OpenSim::ActuatorPerturbation Class Reference

#include <ActuatorPerturbation.h>

Inheritance diagram for OpenSim::ActuatorPerturbation:

Public Types
enum	PertType { SCALE, DELTA, CONSTANT }
	Perturbation types. More...
Public Member Functions
	ActuatorPerturbation (Model *aModel)
	Construct an instance for perturbing actuator forces during an integration.
	ActuatorPerturbation (const ActuatorPerturbation &aActuatorPerturbation)
	Copy constructor.
	ActuatorPerturbation (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct an object from file.
virtual	~ActuatorPerturbation ()
	Destructor.
virtual Object *	copy () const
	Virtual copy constructor.
ActuatorPerturbation &	operator= (const ActuatorPerturbation &aActuatorPerturbation)
	Assignment operator.
void	setActuator (Actuator *aActuator)
	Set for which actuator a force perturbation should be made.
Actuator *	getActuator () const
	Get for which actuator a force perturbation should be made.
void	setAllowNegForce (bool aTrueFalse)
	Set whether it is permissable that a perturbation produces a negative force.
bool	getAllowNegForce () const
	Get whether negative force is allowed.
void	setPerturbation (const SimTK::State &s, PertType aPerturbationType, double aPerturbation)
	Set the perturbation type and the perturbation size.
virtual void	setModel (Model &)
	Set a pointer to the model for which this perturbation has been set.
Model *	getModel () const
	Get a pointer to the model for which this perturbation has been set.
void	setOn (bool aTrueFalse)
	Turn this perturbation on or off.
bool	getOn () const
	Get whether or not this analysis is on.
void	setStartTime (double aStartTime)
	Set the time at which to begin executing the perturbation.
double	getStartTime () const
	Get the time at which to begin executing the perturbation, expressed in normalized time units, not real time units.
void	setEndTime (double aEndTime)
	Set the time at which to end executing the perturbation.
double	getEndTime () const
	Get the time at which to end executing the perturbation, expressed in normalized time units, not real time units.
double	getPerturbation () const
	Get the size of the force perturbation that is made to the action forces.
PertType	getPerturbationType () const
	Get the type of the force perturbation that is made to the action forces.
Storage *	getForceStorage ()
	Get a pointer to the Storage containing the nominal and perturbed forces.
virtual void	reset (const SimTK::State &s)
	Reset the perturbation.
virtual void	computeActuation (const SimTK::State &s)
	ActuatorPerturbation called right after actuation has been computed by the model.
virtual void	applyActuation (const SimTK::State &s)
	ActuatorPerturbation called right after actuation has been applied by the model.
Protected Attributes
Actuator *	_actuator
	Which actuator.
bool	_allowNegForce
	Negative force flag.
double	_perturbation
	Force perturbation.
PertType	_perturbationType
	Type of perturbation.
double	_force
	Nominal actuator force.
Storage *	_forceStore
	Storage for holding nominal and perturbed force.
Model *	_model
	Model.

Member Enumeration Documentation

enum OpenSim::ActuatorPerturbation::PertType

Perturbation types.

See setPerturbation().

Enumerator:

SCALE
DELTA
CONSTANT

Constructor & Destructor Documentation

ActuatorPerturbation::ActuatorPerturbation ( Model * aModel )

Construct an instance for perturbing actuator forces during an integration.

Parameters:

aModel

Model for which actuator forces are to be perturbed.

ActuatorPerturbation::ActuatorPerturbation ( const ActuatorPerturbation & aActuatorPerturbation )

Copy constructor.

Parameters:

aActuatorPerturbation

ActuatorPerturbation to copy.

ActuatorPerturbation::ActuatorPerturbation	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

Construct an object from file.

The object is constructed from the root element of the XML document. The type of object is the tag name of the XML root element.

Parameters:

aFileName

File name of the document.

ActuatorPerturbation::~ActuatorPerturbation ( ) [virtual]

Destructor.

Member Function Documentation

void ActuatorPerturbation::applyActuation ( const SimTK::State & s ) [virtual]

ActuatorPerturbation called right after actuation has been applied by the model.

The nominal atuator force is restored.

