API  4.1
For C++ developers
OpenSim::ActivationFiberLengthMuscle Class Referenceabstract

A base class representing a two-state muscle-tendon actuator. More...

+ Inheritance diagram for OpenSim::ActivationFiberLengthMuscle:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
double default_activation
 "Assumed activation level if none is assigned." More...
 
double default_fiber_length
 "Assumed fiber length, unless otherwise assigned." More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Muscle
double max_isometric_force
 "Maximum isometric force that the fibers can generate" More...
 
double optimal_fiber_length
 "Optimal length of the muscle fibers" More...
 
double tendon_slack_length
 "Resting length of the tendon" More...
 
double pennation_angle_at_optimal
 "Angle between tendon and fibers at optimal fiber length expressed in radians" More...
 
double max_contraction_velocity
 "Maximum contraction velocity of the fibers, in optimal fiberlengths/second" More...
 
bool ignore_tendon_compliance
 "Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid." More...
 
bool ignore_activation_dynamics
 "Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation." More...
 
double excitation
 Provides the value of getExcitation() and is available at stage SimTK::Stage::Dynamics . More...
 
double activation
 Provides the value of getActivation() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_length
 Provides the value of getFiberLength() and is available at stage SimTK::Stage::Position . More...
 
double pennation_angle
 Provides the value of getPennationAngle() and is available at stage SimTK::Stage::Position . More...
 
double cos_pennation_angle
 Provides the value of getCosPennationAngle() and is available at stage SimTK::Stage::Position . More...
 
double tendon_length
 Provides the value of getTendonLength() and is available at stage SimTK::Stage::Position . More...
 
double normalized_fiber_length
 Provides the value of getNormalizedFiberLength() and is available at stage SimTK::Stage::Position . More...
 
double fiber_length_along_tendon
 Provides the value of getFiberLengthAlongTendon() and is available at stage SimTK::Stage::Position . More...
 
double tendon_strain
 Provides the value of getTendonStrain() and is available at stage SimTK::Stage::Position . More...
 
double passive_force_multiplier
 Provides the value of getPassiveForceMultiplier() and is available at stage SimTK::Stage::Position . More...
 
double active_force_length_multiplier
 Provides the value of getActiveForceLengthMultiplier() and is available at stage SimTK::Stage::Position . More...
 
double fiber_velocity
 Provides the value of getFiberVelocity() and is available at stage SimTK::Stage::Velocity . More...
 
double normalized_fiber_velocity
 Provides the value of getNormalizedFiberVelocity() and is available at stage SimTK::Stage::Velocity . More...
 
double fiber_velocity_along_tendon
 Provides the value of getFiberVelocityAlongTendon() and is available at stage SimTK::Stage::Velocity . More...
 
double tendon_velocity
 Provides the value of getTendonVelocity() and is available at stage SimTK::Stage::Velocity . More...
 
double force_velocity_multiplier
 Provides the value of getForceVelocityMultiplier() and is available at stage SimTK::Stage::Velocity . More...
 
double pennation_angular_velocity
 Provides the value of getPennationAngularVelocity() and is available at stage SimTK::Stage::Velocity . More...
 
double fiber_force
 Provides the value of getFiberForce() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_force_along_tendon
 Provides the value of getFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More...
 
double active_fiber_force
 Provides the value of getActiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More...
 
double passive_fiber_force
 Provides the value of getPassiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More...
 
double active_fiber_force_along_tendon
 Provides the value of getActiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More...
 
double passive_fiber_force_along_tendon
 Provides the value of getPassiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More...
 
double tendon_force
 Provides the value of getTendonForce() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_stiffness
 Provides the value of getFiberStiffness() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_stiffness_along_tendon
 Provides the value of getFiberStiffnessAlongTendon() and is available at stage SimTK::Stage::Dynamics . More...
 
double tendon_stiffness
 Provides the value of getTendonStiffness() and is available at stage SimTK::Stage::Dynamics . More...
 
double muscle_stiffness
 Provides the value of getMuscleStiffness() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_active_power
 Provides the value of getFiberActivePower() and is available at stage SimTK::Stage::Dynamics . More...
 
double fiber_passive_power
 Provides the value of getFiberPassivePower() and is available at stage SimTK::Stage::Dynamics . More...
 
double tendon_power
 Provides the value of getTendonPower() and is available at stage SimTK::Stage::Dynamics . More...
 
double muscle_power
 Provides the value of getMusclePower() and is available at stage SimTK::Stage::Dynamics . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::PathActuator
GeometryPath GeometryPath
 "The set of points defining the path of the actuator." More...
 
double optimal_force
 "The maximum force this actuator can produce." More...
 
double tension
 Provides the value of computeActuation() and is available at stage SimTK::Stage::Acceleration . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::ScalarActuator
double min_control
 "Minimum allowed value for control signal. Used primarily when solving " "for control values." More...
 
double max_control
 "Maximum allowed value for control signal. Used primarily when solving " "for control values." More...
 
double actuation
 Provides the value of getActuation() and is available at stage SimTK::Stage::Velocity . More...
 
double speed
 Provides the value of getSpeed() and is available at stage SimTK::Stage::Velocity . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Actuator
double power
 Provides the value of getPower() and is available at stage SimTK::Stage::Dynamics . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Force
bool appliesForce
 "Flag indicating whether the force is applied or not. If true the force" "is applied to the MultibodySystem otherwise the force is not applied." "NOTE: Prior to OpenSim 4.0, this behavior was controlled by the " "'isDisabled' property, where 'true' meant that force was not being " "applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false." More...
 
double potential_energy
 Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component
Component components
 "List of components that this component owns and serializes." More...
 

Public Member Functions

 ActivationFiberLengthMuscle ()
 
double getDefaultActivation () const
 
void setDefaultActivation (double activation)
 
double getDefaultFiberLength () const
 
void setDefaultFiberLength (double length)
 
void setActivation (SimTK::State &s, double activation) const override
 DEPRECATED: only for backward compatibility. More...
 
void setFiberLength (SimTK::State &s, double fiberLength) const
 
double getActivationRate (const SimTK::State &s) const
 
void extendPostScale (const SimTK::State &s, const ScaleSet &scaleSet) override
 Adjust the properties of the muscle after the model has been scaled. More...
 
Property-related functions
const double & get_default_activation () const
 Get the value of the default_activation property. More...
 
double & upd_default_activation ()
 Get a writable reference to the default_activation property. More...
 
void set_default_activation (const double &value)
 Set the value of the default_activation property. More...
 
const double & get_default_fiber_length () const
 Get the value of the default_fiber_length property. More...
 
double & upd_default_fiber_length ()
 Get a writable reference to the default_fiber_length property. More...
 
void set_default_fiber_length (const double &value)
 Set the value of the default_fiber_length property. More...
 
- Public Member Functions inherited from OpenSim::Muscle
double computeActuation (const SimTK::State &s) const override=0
 Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e. More...
 
const double & get_max_isometric_force () const
 Get the value of the max_isometric_force property. More...
 
double & upd_max_isometric_force ()
 Get a writable reference to the max_isometric_force property. More...
 
void set_max_isometric_force (const double &value)
 Set the value of the max_isometric_force property. More...
 
const double & get_optimal_fiber_length () const
 Get the value of the optimal_fiber_length property. More...
 
double & upd_optimal_fiber_length ()
 Get a writable reference to the optimal_fiber_length property. More...
 
void set_optimal_fiber_length (const double &value)
 Set the value of the optimal_fiber_length property. More...
 
const double & get_tendon_slack_length () const
 Get the value of the tendon_slack_length property. More...
 
double & upd_tendon_slack_length ()
 Get a writable reference to the tendon_slack_length property. More...
 
void set_tendon_slack_length (const double &value)
 Set the value of the tendon_slack_length property. More...
 
const double & get_pennation_angle_at_optimal () const
 Get the value of the pennation_angle_at_optimal property. More...
 
double & upd_pennation_angle_at_optimal ()
 Get a writable reference to the pennation_angle_at_optimal property. More...
 
void set_pennation_angle_at_optimal (const double &value)
 Set the value of the pennation_angle_at_optimal property. More...
 
const double & get_max_contraction_velocity () const
 Get the value of the max_contraction_velocity property. More...
 
double & upd_max_contraction_velocity ()
 Get a writable reference to the max_contraction_velocity property. More...
 
void set_max_contraction_velocity (const double &value)
 Set the value of the max_contraction_velocity property. More...
 
const bool & get_ignore_tendon_compliance () const
 Get the value of the ignore_tendon_compliance property. More...
 
bool & upd_ignore_tendon_compliance ()
 Get a writable reference to the ignore_tendon_compliance property. More...
 
void set_ignore_tendon_compliance (const bool &value)
 Set the value of the ignore_tendon_compliance property. More...
 
const bool & get_ignore_activation_dynamics () const
 Get the value of the ignore_activation_dynamics property. More...
 
bool & upd_ignore_activation_dynamics ()
 Get a writable reference to the ignore_activation_dynamics property. More...
 
void set_ignore_activation_dynamics (const bool &value)
 Set the value of the ignore_activation_dynamics property. More...
 
 Muscle ()
 Default constructor. More...
 
double getMaxIsometricForce () const
 get/set the maximum isometric force (in N) that the fibers can generate More...
 
void setMaxIsometricForce (double maxIsometricForce)
 
double getOptimalFiberLength () const
 get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber) More...
 
void setOptimalFiberLength (double optimalFiberLength)
 
double getTendonSlackLength () const
 get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber More...
 
void setTendonSlackLength (double tendonSlackLength)
 
double getPennationAngleAtOptimalFiberLength () const
 get/set the angle (in radians) between fibers at their optimal fiber length and the tendon More...
 
void setPennationAngleAtOptimalFiberLength (double pennationAngle)
 
double getMaxContractionVelocity () const
 get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second More...
 
void setMaxContractionVelocity (double maxContractionVelocity)
 
bool getIgnoreTendonCompliance (const SimTK::State &s) const
 Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics. More...
 
void setIgnoreTendonCompliance (SimTK::State &s, bool ignore) const
 
bool getIgnoreActivationDynamics (const SimTK::State &s) const
 Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics. More...
 
void setIgnoreActivationDynamics (SimTK::State &s, bool ignore) const
 
virtual double getActivation (const SimTK::State &s) const
 get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles. More...
 
double getFiberLength (const SimTK::State &s) const
 get the current working fiber length (m) for the muscle More...
 
double getPennationAngle (const SimTK::State &s) const
 get the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
 
double getCosPennationAngle (const SimTK::State &s) const
 get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
 
double getTendonLength (const SimTK::State &s) const
 get the current tendon length (m) given the current joint angles and fiber length More...
 
double getNormalizedFiberLength (const SimTK::State &s) const
 get the current normalized fiber length (fiber_length/optimal_fiber_length) More...
 
double getFiberLengthAlongTendon (const SimTK::State &s) const
 get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction More...
 
double getTendonStrain (const SimTK::State &s) const
 get the current tendon strain (delta_l/tendon_slack_length is dimensionless) More...
 
double getFiberPotentialEnergy (const SimTK::State &s) const
 the potential energy (J) stored in the fiber due to its parallel elastic element More...
 
double getTendonPotentialEnergy (const SimTK::State &s) const
 the potential energy (J) stored in the tendon More...
 
double getMusclePotentialEnergy (const SimTK::State &s) const
 the total potential energy (J) stored in the muscle More...
 
double getPassiveForceMultiplier (const SimTK::State &s) const
 get the passive fiber (parallel elastic element) force multiplier More...
 
double getActiveForceLengthMultiplier (const SimTK::State &s) const
 get the active fiber (contractile element) force multiplier due to current fiber length More...
 
double getFiberVelocity (const SimTK::State &s) const
 get current fiber velocity (m/s) positive is lengthening More...
 
double getNormalizedFiberVelocity (const SimTK::State &s) const
 get normalized fiber velocity. More...
 
double getFiberVelocityAlongTendon (const SimTK::State &s) const
 get the current fiber velocity (m/s) projected onto the tendon direction More...
 
double getPennationAngularVelocity (const SimTK::State &s) const
 get pennation angular velocity (radians/s) More...
 
double getTendonVelocity (const SimTK::State &s) const
 get the tendon velocity (m/s) positive is lengthening More...
 
double getForceVelocityMultiplier (const SimTK::State &s) const
 get the dimensionless multiplier resulting from the fiber's force-velocity curve More...
 
double getFiberForce (const SimTK::State &s) const
 get the current fiber force (N) applied to the tendon More...
 
double getFiberForceAlongTendon (const SimTK::State &s) const
 get the force of the fiber (N/m) along the direction of the tendon More...
 
double getActiveFiberForce (const SimTK::State &s) const
 get the current active fiber force (N) due to activation*force_length*force_velocity relationships More...
 
double getPassiveFiberForce (const SimTK::State &s) const
 get the total force applied by all passive elements in the fiber (N) More...
 
double getActiveFiberForceAlongTendon (const SimTK::State &s) const
 get the current active fiber force (N) projected onto the tendon direction More...
 
double getPassiveFiberForceAlongTendon (const SimTK::State &s) const
 get the total force applied by all passive elements in the fiber (N) projected onto the tendon direction More...
 
double getTendonForce (const SimTK::State &s) const
 get the current tendon force (N) applied to bones More...
 
double getFiberStiffness (const SimTK::State &s) const
 get the current fiber stiffness (N/m) defined as the partial derivative of fiber force with respect to fiber length More...
 
double getFiberStiffnessAlongTendon (const SimTK::State &s) const
 get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon More...
 
double getTendonStiffness (const SimTK::State &s) const
 get the current tendon stiffness (N/m) defined as the partial derivative of tendon force with respect to tendon length More...
 
double getMuscleStiffness (const SimTK::State &s) const
 get the current muscle stiffness (N/m) defined as the partial derivative of muscle force with respect to muscle length More...
 
double getFiberActivePower (const SimTK::State &s) const
 get the current active fiber power (W) More...
 
double getFiberPassivePower (const SimTK::State &s) const
 get the current passive fiber power (W) More...
 
double getTendonPower (const SimTK::State &s) const
 get the current tendon power (W) More...
 
double getMusclePower (const SimTK::State &s) const
 get the current muscle power (W) More...
 
double getStress (const SimTK::State &s) const override
 get the stress in the muscle (part of the Actuator interface as well) More...
 
void setExcitation (SimTK::State &s, double excitation) const
 set the excitation (control) for this muscle. More...
 
double getExcitation (const SimTK::State &s) const
 
void computeEquilibrium (SimTK::State &s) const override final
 Find and set the equilibrium state of the muscle (if any) More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::PathActuator
 PathActuator ()
 
GeometryPathupdGeometryPath ()
 
const GeometryPathgetGeometryPath () const
 
bool hasGeometryPath () const override
 Return a flag indicating whether the Force is applied along a Path. More...
 
void setOptimalForce (double aOptimalForce)
 
double getOptimalForce () const override
 
virtual double getLength (const SimTK::State &s) const
 
virtual double getLengtheningSpeed (const SimTK::State &s) const
 
double getPower (const SimTK::State &s) const override
 
double getStress (const SimTK::State &s) const override
 
void addNewPathPoint (const std::string &proposedName, const PhysicalFrame &aBody, const SimTK::Vec3 &aPositionOnBody)
 Note that this function does not maintain the State and so should be used only before a valid State is created. More...
 
double computeActuation (const SimTK::State &s) const override
 
virtual double computeMomentArm (const SimTK::State &s, Coordinate &aCoord) const
 
const GeometryPathget_GeometryPath () const
 Get the value of the GeometryPath property. More...
 
GeometryPathupd_GeometryPath ()
 Get a writable reference to the GeometryPath property. More...
 
void set_GeometryPath (const GeometryPath &value)
 Set the value of the GeometryPath property. More...
 
const double & get_optimal_force () const
 Get the value of the optimal_force property. More...
 
double & upd_optimal_force ()
 Get a writable reference to the optimal_force property. More...
 
void set_optimal_force (const double &value)
 Set the value of the optimal_force property. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
PathActuatorclone () const override
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 
- Public Member Functions inherited from OpenSim::ScalarActuator
 ScalarActuator ()
 
virtual double getControl (const SimTK::State &s) const
 Convenience method to get control given scalar (double) valued control. More...
 
int numControls () const override
 
virtual void setActuation (const SimTK::State &s, double aActuation) const
 
virtual double getActuation (const SimTK::State &s) const
 
virtual void setSpeed (const SimTK::State &s, double aspeed) const
 
virtual double getSpeed (const SimTK::State &s) const
 
void setMinControl (const double &aMinControl)
 Methods to manage the bounds on ScalarActuator's control. More...
 
double getMinControl () const
 
void setMaxControl (const double &aMaxControl)
 
double getMaxControl () const
 
void overrideActuation (SimTK::State &s, bool flag) const
 Enable/disable a ScalarActuator's override actuation. More...
 
bool isActuationOverridden (const SimTK::State &s) const
 return ScalarActuator's override status More...
 
void setOverrideActuation (SimTK::State &s, double value) const
 set the actuation value used when the override is true More...
 
double getOverrideActuation (const SimTK::State &s) const
 return override actuation More...
 
const double & get_min_control () const
 Get the value of the min_control property. More...
 
double & upd_min_control ()
 Get a writable reference to the min_control property. More...
 
void set_min_control (const double &value)
 Set the value of the min_control property. More...
 
const double & get_max_control () const
 Get the value of the max_control property. More...
 
double & upd_max_control ()
 Get a writable reference to the max_control property. More...
 
void set_max_control (const double &value)
 Set the value of the max_control property. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Actuator
 Actuator ()
 
virtual const SimTK::Vector getDefaultControls ()
 Actuator default controls are zero. More...
 
virtual const SimTK::VectorView_< double > getControls (const SimTK::State &s) const
 
virtual void getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const
 Convenience methods for getting, setting and adding to actuator controls from/into the model controls. More...
 
virtual void setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
 set actuator controls subvector into the right slot in the system-wide model controls More...
 
virtual void addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
 add actuator controls to the values already occupying the slot in the system-wide model controls More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Force
virtual bool shouldBeParallelized () const
 Tell SimBody to parallelize this force. More...
 
bool appliesForce (const SimTK::State &s) const
 Return if the Force is applied (or enabled) or not. More...
 
void setAppliesForce (SimTK::State &s, bool applyForce) const
 Set whether or not the Force is applied. More...
 
const bool & get_appliesForce () const
 Get the value of the appliesForce property. More...
 
bool & upd_appliesForce ()
 Get a writable reference to the appliesForce property. More...
 
void set_appliesForce (const bool &value)
 Set the value of the appliesForce property. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor. More...
 
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct ModelComponent from an XML file. More...
 
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document. More...
 
virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup. More...
 
void connectToModel (Model &model)
 Connect this ModelComponent to its aggregate- a Model. More...
 
const ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of. More...
 
bool hasModel () const
 Does this ModelComponent have a Model associated with it? More...
 
void preScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...
 
void scale (const SimTK::State &s, const ScaleSet &scaleSet)
 Scale the ModelComponent. More...
 
void postScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Component
 Component ()
 Default constructor. More...
 
 Component (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct Component from an XML file. More...
 
 Component (SimTK::Xml::Element &aNode)
 Construct Component from a specific node in an XML document. More...
 
 Component (const Component &)=default
 Use default copy constructor and assignment operator. More...
 
Componentoperator= (const Component &)=default
 
virtual ~Component ()=default
 Destructor is virtual to allow concrete Component to cleanup. More...
 
virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More...
 
const SimTK::MultibodySystem & getSystem () const
 Get the underlying MultibodySystem that this component is connected to. More...
 
bool hasSystem () const
 Check if this component has an underlying MultibodySystem. More...
 
bool isComponentInOwnershipTree (const Component *component) const
 Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More...
 
void addComponent (Component *subcomponent)
 Add a Component (as a subcomponent) of this component. More...
 
template<typename T = Component>
ComponentList< const T > getComponentList () const
 Get an iterator through the underlying subcomponents that this component is composed of. More...
 
template<typename T = Component>
ComponentList< T > updComponentList ()
 Similar to getComponentList(), except the resulting list allows one to modify the components. More...
 
template<typename T = Component>
unsigned countNumComponents () const
 Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More...
 
std::string getAbsolutePathString () const
 Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More...
 
ComponentPath getAbsolutePath () const
 Return a ComponentPath of the absolute path of this Component. More...
 
std::string getRelativePathString (const Component &wrt) const
 Get the relative path of this Component with respect to another Component, as a string. More...
 
ComponentPath getRelativePath (const Component &wrt) const
 Get the relative path of this Component with respect to another Component. More...
 
bool hasComponent (const std::string &pathname) const
 Query if there is a component (of any type) at the specified path name. More...
 
template<class C = Component>
bool hasComponent (const std::string &pathname) const
 Query if there is a component of a given type at the specified path name. More...
 
template<class C = Component>
const C & getComponent (const std::string &pathname) const
 Get a unique subcomponent of this Component by its path name and type 'C'. More...
 
template<class C = Component>
const C & getComponent (const ComponentPath &pathname) const
 
const ComponentgetComponent (const std::string &pathname) const
 Similar to the templatized getComponent(), except this returns the component as the generic Component type. More...
 
template<class C = Component>
C & updComponent (const std::string &name)
 Get a writable reference to a subcomponent. More...
 
template<class C = Component>
C & updComponent (const ComponentPath &name)
 
ComponentupdComponent (const std::string &pathname)
 Similar to the templatized updComponent(), except this returns the component as the generic Component type. More...
 
unsigned printComponentsMatching (const std::string &substring) const
 Print a list to the console of all components whose absolute path name contains the given string. More...
 
int getNumStateVariables () const
 Get the number of "continuous" state variables maintained by the Component and its subcomponents. More...
 
Array< std::string > getStateVariableNames () const
 Get the names of "continuous" state variables maintained by the Component and its subcomponents. More...
 
template<class C = Component>
const C * findComponent (const ComponentPath &pathToFind) const
 Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More...
 
template<class C = Component>
const C * findComponent (const std::string &pathToFind) const
 Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More...
 
const StateVariabletraverseToStateVariable (const std::string &pathName) const
 Get a StateVariable anywhere in the Component tree, given a StateVariable path. More...
 
void finalizeFromProperties ()
 Define a Component's internal data members and structure according to its properties. More...
 
void finalizeConnections (Component &root)
 Satisfy the Component's connections specified by its Sockets and Inputs. More...
 
void clearConnections ()
 Disconnect/clear this Component from its aggregate component. More...
 
void addToSystem (SimTK::MultibodySystem &system) const
 Have the Component add itself to the underlying computational System. More...
 
void initStateFromProperties (SimTK::State &state) const
 Initialize Component's state variable values from its properties. More...
 
void setPropertiesFromState (const SimTK::State &state)
 Set Component's properties given a state. More...
 
int getNumSockets () const
 Get the number of Sockets in this Component. More...
 
std::vector< std::string > getSocketNames ()
 Collect and return the names of the sockets in this component. More...
 
template<typename T >
const T & getConnectee (const std::string &name) const
 Get the "connectee" object that the Component's Socket is bound to. More...
 
const ObjectgetConnectee (const std::string &name) const
 Get the connectee as an Object. More...
 
const AbstractSocketgetSocket (const std::string &name) const
 Get an AbstractSocket for the given socket name. More...
 
AbstractSocketupdSocket (const std::string &name)
 Get a writable reference to the AbstractSocket for the given socket name. More...
 
template<typename T >
const Socket< T > & getSocket (const std::string &name) const
 Get a const reference to the concrete Socket provided by this Component by name. More...
 
template<typename T >
Socket< T > & updSocket (const std::string &name)
 Get a writable reference to the concrete Socket provided by this Component by name. More...
 
int getModelingOption (const SimTK::State &state, const std::string &name) const
 Get a ModelingOption flag for this Component by name. More...
 
void setModelingOption (SimTK::State &state, const std::string &name, int flag) const
 Set the value of a ModelingOption flag for this Component. More...
 
template<typename T >
const T & getInputValue (const SimTK::State &state, const std::string &name) const
 Get the Input value that this component is dependent on. More...
 
template<typename T >
const T & getOutputValue (const SimTK::State &state, const std::string &name) const
 Get the Output value provided by this Component by name. More...
 
double getStateVariableValue (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable allocated by this Component. More...
 
void setStateVariableValue (SimTK::State &state, const std::string &name, double value) const
 Set the value of a state variable allocated by this Component by name. More...
 
SimTK::Vector getStateVariableValues (const SimTK::State &state) const
 Get all values of the state variables allocated by this Component. More...
 
void setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const
 Set all values of the state variables allocated by this Component. More...
 
double getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable derivative computed by this Component. More...
 
double getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const
 Get the value of a discrete variable allocated by this Component by name. More...
 
void setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const
 Set the value of a discrete variable allocated by this Component by name. More...
 
template<typename T >
const T & getCacheVariableValue (const SimTK::State &state, const std::string &name) const
 Get the value of a cache variable allocated by this Component by name. More...
 
template<typename T >
T & updCacheVariableValue (const SimTK::State &state, const std::string &name) const
 Obtain a writable cache variable value allocated by this Component by name. More...
 
void markCacheVariableValid (const SimTK::State &state, const std::string &name) const
 After updating a cache variable value allocated by this Component, you can mark its value as valid, which will not change until the realization stage falls below the minimum set at the time the cache variable was created. More...
 
void markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
 Mark a cache variable value allocated by this Component as invalid. More...
 
bool isCacheVariableValid (const SimTK::State &state, const std::string &name) const
 Enables the user to monitor the validity of the cache variable value using the returned flag. More...
 
template<typename T >
void setCacheVariableValue (const SimTK::State &state, const std::string &name, const T &value) const
 Set cache variable value allocated by this Component by name. More...
 
void printSubcomponentInfo () const
 List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More...
 
void printSocketInfo () const
 List all the Sockets of this component and whether or not they are connected. More...
 
void printInputInfo () const
 List all the inputs of this component and whether or not they are connected. More...
 
template<typename C >
void printSubcomponentInfo () const
 
void printOutputInfo (const bool includeDescendants=true) const
 Print outputs of this component and optionally, those of all subcomponents. More...
 
int getNumInputs () const
 Access the number of Inputs that this component has. More...
 
int getNumOutputs () const
 Access the number of Outputs that this component has. More...
 
std::vector< std::string > getInputNames () const
 Collect and return the names of Inputs in this component as an std::vector. More...
 
std::vector< std::string > getOutputNames () const
 Collect and return the names of Outputs in this component as an std::vector. More...
 
const AbstractInputgetInput (const std::string &name) const
 Get an Input provided by this Component by name. More...
 
AbstractInputupdInput (const std::string &name)
 Get a writable reference to an Input provided by this Component by name. More...
 
template<typename T >
const Input< T > & getInput (const std::string &name) const
 Get a concrete Input that you can directly ask for its values. More...
 
const AbstractOutputgetOutput (const std::string &name) const
 Get the Output provided by this Component by name. More...
 
AbstractOutputupdOutput (const std::string &name)
 Get a writable reference to an Output provided by this Component by name. More...
 
SimTK::IteratorRange< OutputConstIteratorgetOutputs () const
 Iterate through all Outputs of this component. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
const ComponentgetOwner () const
 Access the owner of this Component. More...
 
bool hasOwner () const
 (For advanced users) Check if this Component has an owner. More...
 
const ComponentgetRoot () const
 Obtain the root Component, which is this component if it is orphaned. More...
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
 
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
 
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object. More...
 
void updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
 Serialize this object into the XML node that represents it. More...
 
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument. More...
 
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
 
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document. More...
 
int getDocumentFileVersion () const
 If there is a document associated with this object then return its version number. More...
 
void setAllPropertiesUseDefault (bool aUseDefault)
 
bool print (const std::string &fileName) const
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
 
std::string dump () const
 dump the XML representation of this Object into an std::string and return it. More...
 
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
 
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Public Types

typedef ActivationFiberLengthMuscle Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Muscle Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Muscle
typedef Muscle Self
 This typedef might be useful within the member functions of this class. More...
 
typedef PathActuator Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::PathActuator
typedef PathActuator Self
 This typedef might be useful within the member functions of this class. More...
 
typedef ScalarActuator Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::ScalarActuator
typedef ScalarActuator Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Actuator Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Actuator
typedef Actuator Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Force Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Force
typedef Force Self
 This typedef might be useful within the member functions of this class. More...
 
typedef ModelComponent Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::ModelComponent
typedef ModelComponent Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Component Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Component
typedef Component Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Object Super
 Use this typedef to refer to the superclass of this class. More...
 
typedef std::map< std::string, SimTK::ClonePtr< AbstractOutput > >::const_iterator OutputConstIterator
 Define OutputConstIterator for convenience. More...
 

Protected Member Functions

virtual void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForce) const override
 Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds. More...
 
virtual double calcActivationRate (const SimTK::State &s) const =0
 Calculate activation rate. More...
 
void extendConnectToModel (Model &aModel) override
 Model Component Interface. More...
 
void extendAddToSystem (SimTK::MultibodySystem &system) const override
 Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More...
 
void extendInitStateFromProperties (SimTK::State &s) const override
 Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More...
 
void extendSetPropertiesFromState (const SimTK::State &state) override
 Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property. More...
 
void computeStateVariableDerivatives (const SimTK::State &s) const override
 If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states. More...
 
- Protected Member Functions inherited from OpenSim::Muscle
const MuscleLengthInfogetMuscleLengthInfo (const SimTK::State &s) const
 Developer Access to intermediate values calculate by the muscle model. More...
 
MuscleLengthInfoupdMuscleLengthInfo (const SimTK::State &s) const
 
const FiberVelocityInfogetFiberVelocityInfo (const SimTK::State &s) const
 
FiberVelocityInfoupdFiberVelocityInfo (const SimTK::State &s) const
 
const MuscleDynamicsInfogetMuscleDynamicsInfo (const SimTK::State &s) const
 
MuscleDynamicsInfoupdMuscleDynamicsInfo (const SimTK::State &s) const
 
const MusclePotentialEnergyInfogetMusclePotentialEnergyInfo (const SimTK::State &s) const
 
MusclePotentialEnergyInfoupdMusclePotentialEnergyInfo (const SimTK::State &s) const
 
virtual void calcMuscleLengthInfo (const SimTK::State &s, MuscleLengthInfo &mli) const
 calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc... More...
 
virtual void calcFiberVelocityInfo (const SimTK::State &s, FiberVelocityInfo &fvi) const
 calculate muscle's fiber velocity and pennation angular velocity, etc... More...
 
virtual void calcMuscleDynamicsInfo (const SimTK::State &s, MuscleDynamicsInfo &mdi) const
 calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values More...
 
virtual void calcMusclePotentialEnergyInfo (const SimTK::State &s, MusclePotentialEnergyInfo &mpei) const
 calculate muscle's fiber and tendon potential energy More...
 
virtual void computeInitialFiberEquilibrium (SimTK::State &s) const =0
 This function modifies the fiber length in the supplied state such that the fiber and tendon are developing the same force, taking activation and velocity into account. More...
 
void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForce) const override
 Force interface applies tension to bodies, and Muscle also checks that applied muscle tension is not negative. More...
 
double computePotentialEnergy (const SimTK::State &state) const override
 Potential energy stored by the muscle. More...
 
SimTK::Vec3 computePathColor (const SimTK::State &state) const override
 Override PathActuator virtual to calculate a preferred color for the muscle path based on activation. More...
 
void extendConnectToModel (Model &aModel) override
 Model Component creation interface. More...
 
void extendAddToSystem (SimTK::MultibodySystem &system) const override
 Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More...
 
void extendSetPropertiesFromState (const SimTK::State &s) override
 Subclass should override; be sure to invoke Force::extendSetPropertiesFromState() at the beginning of the overriding method. More...
 
void extendInitStateFromProperties (SimTK::State &state) const override
 Subclass should override; be sure to invoke Super::extendInitStateFromProperties() at the beginning of the overriding method. More...
 
virtual void updateGeometry (const SimTK::State &s)
 
- Protected Member Functions inherited from OpenSim::PathActuator
void extendRealizeDynamics (const SimTK::State &state) const override
 Extension of parent class method; derived classes may extend further. More...
 
- Protected Member Functions inherited from OpenSim::ScalarActuator
double computeOverrideActuation (const SimTK::State &s) const
 
OpenSim::Array< std::string > getRecordLabels () const override
 Methods to query a actuation for the value actually applied during simulation. More...
 
OpenSim::Array< double > getRecordValues (const SimTK::State &state) const override
 Given SimTK::State object extract all the values necessary to report actuation, application location frame, etc. More...
 
- Protected Member Functions inherited from OpenSim::Force
 Force ()
 Default constructor sets up Force-level properties; can only be called from a derived class constructor. More...
 
 Force (SimTK::Xml::Element &node)
 Deserialization from XML, necessary so that derived classes can (de)serialize. More...
 
void applyForceToPoint (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a force at a particular point (a "station") on a given body. More...
 
void applyTorque (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a torque to a particular body. More...
 
void applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
 Apply a generalized force. More...
 
- Protected Member Functions inherited from OpenSim::ModelComponent
const SimTK::Vec3 & getScaleFactors (const ScaleSet &scaleSet, const Frame &frame) const
 Get the scale factors corresponding to the base OpenSim::Body of the specified Frame. More...
 
virtual void extendPreScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...
 
virtual void extendScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Scale the ModelComponent. More...
 
void extendFinalizeFromProperties () override
 Perform any time-invariant calculations, data structure initializations, or other configuration based on the component's properties to form a functioning (but not yet connected) component. More...
 
- Protected Member Functions inherited from OpenSim::Component
 SimTK_DEFINE_UNIQUE_INDEX_TYPE (MemberSubcomponentIndex)
 
template<class C = Component>
MemberSubcomponentIndex constructSubcomponent (const std::string &name)
 Construct a subcomponent as a data member of this Component. More...
 
template<class C = Component>
const C & getMemberSubcomponent (MemberSubcomponentIndex ix) const
 
template<class C = Component>
C & updMemberSubcomponent (MemberSubcomponentIndex ix)
 
void adoptSubcomponent (Component *subcomponent)
 Adopt a component as a subcomponent of this Component. More...
 
size_t getNumImmediateSubcomponents () const
 Get the number of Subcomponents immediately owned by this Component. More...
 
size_t getNumMemberSubcomponents () const
 Get the number of Subcomponents that are data members of this Component. More...
 
size_t getNumPropertySubcomponents () const
 Get the number of Subcomponents that are properties of this Component. More...
 
size_t getNumAdoptedSubcomponents () const
 Get the number of Subcomponents adopted by this Component. More...
 
std::vector< SimTK::ReferencePtr< const Component > > getImmediateSubcomponents () const
 Access this Component's immediate subcomponents (not those owned by subcomponents) More...
 
template<class C >
const C * traversePathToComponent (ComponentPath path) const
 
void setNextSubcomponentInSystem (const Component &sub) const
 Helper method to enable Component makers to specify the order of their subcomponents to be added to the System during addToSystem(). More...
 
void resetSubcomponentOrder ()
 resetSubcomponentOrder clears this Component's list of ordered subcomponents (but otherwise leaves subcomponents untouched). More...
 
const Componentget_components (int i) const
 Get the value of the i-th element of the components property. More...
 
Componentupd_components (int i)
 Get a writable reference to the i-th element of the components property. More...
 
void set_components (int i, const Component &value)
 Set the value of the i-th element of components property. More...
 
int append_components (const Component &value)
 Append an element to the components property. More...
 
virtual void extendAddComponent (Component *subcomponent)
 Perform any secondary operations, e.g. More...
 
void initComponentTreeTraversal (const Component &root) const
 Build the tree of Components from this component through its descendants. More...
 
virtual void extendAddToSystemAfterSubcomponents (SimTK::MultibodySystem &system) const
 Add appropriate Simbody elements (if needed) to the System after your component's subcomponents have had a chance to add themselves to the system. More...
 
void setStateVariableDerivativeValue (const SimTK::State &state, const std::string &name, double deriv) const
 Set the derivative of a state variable by name when computed inside of this Component's computeStateVariableDerivatives() method. More...
 
virtual void extendRealizeTopology (SimTK::State &state) const
 Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology. More...
 
virtual void extendRealizeModel (SimTK::State &state) const
 Obtain and name state resources (like state variables allocated by an underlying Simbody component) that may be needed, depending on modeling options. More...
 
virtual void extendRealizeInstance (const SimTK::State &state) const
 Perform computations that depend only on instance variables, like lengths and masses. More...
 
virtual void extendRealizeTime (const SimTK::State &state) const
 Perform computations that depend only on time and earlier stages. More...
 
virtual void extendRealizePosition (const SimTK::State &state) const
 Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time). More...
 
virtual void extendRealizeVelocity (const SimTK::State &state) const
 Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time). More...
 
virtual void extendRealizeAcceleration (const SimTK::State &state) const
 Perform computations that may depend on applied forces. More...
 
virtual void extendRealizeReport (const SimTK::State &state) const
 Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior. More...
 
void addModelingOption (const std::string &optionName, int maxFlagValue) const
 Add a modeling option (integer flag stored in the State) for use by this Component. More...
 
void addStateVariable (const std::string &stateVariableName, const SimTK::Stage &invalidatesStage=SimTK::Stage::Dynamics, bool isHidden=false) const
 Add a continuous system state variable belonging to this Component, and assign a name by which to refer to it. More...
 
void addStateVariable (Component::StateVariable *stateVariable) const
 The above method provides a convenient interface to this method, which automatically creates an 'AddedStateVariable' and allocates resources in the SimTK::State for this variable. More...
 
void addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
 Add a system discrete variable belonging to this Component, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed. More...
 
template<class T >
void addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const
 Add a state cache entry belonging to this Component to hold calculated values that must be automatically invalidated when certain state values change. More...
 
SimTK::MultibodySystem & updSystem () const
 Get writable reference to the MultibodySystem that this component is connected to. More...
 
const int getStateIndex (const std::string &name) const
 Get the index of a Component's continuous state variable in the Subsystem for allocations. More...
 
SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
 Get the System Index of a state variable allocated by this Component. More...
 
const SimTK::DiscreteVariableIndex getDiscreteVariableIndex (const std::string &name) const
 Get the index of a Component's discrete variable in the Subsystem for allocations. More...
 
const SimTK::CacheEntryIndex getCacheVariableIndex (const std::string &name) const
 Get the index of a Component's cache variable in the Subsystem for allocations. More...
 
template<typename T >
PropertyIndex constructSocket (const std::string &name, const std::string &propertyComment)
 Construct a specialized Socket for this Component's dependence on another Component. More...
 
template<typename T , typename CompType = Component>
bool constructOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
 Construct an output for a member function of the same component. More...
 
template<typename T , typename CompType = Component>
bool constructOutput (const std::string &name, const T &(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
 This variant handles component member functions that return the output value by const reference (const T&). More...
 
template<typename T , typename CompType >
bool constructListOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &, const std::string &channel) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
 Construct an output that can have multiple channels. More...
 
bool constructOutputForStateVariable (const std::string &name)
 Construct an Output for a StateVariable. More...
 
template<typename T >
PropertyIndex constructInput (const std::string &name, bool isList, const std::string &propertyComment, const SimTK::Stage &requiredAtStage=SimTK::Stage::Instance)
 Construct an Input (socket) for this Component's dependence on an Output signal. More...
 
void setOwner (const Component &owner)
 Set this Component's reference to its owning Component More...
 
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 The default constructor is only for use by constructors of derived types. More...
 
 Object (const std::string &fileName, bool aUpdateFromXMLNode=true)
 Constructor from a file, to be called from other constructors that take a file as input. More...
 
 Object (const Object &source)
 Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...
 
 Object (SimTK::Xml::Element &aElement)
 Construct the base class portion of an Object from a given Xml element that describes this Object. More...
 
template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...
 
template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...
 
PropertyIndex getPropertyIndex (const std::string &name) const
 Look up a property by name and return its PropertyIndex if it is found. More...
 
template<class T >
PropertyIndex getPropertyIndex () const
 Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...
 
void setObjectIsUpToDateWithProperties ()
 When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date. More...
 
void clearObjectIsUpToDateWithProperties ()
 For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...
 
void makeObjectNamesConsistentWithProperties ()
 Make sure the name of an object is consistent with its property type. More...
 
void updateFromXMLDocument ()
 Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input. More...
 
void setDocument (XMLDocument *doc)
 Unconditionally set the XMLDocument associated with this object. More...
 
const XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Static Protected Attributes

static const std::string STATE_ACTIVATION_NAME
 
static const std::string STATE_FIBER_LENGTH_NAME
 
- Static Protected Attributes inherited from OpenSim::ModelComponent
static const SimTK::Vec3 InvalidScaleFactors
 Returned by getScaleFactors() if the ScaleSet does not contain scale factors for the base Body associated with the specified Frame. More...
 

Auto-generated functions

static ActivationFiberLengthMusclesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ActivationFiberLengthMuscle". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
ActivationFiberLengthMuscleclone () const override=0
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override=0
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Muscle
static MusclesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Muscle". More...
 
- Static Public Member Functions inherited from OpenSim::PathActuator
static PathActuatorsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "PathActuator". More...
 
- Static Public Member Functions inherited from OpenSim::ScalarActuator
static ScalarActuatorsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ScalarActuator". More...
 
- Static Public Member Functions inherited from OpenSim::Actuator
static ActuatorsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Actuator". More...
 
- Static Public Member Functions inherited from OpenSim::Force
static ForcesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Force". More...
 
- Static Public Member Functions inherited from OpenSim::ModelComponent
static ModelComponentsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ModelComponent". More...
 
- Static Public Member Functions inherited from OpenSim::Component
static ComponentsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Component". More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the debug level to get verbose output. More...
 
static int getDebugLevel ()
 Get current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 
- Static Protected Member Functions inherited from OpenSim::Component
static void prependComponentPathToConnecteePath (Component &subcomponent)
 For internal use. More...
 
- Protected Attributes inherited from OpenSim::Muscle
double _muscleWidth
 The assumed fixed muscle-width from which the fiber pennation angle can be calculated. More...
 
double _maxIsometricForce
 to support deprecated muscles More...
 
double _optimalFiberLength
 
double _pennationAngleAtOptimal
 
double _tendonSlackLength
 
- Protected Attributes inherited from OpenSim::Actuator
int _controlIndex
 
- Protected Attributes inherited from OpenSim::Force
SimTK::ResetOnCopy< SimTK::ForceIndex > _index
 ID for the force in Simbody. More...
 
- Protected Attributes inherited from OpenSim::ModelComponent
SimTK::ReferencePtr< Model_model
 The model this component belongs to. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Detailed Description

A base class representing a two-state muscle-tendon actuator.

It adds activation and fiber-length states and dynamics to the Muscle class, but does not implement all of the necessary methods, so it is abstract as well. The path information for a muscle is contained in the Muscle class, and the force-generating behavior should be defined in the derived classes.

Author
Ajay Seth

(Based on earlier work by Peter Loan and Frank C. Anderson.)

Member Typedef Documentation

◆ Self

This typedef might be useful within the member functions of this class.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ ActivationFiberLengthMuscle()

OpenSim::ActivationFiberLengthMuscle::ActivationFiberLengthMuscle ( )

Member Function Documentation

◆ assign()

void OpenSim::ActivationFiberLengthMuscle::assign ( Object aObject)
inlineoverride

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type ActivationFiberLengthMuscle.

◆ calcActivationRate()

virtual double OpenSim::ActivationFiberLengthMuscle::calcActivationRate ( const SimTK::State &  s) const
protectedpure virtual

Calculate activation rate.

Implemented in OpenSim::Thelen2003Muscle.

◆ clone()

ActivationFiberLengthMuscle* OpenSim::ActivationFiberLengthMuscle::clone ( ) const
overridepure virtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Muscle.

Implemented in OpenSim::Thelen2003Muscle.

◆ computeForce()

virtual void OpenSim::ActivationFiberLengthMuscle::computeForce ( const SimTK::State &  state,
SimTK::Vector_< SimTK::SpatialVec > &  bodyForces,
SimTK::Vector &  generalizedForces 
) const
overrideprotectedvirtual

Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds.

This is invoked by ForceAdapter to perform the force computation.

Reimplemented from OpenSim::PathActuator.

◆ computeStateVariableDerivatives()

void OpenSim::ActivationFiberLengthMuscle::computeStateVariableDerivatives ( const SimTK::State &  s) const
overrideprotectedvirtual

If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.

Override to set the derivatives of state variables added to the system by this component. (also see extendAddToSystem()). If the component adds states and computeStateVariableDerivatives is not implemented by the component, an exception is thrown when the system tries to evaluate its derivatives.

Implement like this:

void computeStateVariableDerivatives(const SimTK::State& state) const {
// Let the parent class set the derivative values for the
// the state variables that it added.
// Compute derivative values for states allocated by this component
// as a function of the state.
double deriv = ...
// Then set the derivative value by state variable name
setStateVariableDerivativeValue(state, "<state_variable_name>", deriv);
}

For subclasses, it is highly recommended that you first call Super::computeStateVariableDerivatives(state) to preserve the derivative computation of the parent class and to only specify the derivatives of the state variables added by name. One does have the option to override all the derivative values for the parent by accessing the derivatives by their state variable name. This is necessary, for example, if a newly added state variable is coupled to the dynamics (derivatives) of the states variables that were added by the parent.

Reimplemented from OpenSim::Component.

◆ extendAddToSystem()

void OpenSim::ActivationFiberLengthMuscle::extendAddToSystem ( SimTK::MultibodySystem &  system) const
overrideprotectedvirtual

Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.

extendAddToSystem() is called when the Simbody System is being created to represent a completed system (model) for computation. That is, connect() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within extendAddToSystem() only.

Note that this method is const; you may not modify your model component or the containing model during this call. Any modifications you need should instead be performed in finalizeFromProperties() or at the latest connect(), which are non-const. The only exception is that you may need to record access information for resources you create in the system, such as an index number. For most Components, OpenSim base classes either provide convenience methods or handle indices automatically. Otherwise, you must declare indices as mutable data members so that you can set them here.

If you override this method, be sure to invoke the base class method at the beginning, using code like this:

void MyComponent::extendAddToSystem(SimTK::MultibodySystem& system) const {
// Perform any additions to the system required by your Super
// ... your code goes here
}

This method assumes that this Component's addToSystem will be invoked before its subcomponents. If you need your subcomponents to be added to the system, first (e.g. require of a Force to be anchored to a SimTK::MobilizedBody specified by subcomponents) then you must implement: extendAddToSystemAfterSubcomponents(). It is possible to implement both method to add system elements before and then after your subcomponents have added themselves. Caution is required that Simbody elements are not added twice especially when order is unimportant.

Parameters
[in,out]systemThe MultibodySystem being added to.
See also
addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::Component.

◆ extendConnectToModel()

void OpenSim::ActivationFiberLengthMuscle::extendConnectToModel ( Model aModel)
overrideprotectedvirtual

Model Component Interface.

Reimplemented from OpenSim::ModelComponent.

◆ extendInitStateFromProperties()

void OpenSim::ActivationFiberLengthMuscle::extendInitStateFromProperties ( SimTK::State &  state) const
overrideprotectedvirtual

Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.

This is called after a SimTK::System and State have been created for the Model (that is, after extendAddToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::extendInitStateFromProperties(SimTK::State& state) const {
Super::extendInitStateFromProperties(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe state that will receive the new initial conditions.
See also
extendSetPropertiesFromState()

Reimplemented from OpenSim::Component.

◆ extendPostScale()

void OpenSim::ActivationFiberLengthMuscle::extendPostScale ( const SimTK::State &  s,
const ScaleSet scaleSet 
)
overridevirtual

Adjust the properties of the muscle after the model has been scaled.

The optimal fiber length and tendon slack length are each multiplied by the ratio of the current path length and the path length before scaling.

Reimplemented from OpenSim::ModelComponent.

◆ extendSetPropertiesFromState()

void OpenSim::ActivationFiberLengthMuscle::extendSetPropertiesFromState ( const SimTK::State &  state)
overrideprotectedvirtual

Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property.

Thus, state variable values can persist as part of the model component and be serialized as a property.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::extendSetPropertiesFromState(const SimTK::State& state) {
Super::extendSetPropertiesFromState(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe State from which values may be extracted to set persistent property values.
See also
extendInitStateFromProperties()

Reimplemented from OpenSim::Component.

◆ get_default_activation()

const double& OpenSim::ActivationFiberLengthMuscle::get_default_activation ( ) const
inline

Get the value of the default_activation property.

◆ get_default_fiber_length()

const double& OpenSim::ActivationFiberLengthMuscle::get_default_fiber_length ( ) const
inline

Get the value of the default_fiber_length property.

◆ getActivationRate()

double OpenSim::ActivationFiberLengthMuscle::getActivationRate ( const SimTK::State &  s) const

◆ getClassName()

static const std::string& OpenSim::ActivationFiberLengthMuscle::getClassName ( )
inlinestatic

This returns "ActivationFiberLengthMuscle".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

const std::string& OpenSim::ActivationFiberLengthMuscle::getConcreteClassName ( ) const
overridepure virtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also
getClassName()

Implements OpenSim::Muscle.

Implemented in OpenSim::Thelen2003Muscle.

◆ getDefaultActivation()

double OpenSim::ActivationFiberLengthMuscle::getDefaultActivation ( ) const

◆ getDefaultFiberLength()

double OpenSim::ActivationFiberLengthMuscle::getDefaultFiberLength ( ) const

◆ safeDownCast()

static ActivationFiberLengthMuscle* OpenSim::ActivationFiberLengthMuscle::safeDownCast ( OpenSim::Object obj)
inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = ActivationFiberLengthMuscle.safeDownCast(obj). This is equivalent to dynamic_cast<ActivationFiberLengthMuscle*>(obj) in C++.

◆ set_default_activation()

void OpenSim::ActivationFiberLengthMuscle::set_default_activation ( const double &  value)
inline

Set the value of the default_activation property.

◆ set_default_fiber_length()

void OpenSim::ActivationFiberLengthMuscle::set_default_fiber_length ( const double &  value)
inline

Set the value of the default_fiber_length property.

◆ setActivation()

void OpenSim::ActivationFiberLengthMuscle::setActivation ( SimTK::State &  s,
double  activation 
) const
overridevirtual

DEPRECATED: only for backward compatibility.

Implements OpenSim::Muscle.

◆ setDefaultActivation()

void OpenSim::ActivationFiberLengthMuscle::setDefaultActivation ( double  activation)

◆ setDefaultFiberLength()

void OpenSim::ActivationFiberLengthMuscle::setDefaultFiberLength ( double  length)

◆ setFiberLength()

void OpenSim::ActivationFiberLengthMuscle::setFiberLength ( SimTK::State &  s,
double  fiberLength 
) const

◆ upd_default_activation()

double& OpenSim::ActivationFiberLengthMuscle::upd_default_activation ( )
inline

Get a writable reference to the default_activation property.

◆ upd_default_fiber_length()

double& OpenSim::ActivationFiberLengthMuscle::upd_default_fiber_length ( )
inline

Get a writable reference to the default_fiber_length property.

Member Data Documentation

◆ STATE_ACTIVATION_NAME

const std::string OpenSim::ActivationFiberLengthMuscle::STATE_ACTIVATION_NAME
staticprotected

◆ STATE_FIBER_LENGTH_NAME

const std::string OpenSim::ActivationFiberLengthMuscle::STATE_FIBER_LENGTH_NAME
staticprotected

OpenSim Property, Socket, Output, Input Documentation

◆ default_activation

double OpenSim::ActivationFiberLengthMuscle::default_activation

"Assumed activation level if none is assigned."

This property appears in XML files under the tag <default_activation>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_default_activation(), upd_default_activation(), set_default_activation()

◆ default_fiber_length

double OpenSim::ActivationFiberLengthMuscle::default_fiber_length

"Assumed fiber length, unless otherwise assigned."

This property appears in XML files under the tag <default_fiber_length>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_default_fiber_length(), upd_default_fiber_length(), set_default_fiber_length()

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