.
  - isLockedWithRespectTo
```
protected boolean isLockedWithRespectTo(Joint treeJoint,
                            Joint closureJoint)
```
    Check if treeJoint is considered locked with respect to closureJoint.
    
    Nominally, this checks if either treeJoint is explicitly locked, has 0 DoF, or if treeJoint and closureJoint are not in the same SCC of the Linkage DAG. Crossing joints on driving sublinkages are an exception: they are handled as if they were a member of the superlinkage.
  - resetUpdateStats
```
public void resetUpdateStats()
```
    reset all updateThread processing stats
  - resetSolveStats
```
public void resetSolveStats()
```
    Solver.resetStats() on all solvers
  - dumpUpdateStats
```
public void dumpUpdateStats(java.io.PrintStream s)
```
    dump a collection of stats on updateThread processing
  - dumpUpdateStats
```
public void dumpUpdateStats()
```
    dumpUpdateStats(PrintStream) to System.out
  - getNumSolvers
```
public int getNumSolvers()
```
    get the total number of solvers
  - getNumUnconvergedSolvers
```
public int getNumUnconvergedSolvers(boolean ignoreDisabled)
```
    Get the number of unconverged solvers.
    
    Parameters:
    ignoreDisabled - whether to ignore solvers that have been marked convergence disabled (this can happen e.g. because they were dected to be diverging)
  - getNumUnconvergedSolvers
```
public int getNumUnconvergedSolvers()
```
    covers getNumUnconvergedSolvers(boolean), ignoring disabled
  - converged
```
public boolean converged(boolean ignoreDisabled)
```
    check if getNumUnconvergedSolvers(boolean) is zero
  - converged
```
public boolean converged()
```
    covers converged(boolean), ignoring disabled
  - getTotalNumVariables
```
public int getTotalNumVariables()
```
    get the total number of variables
  - getTotalNumConstraints
```
public int getTotalNumConstraints()
```
    get the total number of constraints
  - getNumSolveRounds
```
public int getNumSolveRounds()
```
    get the total number of solve rounds containing at least one solver
  - getNumSublinkageSCCs
```
public int getNumSublinkageSCCs()
```
    get numSublinkageSCCs
  - getSolveRoundPartition
```
public int[] getSolveRoundPartition(int[] partition)
```
    Get the number of solvers in each round with at least one solver.
    
    Parameters:
    partition - the partition in order from first to last round is returned here (any intervening rounds with zero solvers are omitted); a new array is consed if the passed array is null or too short
  - getSolveRoundPartition
```
public int[] getSolveRoundPartition()
```
    covers getSolveRoundPartition(int[]), always conses
  - dumpSolveRounds
```
public void dumpSolveRounds(java.io.PrintStream s)
```
    Dump the total number of solve rounds with at least one solver and their partition.
  - dumpSolveRounds
```
public void dumpSolveRounds()
```
    dumpSolveRounds(PrintStream) to System.out
  - dumpSolveCounts
```
public void dumpSolveCounts(java.io.PrintStream s)
```
    Dump the total number of solvers, variables, and constraints, then chain to dumpSolveRounds(java.io.PrintStream).
  - dumpSolveCounts
```
public void dumpSolveCounts()
```
    dumpSolveCounts(PrintStream) to System.out
  - dumpSolveStructure
```
public void dumpSolveStructure(java.io.PrintStream s)
```
    Solver.dumpStructure(java.io.PrintStream) all solvers
  - dumpSolveStructure
```
public void dumpSolveStructure()
```
    dumpSolveStructure(PrintStream) to System.out
  - dumpSolveStats
```
public void dumpSolveStats(java.io.PrintStream s)
```
    Solver.dumpStats(java.io.PrintStream) all solvers
  - dumpSolveStats
```
public void dumpSolveStats()
```
    dumpSolveStats(PrintStream) to System.out
  - dumpSolveDetails
```
public void dumpSolveDetails(java.io.PrintStream s)
```
    Solver.dumpDetails(java.io.PrintStream) all solvers
  - dumpSolveDetails
```
public void dumpSolveDetails()
```
    dumpSolveDetails(PrintStream) to System.out
  - dumpSolveNumericDetails
```
public void dumpSolveNumericDetails(java.io.PrintStream s)
```
    Solver.dumpNumericDetails(java.io.PrintStream) all solvers
  - dumpSolveNumericDetails
```
public void dumpSolveNumericDetails()
```
    dumpSolveNumericDetails(PrintStream) to System.out

Class Controller

Mutation and Synchronization

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

cvsid

LOCK

UPDATE_MS

DEF_MIN_RENDER_MS

structureChanged

stateChanged

updateTasks

trajectoryActors

widgetInteractors

solvers

numSublinkageSCCs

convergenceEnabled

singleStep

disableOnDiverge

disableOnStall

forceOneSolve

solveParameters

unassignedChainClosures

minRenderMS

dbgStateChanged

dbgStructureChanged

lastStateChangedStackTrace

lastStructureChangedStackTrace

updateMetricsLock

allUpdateMetrics

updateCycleMetrics

updateMetrics

updateTasksMetrics

updateActorsMetrics

updateStructureMetrics

analyzeStructureMetrics

populateSolversMetrics

updateStateMetrics

updateOpenChainsMetrics

updateAllCMTsMetrics

updateAllSubtreeCoMsMetrics

recomputeAllClosuresMetrics

updateKinematicStateMetrics

updateForwardMetrics

updateWidgetsMetrics

renderMetrics

updateSolversMetrics

updateSolverMetrics

solveRoundMetrics

switchRoundsMetrics

sleepMetrics

updateThreadLock

updateThread

Constructor Detail

Controller

Method Detail

makeUpdateMetrics

inUpdateThread

scheduleUpdateTask

runUpdateTask

sync

sync

sync

sync

setMinRenderMS

getMinRenderMS

startUpdateThread

isUpdateThreadLive

stateChanged

structureChanged

forceSolve

dumpStackTrace

dumpLastStateChangedStackTrace

dumpLastStateChangedStackTrace

dumpLastStructureChangedStackTrace

dumpLastStructureChangedStackTrace

setSolveParameter