Reimplemented in OpenSim::ActuatorPerturbationIndependent.

void ActuatorPerturbation::computeActuation ( const SimTK::State & s ) [virtual]

ActuatorPerturbation called right after actuation has been computed by the model.

The nominal atuator force is recorded so that it can be restored, and the actuator force is replaced by its perturbed value.

Parameters:

s

System state

Reimplemented in OpenSim::ActuatorPerturbationIndependent.

Object * ActuatorPerturbation::copy ( ) const [virtual]

Virtual copy constructor.

Reimplemented from OpenSim::Object.

Actuator * ActuatorPerturbation::getActuator ( ) const

Get for which actuator a force perturbation should be made.

Returns:: Pointer to the actuator.

bool ActuatorPerturbation::getAllowNegForce ( ) const

Get whether negative force is allowed.

Returns:: allowNegForce Flag

See also:: setAllowNegForce()

double ActuatorPerturbation::getEndTime ( ) const

Get the time at which to end executing the perturbation, expressed in normalized time units, not real time units.

Returns:: End time expressed in NORMALIZED time units.

Storage * ActuatorPerturbation::getForceStorage ( )

Get a pointer to the Storage containing the nominal and perturbed forces.

Returns:: Pointer to the force storage.

Model * ActuatorPerturbation::getModel ( ) const

Get a pointer to the model for which this perturbation has been set.

Returns:: Pointer to the model.

bool ActuatorPerturbation::getOn ( ) const

Get whether or not this analysis is on.

Returns:: True if on, false if off.

double ActuatorPerturbation::getPerturbation ( ) const

Get the size of the force perturbation that is made to the action forces.

Returns:: aPerturbation

ActuatorPerturbation::PertType ActuatorPerturbation::getPerturbationType ( ) const

Get the type of the force perturbation that is made to the action forces.

Returns:: aPerturbationType

double ActuatorPerturbation::getStartTime ( ) const

Get the time at which to begin executing the perturbation, expressed in normalized time units, not real time units.

Returns:: Start time expressed in NORMALIZED time units.

ActuatorPerturbation & ActuatorPerturbation::operator= ( const ActuatorPerturbation & aActuatorPerturbation )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

void ActuatorPerturbation::reset ( const SimTK::State & s ) [virtual]

Reset the perturbation.

This method resets any internal objects so that a new perturbation series can be run cleanly.

Specifically, for this class, the force storage object is reset (or emptied) so that any new force perturbations are stored at the beginning of the force storage object.

Reimplemented in OpenSim::ActuatorPerturbationIndependent.

void ActuatorPerturbation::setActuator ( Actuator * aAct )

Set for which actuator a force perturbation should be made.

Parameters:

aAct

Pointer to the actuator.

void ActuatorPerturbation::setAllowNegForce ( bool aTrueFalse )

Set whether it is permissable that a perturbation produces a negative force.

Parameters:

allowNegForce

Flag indicates whether a negative force is permitted

void ActuatorPerturbation::setEndTime ( double aEndTime )

Set the time at which to end executing the perturbation.

Note that the end time should be specified in normalized time units, not in real time units.

Parameters:

aEndTime

Time at which the perturbation should end execution in NORMALIZED time units.

void ActuatorPerturbation::setModel ( Model & aModel ) [virtual]

Set a pointer to the model for which this perturbation has been set.

void ActuatorPerturbation::setOn ( bool aTrueFalse )

Turn this perturbation on or off.

Parameters:

aTureFalse

Turns analysis on if "true" and off if "false".

void ActuatorPerturbation::setPerturbation	(	const SimTK::State &	s,
		PertType	aPerturbationType,
		double	aPerturbation
	)

Set the perturbation type and the perturbation size.

Three different types of perturbation are allowed, as listed in the enum PertType.

PertType SCALE
The force perturbation (df) that is made is computed by multiplying the action force (f) by the perturbation:
df = perturbation * f

The perturbation factor may be any value; however, a value between 0.0 and 1.0 what is typically used.

PertType DELTA
The force perturbation (df) that is made is computed by adding the perturbation to the the action force (f) by the perturbation:
df = f + perturbation

PertType CONSTANT
The force perturbation (df) that is made is computed by seting the action force (f) equal to the perturbation:
df = perturbation

Parameters: