OpenSim::Actuator Class Reference

An abstract class for representing an actuator (e.g., a torque motor, muscle, . More...

#include <Actuator.h>

Inheritance diagram for OpenSim::Actuator:

Public Member Functions
	Actuator ()
	Construct an actuator that has a specified number of controls and state variables.
	Actuator (const Actuator &aActuator)
	Copy constructor.
virtual	~Actuator ()
	Destructor.
virtual Object *	copy () const =0
	Construct and return a copy of this object.
virtual void	copyPropertyValues (Actuator &aActuator)
virtual void	initStateCache (SimTK::State &s, SimTK::SubsystemIndex subsystemIndex, Model &model)
Actuator &	operator= (const Actuator &aActuator)
	Assignment operator.
virtual void	setup (Model &aModel)
	Perform set up functions after model has been deserialized or copied.
void	setModel (Model &aModel)
	Set the Model this object is part of.
Model &	getModel () const
	Get the Model this object is part of.
virtual int	getControlIndex () const
	Get the index of a control .
virtual void	setControlIndex (int index)
virtual void	setController (const Controller *)
virtual const Controller &	getController () const
virtual double	getControl (const SimTK::State &s) const
	Get an actuator control, by index.
double	getForceMultiplier (const SimTK::State &s) const
void	setForceMultiplier (const SimTK::State &s, double forceMultiplier) const
double	getForceDelta (const SimTK::State &s) const
void	setForceDelta (const SimTK::State &s, double forceDelta) const
virtual std::string	getStateVariableName (int aIndex) const
	Get the name of a state variable, given its index.
virtual int	getStateVariableIndex (const std::string &aName) const
virtual void	setStateVariable (SimTK::State &s, int aIndex, double aValue) const
	Set an actuator state, specified by index.
virtual void	setStateVariables (SimTK::State &s, const double aY[]) const
	Set all of the states of an actuator.
virtual double	getStateVariable (const SimTK::State &s, int aIndex) const
	Get an actuator state, by index.
virtual void	getStateVariables (const SimTK::State &s, double rY[]) const
	Get all of the states of the actuator.
virtual int	getNumStateVariables () const
	Get the number of state variables allocated by this force.
virtual void	setStateVariableDeriv (const SimTK::State &s, int aIndex, double aValue) const
	Set the derivative of an actuator state, specified by index.
virtual void	setStateVariableDerivs (const SimTK::State &s, const double aY[]) const
	Set the derivatives of all of the states of an actuator.
virtual double	getStateVariableDeriv (const SimTK::State &s, int aIndex) const
	Get the derivative of an actuator state, by index.
virtual void	getStateVariableDerivs (const SimTK::State &s, double rY[]) const
	Get the derivatives of all of the states of the actuator.
virtual void	updateDisplayer (const SimTK::State &s)
virtual void	replacePropertyFunction (Function aOldFunction, Function aNewFunction)
	Replace one of the actuator's functions in the property array.
	OPENSIM_DECLARE_DERIVED (Actuator, Object)
bool	getAppliesForce () const
virtual void	setForce (const SimTK::State &s, double aForce) const
virtual double	getForce (const SimTK::State &s) const
virtual double	getAppliedForce (const SimTK::State &s) const
virtual void	setSpeed (const SimTK::State &s, double aspeed) const
virtual double	getSpeed (const SimTK::State &s) const
virtual double	getPower (const SimTK::State &s) const
virtual double	getStress (const SimTK::State &s) const
	getStress needs to be overridden by derived classes to be usable
virtual double	getOptimalForce () const
	getOptimalForce needs to be overridden by derived classes to be usable
virtual void	setIsControlled (bool flag)
virtual bool	isControlled () const
virtual void	promoteControlsToStates (const SimTK::State &s, int index)
virtual double	computeActuation (const SimTK::State &s) const =0
virtual void	computeStateDerivatives (const SimTK::State &s)
virtual void	computeEquilibrium (SimTK::State &s) const
virtual bool	check () const
virtual void	preScale (const SimTK::State &s, const ScaleSet &aScaleSet)
virtual void	scale (const SimTK::State &s, const ScaleSet &aScaleSet)
virtual void	postScale (const SimTK::State &s, const ScaleSet &aScaleSet)
int	getNumControls ()
Static Public Member Functions
static void	deleteActuator (Actuator *aActuator)
Static Public Attributes
static const double	LARGE = 1.0e8
Protected Member Functions
void	setNumStateVariables (int aNumStateVariables)
void	bindStateVariable (int aIndex, const std::string &aSuffix)
void	setAppliesForce (bool aTrueFalse)
virtual void	updateGeometry ()
	Update the geometric representation of the Actuator if any.
Protected Attributes
bool	_appliesForce
	Model which the actuator actuates.
Array< std::string >	_controlSuffixes
	Name suffixes.
Array< std::string >	_stateVariableSuffixes
SimTK::SubsystemIndex	_subsystemIndex
int	_numStateVariables
const Controller *	_controller
int	_controlIndex
bool	_isControlled
SimTK::CacheEntryIndex	_forceIndex
SimTK::CacheEntryIndex	_speedIndex
SimTK::CacheEntryIndex	_forceMultiplierIndex
SimTK::CacheEntryIndex	_forceDeltaIndex
SimTK::ZIndex	_zIndex
SimTK::CacheEntryIndex	_stateVariableDerivIndex

Detailed Description

An abstract class for representing an actuator (e.g., a torque motor, muscle, .

..).

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

Actuator::Actuator ( )

Construct an actuator that has a specified number of controls and state variables.

Parameters:

	aNX	Number of controls.
	aNY	Number of states.

Actuator::Actuator ( const Actuator & aAct )

Copy constructor.

Parameters:

aActuator

Actuator to copy.

Actuator::~Actuator ( ) [virtual]

Destructor.

Member Function Documentation

void Actuator::bindStateVariable	(	int	aIndex,
		const std::string &	aSuffix
	)			`[protected]`

virtual bool OpenSim::Actuator::check ( ) const [inline, virtual]

Reimplemented in OpenSim::CoordinateActuator, OpenSim::LinearActuator, OpenSim::PointActuator, and OpenSim::TorqueActuator.

virtual double OpenSim::Actuator::computeActuation ( const SimTK::State & s ) const [pure virtual]

Implemented in OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, and OpenSim::Muscle.

virtual void OpenSim::Actuator::computeEquilibrium ( SimTK::State & s ) const [inline, virtual]

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::Schutte1993Muscle, and OpenSim::Thelen2003Muscle.

virtual void OpenSim::Actuator::computeStateDerivatives ( const SimTK::State & s ) [inline, virtual]

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::Schutte1993Muscle, and OpenSim::Thelen2003Muscle.

virtual Object* OpenSim::Actuator::copy ( ) const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:: Copy of this object.

Reimplemented from OpenSim::Object.

Implemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PassiveJointTorque, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, and OpenSim::Muscle.

virtual void OpenSim::Actuator::copyPropertyValues ( Actuator & aActuator ) [inline, virtual]

static void OpenSim::Actuator::deleteActuator ( Actuator * aActuator ) [inline, static]

virtual double OpenSim::Actuator::getAppliedForce ( const SimTK::State & s ) const [virtual]

bool OpenSim::Actuator::getAppliesForce ( ) const [inline]

double Actuator::getControl ( const SimTK::State & s ) const [virtual]

Get an actuator control, by index.

Parameters:

aIndex

the index of the control to get.

Returns:: The value of the control.

int Actuator::getControlIndex ( ) const [virtual]

Get the index of a control .

Returns:: The index of the control.

const Controller & Actuator::getController ( ) const [virtual]

virtual double OpenSim::Actuator::getForce ( const SimTK::State & s ) const [virtual]

double OpenSim::Actuator::getForceDelta ( const SimTK::State & s ) const

double OpenSim::Actuator::getForceMultiplier ( const SimTK::State & s ) const

Model& OpenSim::Actuator::getModel ( ) const [inline]

Get the Model this object is part of.

