API  4.2
For C++ developers
OpenSim::CMC_Orientation Class Referenceabstract

A class for tracking the orientation of a body. More...

+ Inheritance diagram for OpenSim::CMC_Orientation:

Public Member Functions

 CMC_Orientation ()
 
virtual ~CMC_Orientation ()
 
void setNull ()
 
void computeJacobian () override
 
void computeEffectiveMassMatrix () override
 
- Public Member Functions inherited from OpenSim::CMC_Task
 CMC_Task ()
 
 CMC_Task (const CMC_Task &aTaskObject)
 
virtual ~CMC_Task ()
 
CMC_Taskoperator= (const CMC_Task &aTaskObject)
 
void setWRTBodyName (std::string aBodyName)
 
std::string getWRTBodyName () const
 
void setExpressBodyName (std::string aBodyName)
 
std::string getExpressBodyName () const
 
void setActive (bool a0, bool a1=false, bool a2=false)
 
bool getActive (int aWhich) const
 
void setWeight (double aW0, double aW1=0.0, double aW2=0.0)
 
double getWeight (int aWhich) const
 
void setKP (double aK0, double aK1=0.0, double aK2=0.0)
 
double getKP (int aWhich) const
 
void setKV (double aK0, double aK1=0.0, double aK2=0.0)
 
double getKV (int aWhich) const
 
void setKA (double aK0, double aK1=0.0, double aK2=0.0)
 
double getKA (int aWhich) const
 
void setDirection_0 (const SimTK::Vec3 &aR)
 
void getDirection_0 (SimTK::Vec3 &rR) const
 
void setDirection_1 (const SimTK::Vec3 &aR)
 
void getDirection_1 (SimTK::Vec3 &rR) const
 
void setDirection_2 (const SimTK::Vec3 &aR)
 
void getDirection_2 (SimTK::Vec3 &rR) const
 
FunctiongetTaskFunction (int aWhich) const
 
void setTaskFunctionsForVelocity (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
 
FunctiongetTaskFunctionForVelocity (int aWhich) const
 
void setTaskFunctionsForAcceleration (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
 
FunctiongetTaskFunctionForAcceleration (int aWhich) const
 
double getTaskPosition (int aWhich, double aT) const
 
double getTaskVelocity (int aWhich, double aT) const
 
double getTaskAcceleration (int aWhich, double aT) const
 
void setPositionErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
 
double getPositionErrorLast (int aWhich) const
 
void setVelocityErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
 
double getVelocityErrorLast (int aWhich) const
 
double getPositionError (int aWhich) const
 
double getVelocityError (int aWhich) const
 
double getDesiredAcceleration (int aWhich) const
 
double getAcceleration (int aWhich) const
 
virtual void computeErrors (const SimTK::State &s, double aT)=0
 
virtual void computeDesiredAccelerations (const SimTK::State &s, double aT)=0
 
virtual void computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)=0
 
virtual void computeAccelerations (const SimTK::State &s)=0
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::TrackingTask
 TrackingTask ()
 
 TrackingTask (const TrackingTask &aTaskObject)
 
virtual ~TrackingTask ()
 
TrackingTaskoperator= (const TrackingTask &aTaskObject)
 
virtual void setModel (OpenSim::Model &aModel)
 
ModelgetModel () const
 
void setOn (bool aTrueFalse)
 
bool getOn () const
 
void setWeight (double aW0, double aW1=0.0, double aW2=0.0)
 
void setWeights (const Array< double > &aWeights)
 
double getWeight (int aWhich) const
 
const Array< double > & getWeights () const
 
int getNumTaskFunctions () const
 
virtual void setTaskFunctions (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. 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...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element. 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 CMC_Orientation Self
 This typedef might be useful within the member functions of this class. More...
 
typedef CMC_Task Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::CMC_Task
typedef CMC_Task Self
 This typedef might be useful within the member functions of this class. More...
 
typedef TrackingTask Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::TrackingTask
typedef TrackingTask 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...
 

Auto-generated functions

static CMC_OrientationsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "CMC_Orientation". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
CMC_Orientationclone () 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::CMC_Task
static CMC_TasksafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "CMC_Task". More...
 
- Static Public Member Functions inherited from OpenSim::TrackingTask
static TrackingTasksafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "TrackingTask". 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 amount of logging output. More...
 
static int getDebugLevel ()
 Get the 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...
 
- 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...
 
template<class T >
void checkPropertyValueIsPositive (const Property< T > &p) const
 Throw an exception if any of the property's values are not positive. More...
 
template<class T >
void checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
 Throw an exception if any of the property's values are not in the provided set. More...
 
template<class T >
void checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
 Throw an exception if any of the property's values are neither in the provided range nor in the provided set. 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...
 
- Protected Attributes inherited from OpenSim::CMC_Task
PropertyStr _propWRTBodyName
 Body with respect to which the task goals are specified. More...
 
PropertyStr _propExpressBodyName
 Body frame in which the task goals are expressed. More...
 
PropertyBoolArray _propActive
 Property to specify the active task goals. More...
 
PropertyDblArray _propKP
 Position error feedback gain. More...
 
PropertyDblArray _propKV
 Velocity error feedback gain. More...
 
PropertyDblArray _propKA
 Feedforward acceleration gain. More...
 
PropertyDblVec3 _propR0
 Directions of the task goal 0. More...
 
PropertyDblVec3 _propR1
 Directions of the task goal 1. More...
 
PropertyDblVec3 _propR2
 Directions of the task goal 2. More...
 
std::string & _wrtBodyName
 Reference to the value of the on property. More...
 
std::string & _expressBodyName
 Reference to the value of the ExpressBody property. More...
 
Array< bool > & _active
 Reference to the value of the Active property. More...
 
Array< double > & _kp
 Reference to the value of the KP property. More...
 
Array< double > & _kv
 Reference to the value of the KV property. More...
 
Array< double > & _ka
 Reference to the value of the KA property. More...
 
SimTK::Vec3 & _r0
 Reference to the value of the R0 property. More...
 
SimTK::Vec3 & _r1
 Reference to the value of the R1 property. More...
 
SimTK::Vec3 & _r2
 Reference to the value of the R2 property. More...
 
SimTK::Vec3 _pErrLast
 Last position error. More...
 
SimTK::Vec3 _pErr
 Position error. More...
 
SimTK::Vec3 _vErrLast
 Last velocity error. More...
 
SimTK::Vec3 _vErr
 Velocity error. More...
 
SimTK::Vec3 _aDes
 Desired accelerations. More...
 
SimTK::Vec3 _a
 Accelerations. More...
 
double * _j
 Jacobian. More...
 
double * _m
 Effective mass matrix. More...
 
- Protected Attributes inherited from OpenSim::TrackingTask
PropertyBool _propOn
 Property to indicate on or off state. More...
 
PropertyDblArray _propW
 Weights of the task goals. More...
 
bool & _on
 Reference to the value of the on property. More...
 
Array< double > & _w
 Reference to the value of the Weight property. More...
 
Model_model
 Model. More...
 
int _nTrk
 Number of functions for this target. More...
 
Function_pTrk [3]
 Position task functions. More...
 
Function_vTrk [3]
 Velocity task functions. More...
 
Function_aTrk [3]
 Acceleration task functions. 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 class for tracking the orientation of a body.

This class, although roughed out, is not yet fully implemented.

Author
Frank C. Anderson
Version
1.0

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

◆ CMC_Orientation()

OpenSim::CMC_Orientation::CMC_Orientation ( )

◆ ~CMC_Orientation()

virtual OpenSim::CMC_Orientation::~CMC_Orientation ( )
virtual

Member Function Documentation

◆ assign()

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

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type CMC_Orientation.

◆ clone()

CMC_Orientation* OpenSim::CMC_Orientation::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::CMC_Task.

◆ computeEffectiveMassMatrix()

void OpenSim::CMC_Orientation::computeEffectiveMassMatrix ( )
overridevirtual

Reimplemented from OpenSim::CMC_Task.

◆ computeJacobian()

void OpenSim::CMC_Orientation::computeJacobian ( )
overridevirtual

Reimplemented from OpenSim::CMC_Task.

◆ getClassName()

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

This returns "CMC_Orientation".

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::CMC_Orientation::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::CMC_Task.

◆ safeDownCast()

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

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

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

◆ setNull()

void OpenSim::CMC_Orientation::setNull ( )

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