OpenSim::CMC_Joint Class Reference

A class for specifying the tracking task for a joint. More...

#include <CMC_Joint.h>

Inheritance diagram for OpenSim::CMC_Joint:

List of all members.

Public Member Functions
	CMC_Joint (const std::string &aCoordinateName="")
	CMC_Joint (const CMC_Joint &aTask)
	Copy constructor.
virtual	~CMC_Joint ()
	Destructor.
virtual Object *	copy () const
	Copy this track object and return a pointer to the copy.
CMC_Joint &	operator= (const CMC_Joint &aTask)
	Assignment operator.
virtual void	setModel (Model &aModel)
	Initializes pointers to the Coordinate and Speed in the model given the coordinate name assigned to this task.
void	setCoordinateName (const std::string &aName)
std::string	getCoordinateName () const
	Get the generalized coordinate that is to be tracked.
double	getLimit () const
	Get the limit.
virtual void	computeErrors (const SimTK::State &s, double aT)
	Compute the position and velocity errors.
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aT)
	Compute the desired accelerations.
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)
	Compute the desired accelerations.
virtual void	computeAccelerations (const SimTK::State &s)
	Compute the acceleration of the appropriate generalized coordinate.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
Protected Attributes
PropertyStr	_propCoordinateName
	Name of the generalized coordinate to be tracked.
PropertyDbl	_propLimit
	Error limit on the coordinate.
std::string &	_coordinateName
double &	_limit
Coordinate *	_q

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Detailed Description

A class for specifying the tracking task for a joint.

Author:

Frank C. Anderson

Version:

1.0

---

Constructor & Destructor Documentation

OpenSim::CMC_Joint::CMC_Joint

(

const std::string &

aCoordinateName = ""

)

CMC_Joint::CMC_Joint

(

const CMC_Joint &

aTask

)

Copy constructor.

Parameters:

aTask

Joint task to be copied.

CMC_Joint::~CMC_Joint

(

)

[virtual]

Destructor.

---

Member Function Documentation

void CMC_Joint::computeAccelerations

(

const SimTK::State &

s

)

[virtual]

Compute the acceleration of the appropriate generalized coordinate.

For the computed accelerations to be correct, Model::computeAccelerations() must have already been called.

For joints (i.e., generalized coordinates), the acceleration is not computed. It has already been computed and is simply retrieved from the model.

See also:

Model::computeAccelerations()

suTrackObject::getAcceleration()

Implements OpenSim::CMC_Task.

void CMC_Joint::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aTI,
		double	aTF
	)			[virtual]

Compute the desired accelerations.

This method assumes that the states have been set for the model.

Parameters:

	aTI	Initial time of the controlled interval in real time units.
	aTF	Final time of the controlled interval in real time units.

See also:

Model::set()

Model::setStates()

Implements OpenSim::CMC_Task.

void CMC_Joint::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aT
	)			[virtual]

Compute the desired accelerations.

This method assumes that the states have been set for the model.

Parameters:

aT

Time at which the desired accelerations are to be computed in real time units.

See also:

Model::set()

Model::setStates()

Implements OpenSim::CMC_Task.

Reimplemented in OpenSim::SMC_Joint.

void CMC_Joint::computeErrors	(	const SimTK::State &	s,
		double	aT
	)			[virtual]

Compute the position and velocity errors.

This method assumes the states have been set for the model.

Parameters:

aT

Current time in real time units.

See also:

Model::set()

Model::setStates()

Implements OpenSim::CMC_Task.

Object * CMC_Joint::copy

(

)

const [virtual]

Copy this track object and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this track object.

Implements OpenSim::CMC_Task.

Reimplemented in OpenSim::SMC_Joint.

string CMC_Joint::getCoordinateName

(

)

const

Get the generalized coordinate that is to be tracked.

Returns:

Name of the tracked generalized coordinate.

double CMC_Joint::getLimit

(

)

const

Get the limit.

Returns:

limit valid of the tracked generalized coordinate.

CMC_Joint & CMC_Joint::operator=

(

const CMC_Joint &

aTask

)

Assignment operator.

Parameters:

aTask

Object to be copied.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::CMC_Task.

Reimplemented in OpenSim::SMC_Joint.

void OpenSim::CMC_Joint::setCoordinateName

(

const std::string &

aName

)

void CMC_Joint::setModel

(

Model &

aModel

)

[virtual]

Initializes pointers to the Coordinate and Speed in the model given the coordinate name assigned to this task.

Parameters:

aModel

Model.

Reimplemented from OpenSim::CMC_Task.

void CMC_Joint::updateFromXMLNode

(

)

[virtual]

Update this object based on its XML node.

Parameters:

aDeep

If true, update this object and all its child objects (that is, member variables that are Object's); if false, update only the member variables that are not Object's.

Reimplemented from OpenSim::CMC_Task.

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Member Data Documentation

std::string& OpenSim::CMC_Joint::_coordinateName [protected]

double& OpenSim::CMC_Joint::_limit [protected]

PropertyStr OpenSim::CMC_Joint::_propCoordinateName [protected]

Name of the generalized coordinate to be tracked.

PropertyDbl OpenSim::CMC_Joint::_propLimit [protected]

Error limit on the coordinate.

Coordinate* OpenSim::CMC_Joint::_q [protected]

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

• OpenSim/Tools/CMC_Joint.h
• OpenSim/Tools/CMC_Joint.cpp