Reimplemented from OpenSim::ModelComponent.

int OpenSim::Actuator::getNumControls ( ) [inline]

int Actuator::getNumStateVariables ( ) const [virtual]

Get the number of state variables allocated by this force.

The default implementation returns 0. Subclasses that allocate state variables must override it.

Reimplemented from OpenSim::Force.

double Actuator::getOptimalForce ( ) const [virtual]

getOptimalForce needs to be overridden by derived classes to be usable

Reimplemented in OpenSim::CoordinateActuator, OpenSim::LinearActuator, OpenSim::PointActuator, and OpenSim::TorqueActuator.

virtual double OpenSim::Actuator::getPower ( const SimTK::State & s ) const [inline, virtual]

virtual double OpenSim::Actuator::getSpeed ( const SimTK::State & s ) const [virtual]

double Actuator::getStateVariable	(	const SimTK::State &	s,
		int	aIndex
	)			const `[virtual]`

Get an actuator state, by index.

Parameters:

aIndex

the index of the state to get.

Returns:: The value of the state.

Reimplemented from OpenSim::Force.

double Actuator::getStateVariableDeriv	(	const SimTK::State &	s,
		int	aIndex
	)			const `[virtual]`

Get the derivative of an actuator state, by index.

Parameters:

aIndex

the index of the state to get.

Returns:: The value of the state.

void Actuator::getStateVariableDerivs	(	const SimTK::State &	s,
		double	rY[]
	)			const `[virtual]`

Get the derivatives of all of the states of the actuator.

Parameters:

rY

The array of states is returned here.

virtual int OpenSim::Actuator::getStateVariableIndex ( const std::string & aName ) const [virtual]

string Actuator::getStateVariableName ( int aIndex ) const [virtual]

Get the name of a state variable, given its index.

Parameters:

aIndex

The index of the state variable to get.

Returns:: The name of the state variable.

Reimplemented from OpenSim::Force.

void Actuator::getStateVariables	(	const SimTK::State &	s,
		double	rY[]
	)			const `[virtual]`

Get all of the states of the actuator.

Parameters:

rY

The array of states is returned here.

double Actuator::getStress ( const SimTK::State & s ) const [virtual]

getStress needs to be overridden by derived classes to be usable

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, and OpenSim::TorqueActuator.

void Actuator::initStateCache	(	SimTK::State &	s,
		SimTK::SubsystemIndex	subsystemIndex,
		Model &	model
	)			`[virtual]`

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, and OpenSim::Muscle.

virtual bool OpenSim::Actuator::isControlled ( ) const [inline, virtual]

OpenSim::Actuator::OPENSIM_DECLARE_DERIVED	(	Actuator	,
		Object
	)

Actuator & Actuator::operator= ( const Actuator & aAct )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PassiveJointTorque, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, and OpenSim::Muscle.

virtual void OpenSim::Actuator::postScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[inline, virtual]`

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, and OpenSim::Muscle.

virtual void OpenSim::Actuator::preScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[inline, virtual]`

Reimplemented in OpenSim::Muscle.

virtual void OpenSim::Actuator::promoteControlsToStates	(	const SimTK::State &	s,
		int	index
	)			`[inline, virtual]`

void Actuator::replacePropertyFunction	(	OpenSim::Function *	aOldFunction,
		OpenSim::Function *	aNewFunction
	)			`[virtual]`

Replace one of the actuator's functions in the property array.

