API  4.2
For C++ developers
OpenSim::JointReaction Class Reference

An analysis for reporting the joint reaction loads from a model. More...

+ Inheritance diagram for OpenSim::JointReaction:

Public Member Functions

 JointReaction (Model *aModel=0)
 
 JointReaction (const std::string &aFileName)
 
 JointReaction (const JointReaction &aObject)
 
virtual ~JointReaction ()
 
JointReactionoperator= (const JointReaction &aJointReaction)
 
void setModel (Model &aModel) override
 set pointer to model to be analyzed. More...
 
const std::string & getForcesFileName ()
 Public accessors for the forcesFileName property. More...
 
void setForcesFileName (const std::string newForcesFile)
 
const Array< std::string > & getJointNames () const
 Public accessors for the JointNames property. More...
 
void setJointNames (Array< std::string > &jointNames)
 
const Array< std::string > & getOnBody () const
 Public accessors for the onBody property. More...
 
void setOnBody (Array< std::string > &onBody)
 
const Array< std::string > & getInFrame () const
 Public accessors for the inFrame property. More...
 
void setInFrame (Array< std::string > &inFrame)
 
int begin (const SimTK::State &s) override
 
int step (const SimTK::State &s, int setNumber) override
 
int end (const SimTK::State &s) override
 
int printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto") override
 Print the results of the analysis. More...
 
- Public Member Functions inherited from OpenSim::Analysis
 Analysis (Model *aModel=0)
 Default constructor. More...
 
 Analysis (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct an object from file. More...
 
 Analysis (const Analysis &aAnalysis)
 Copy constructor. More...
 
virtual ~Analysis ()
 
Analysisoperator= (const Analysis &aAnalysis)
 Assignment operator. More...
 
virtual void setStatesStore (const Storage &aStatesStore)
 set states storage for analysis. More...
 
void setOn (bool aTrueFalse)
 
bool getOn () const
 
void setStartTime (double aStartTime)
 
double getStartTime () const
 
void setEndTime (double aEndTime)
 
double getEndTime () const
 
void setInDegrees (bool aTrueFalse)
 Set whether or not to write the output of angles in degrees. More...
 
bool getInDegrees () const
 
virtual bool proceed (int aStep=0)
 
void setStepInterval (int aStepInterval)
 
int getStepInterval () const
 
void setColumnLabels (const Array< std::string > &aLabels)
 Set the column labels for this analysis. More...
 
const Array< std::string > & getColumnLabels () const
 
void setStorageInterval (int aInterval)
 
int getStorageInterval () const
 
virtual ArrayPtrs< Storage > & getStorageList ()
 
void setPrintResultFiles (bool aToWrite)
 
bool getPrintResultFiles () const
 
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 JointReaction Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Analysis Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Analysis
typedef Analysis 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...
 

Protected Member Functions

int record (const SimTK::State &s)
 
void setupReactionList ()
 
void constructDescription ()
 
void constructColumnLabels ()
 
void setupStorage ()
 
void loadForcesFromFile ()
 
- 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

PropertyStr _forcesFileNameProp
 String containing the name of the optional forces storage file. More...
 
std::string & _forcesFileName
 
PropertyStrArray _jointNamesProp
 String Array containing the names of the joints to be analyzed. More...
 
Array< std::string > & _jointNames
 
PropertyStrArray _onBodyProp
 String Array indicating which body of a joint (parent or child) the reaction load is applied to. More...
 
Array< std::string > & _onBody
 
PropertyStrArray _inFrameProp
 String Array indicating which frame (ground, parent child) the reaction load is expressed in. More...
 
Array< std::string > & _inFrame
 
Storage_storeActuation
 Storage for holding actuator forces IF SPECIFIED by user. More...
 
Storage _storeReactionLoads
 Storage for recording joint Reaction loads. More...
 
Array< double > _dydt
 Internal work array for holding the computed accelerations. More...
 
Array< double > _allLoads
 Internal work array for holding the computed joint loads for all joints in the model. More...
 
Array< double > _Loads
 Internal work array for holding the computed joint loads of all joints specified in _jointNames. More...
 
Array< JointReactionKey > _reactionList
 Internal work array for holding the JointReactionKeys to identify the desired joints, onBody, and inFrame to be output. More...
 
bool _useForceStorage
 
- Protected Attributes inherited from OpenSim::Analysis
PropertyInt _stepIntervalProp
 Step interval. More...
 
int & _stepInterval
 
PropertyBool _onProp
 On, off flag. More...
 
bool & _on
 
PropertyDbl _startTimeProp
 Start time for the callback in normalized time. More...
 
double & _startTime
 
PropertyDbl _endTimeProp
 End time for the callback in normalized time. More...
 
double & _endTime
 
ArrayPtrs< Storage_storageList
 
bool _printResultFiles
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Auto-generated functions

static JointReactionsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "JointReaction". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
JointReactionclone () 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...
 

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Analysis
static AnalysissafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Analysis". 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...
 
- Public Attributes inherited from OpenSim::Analysis
Model_model
 
const Storage_statesStore
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 

Detailed Description

An analysis for reporting the joint reaction loads from a model.

For a given joint, the reaction load is calculated as the forces and moments required to constrain the body motions to satisfy the joint as if the joint did not exist.

The reaction load acts at the joint center (mobilizer frame) of both the parent and child bodies and either force can be reported and expressed in any specified frame. The default behavior is the force on the child expressed in the ground frame.

Author
Matt DeMers, Ajay Seth
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

◆ JointReaction() [1/3]

OpenSim::JointReaction::JointReaction ( Model aModel = 0)

◆ JointReaction() [2/3]

OpenSim::JointReaction::JointReaction ( const std::string &  aFileName)

◆ JointReaction() [3/3]

OpenSim::JointReaction::JointReaction ( const JointReaction aObject)

◆ ~JointReaction()

virtual OpenSim::JointReaction::~JointReaction ( )
virtual

Member Function Documentation

◆ assign()

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

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type JointReaction.

◆ begin()

int OpenSim::JointReaction::begin ( const SimTK::State &  s)
overridevirtual

Reimplemented from OpenSim::Analysis.

◆ clone()

JointReaction* OpenSim::JointReaction::clone ( ) const
inlineoverridevirtual

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::Analysis.

◆ constructColumnLabels()

void OpenSim::JointReaction::constructColumnLabels ( )
protected

◆ constructDescription()

void OpenSim::JointReaction::constructDescription ( )
protected

◆ end()

int OpenSim::JointReaction::end ( const SimTK::State &  s)
overridevirtual

Reimplemented from OpenSim::Analysis.

◆ getClassName()

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

This returns "JointReaction".

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::JointReaction::getConcreteClassName ( ) const
inlineoverridevirtual

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::Analysis.

◆ getForcesFileName()

const std::string& OpenSim::JointReaction::getForcesFileName ( )
inline

Public accessors for the forcesFileName property.

◆ getInFrame()

const Array<std::string>& OpenSim::JointReaction::getInFrame ( ) const
inline

Public accessors for the inFrame property.

◆ getJointNames()

const Array<std::string>& OpenSim::JointReaction::getJointNames ( ) const
inline

Public accessors for the JointNames property.

◆ getOnBody()

const Array<std::string>& OpenSim::JointReaction::getOnBody ( ) const
inline

Public accessors for the onBody property.

◆ loadForcesFromFile()

void OpenSim::JointReaction::loadForcesFromFile ( )
protected

◆ operator=()

JointReaction& OpenSim::JointReaction::operator= ( const JointReaction aJointReaction)

◆ printResults()

int OpenSim::JointReaction::printResults ( const std::string &  aBaseName,
const std::string &  aDir = "",
double  aDT = -1.0,
const std::string &  aExtension = ".sto" 
)
overridevirtual

Print the results of the analysis.

Parameters
aBaseNameBase name of file to which to print the data.
aDirDirectory name.
aDTTime interval between results (linear interpolation is used). If not supplied as an argument or negative, all time steps are printed without interpolation.
aExtensionFile extension if not the default ".sto".
Returns
-1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

◆ record()

int OpenSim::JointReaction::record ( const SimTK::State &  s)
protected

◆ safeDownCast()

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

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

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

◆ setForcesFileName()

void OpenSim::JointReaction::setForcesFileName ( const std::string  newForcesFile)
inline

◆ setInFrame()

void OpenSim::JointReaction::setInFrame ( Array< std::string > &  inFrame)
inline

◆ setJointNames()

void OpenSim::JointReaction::setJointNames ( Array< std::string > &  jointNames)
inline

◆ setModel()

void OpenSim::JointReaction::setModel ( Model aModel)
overridevirtual

set pointer to model to be analyzed.

Parameters
aModel

Reimplemented from OpenSim::Analysis.

◆ setOnBody()

void OpenSim::JointReaction::setOnBody ( Array< std::string > &  onBody)
inline

◆ setupReactionList()

void OpenSim::JointReaction::setupReactionList ( )
protected

◆ setupStorage()

void OpenSim::JointReaction::setupStorage ( )
protected

◆ step()

int OpenSim::JointReaction::step ( const SimTK::State &  s,
int  setNumber 
)
overridevirtual

Reimplemented from OpenSim::Analysis.

Member Data Documentation

◆ _allLoads

Array<double> OpenSim::JointReaction::_allLoads
protected

Internal work array for holding the computed joint loads for all joints in the model.

◆ _dydt

Array<double> OpenSim::JointReaction::_dydt
protected

Internal work array for holding the computed accelerations.

◆ _forcesFileName

std::string& OpenSim::JointReaction::_forcesFileName
protected

◆ _forcesFileNameProp

PropertyStr OpenSim::JointReaction::_forcesFileNameProp
protected

String containing the name of the optional forces storage file.

◆ _inFrame

Array<std::string>& OpenSim::JointReaction::_inFrame
protected

◆ _inFrameProp

PropertyStrArray OpenSim::JointReaction::_inFrameProp
protected

String Array indicating which frame (ground, parent child) the reaction load is expressed in.

◆ _jointNames

Array<std::string>& OpenSim::JointReaction::_jointNames
protected

◆ _jointNamesProp

PropertyStrArray OpenSim::JointReaction::_jointNamesProp
protected

String Array containing the names of the joints to be analyzed.

◆ _Loads

Array<double> OpenSim::JointReaction::_Loads
protected

Internal work array for holding the computed joint loads of all joints specified in _jointNames.

◆ _onBody

Array<std::string>& OpenSim::JointReaction::_onBody
protected

◆ _onBodyProp

PropertyStrArray OpenSim::JointReaction::_onBodyProp
protected

String Array indicating which body of a joint (parent or child) the reaction load is applied to.

◆ _reactionList

Array<JointReactionKey> OpenSim::JointReaction::_reactionList
protected

Internal work array for holding the JointReactionKeys to identify the desired joints, onBody, and inFrame to be output.

◆ _storeActuation

Storage* OpenSim::JointReaction::_storeActuation
protected

Storage for holding actuator forces IF SPECIFIED by user.

◆ _storeReactionLoads

Storage OpenSim::JointReaction::_storeReactionLoads
protected

Storage for recording joint Reaction loads.

◆ _useForceStorage

bool OpenSim::JointReaction::_useForceStorage
protected

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