Parameters:

	aOldFunction	the function being replaced.
	aNewFunction	the new function.

virtual void OpenSim::Actuator::scale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[inline, virtual]`

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, and OpenSim::Muscle.

void OpenSim::Actuator::setAppliesForce ( bool aTrueFalse ) [inline, protected]

void Actuator::setControlIndex ( int index ) [virtual]

void Actuator::setController ( const Controller * controller ) [virtual]

virtual void OpenSim::Actuator::setForce	(	const SimTK::State &	s,
		double	aForce
	)			const `[virtual]`

void OpenSim::Actuator::setForceDelta	(	const SimTK::State &	s,
		double	forceDelta
	)			const

void OpenSim::Actuator::setForceMultiplier	(	const SimTK::State &	s,
		double	forceMultiplier
	)			const

virtual void OpenSim::Actuator::setIsControlled ( bool flag ) [inline, virtual]

void OpenSim::Actuator::setModel ( Model & model ) [inline]

Set the Model this object is part of.

Reimplemented from OpenSim::ModelComponent.

void Actuator::setNumStateVariables ( int aNumStateVariables ) [protected]

virtual void OpenSim::Actuator::setSpeed	(	const SimTK::State &	s,
		double	aspeed
	)			const `[virtual]`

void Actuator::setStateVariable	(	SimTK::State &	s,
		int	aIndex,
		double	aValue
	)			const `[virtual]`

Set an actuator state, specified by index.

Parameters:

	aIndex	The index of the state to set.
	aValue	The value to set the state to.

Reimplemented from OpenSim::Force.

void Actuator::setStateVariableDeriv	(	const SimTK::State &	s,
		int	aIndex,
		double	aValue
	)			const `[virtual]`

Set the derivative of an actuator state, specified by index.

Parameters:

	aIndex	The index of the state to set.
	aValue	The value to set the state to.

void Actuator::setStateVariableDerivs	(	const SimTK::State &	s,
		const double	aY[]
	)			const `[virtual]`

Set the derivatives of all of the states of an actuator.

Parameters:

aY

The array of states to set.

void Actuator::setStateVariables	(	SimTK::State &	s,
		const double	aY[]
	)			const `[virtual]`

Set all of the states of an actuator.

Parameters:

aY

The array of states to set.

void Actuator::setup ( Model & aModel ) [virtual]

Perform set up functions after model has been deserialized or copied.

Parameters:

aModel

model containing this actuator.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::LinearActuator, OpenSim::PointActuator, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, and OpenSim::Muscle.

virtual void OpenSim::Actuator::updateDisplayer ( const SimTK::State & s ) [inline, virtual]

Reimplemented in OpenSim::Muscle.

void Actuator::updateGeometry ( ) [protected, virtual]

Update the geometric representation of the Actuator if any.

The resulting geometry is maintained at the VisibleObject layer

Member Data Documentation

bool OpenSim::Actuator::_appliesForce [protected]

Model which the actuator actuates.

Flag indicating whether the actuator applies a force or a torque.

int OpenSim::Actuator::_controlIndex [protected]

const Controller* OpenSim::Actuator::_controller [protected]

Array<std::string> OpenSim::Actuator::_controlSuffixes [protected]

Name suffixes.

SimTK::CacheEntryIndex OpenSim::Actuator::_forceDeltaIndex [protected]

SimTK::CacheEntryIndex OpenSim::Actuator::_forceIndex [protected]

SimTK::CacheEntryIndex OpenSim::Actuator::_forceMultiplierIndex [protected]

bool OpenSim::Actuator::_isControlled [protected]

int OpenSim::Actuator::_numStateVariables [protected]

SimTK::CacheEntryIndex OpenSim::Actuator::_speedIndex [protected]

SimTK::CacheEntryIndex OpenSim::Actuator::_stateVariableDerivIndex [protected]

Array<std::string> OpenSim::Actuator::_stateVariableSuffixes [protected]

SimTK::SubsystemIndex OpenSim::Actuator::_subsystemIndex [protected]

SimTK::ZIndex OpenSim::Actuator::_zIndex [mutable, protected]

const double Actuator::LARGE = 1.0e8 [static]

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

OpenSim/Simulation/Model/Actuator.h
OpenSim/Simulation/Model/Actuator.cpp

OpenSim::Actuator Class Reference

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation