OpenSim::Coordinate Class Reference

A class implementing a Simbody generalized coordinate. More...

#include <Coordinate.h>

Inheritance diagram for OpenSim::Coordinate:

List of all members.

Public Types
enum	MotionType { Rotational, Translational, Coupled }
	Motion type that is described by the coordinate. More...
Public Member Functions
	Coordinate ()
	Default constructor.
	Coordinate (const std::string &aName, MotionType aMotionType, double aRangeMin, double aRangeMax)
	Constructor.
	Coordinate (const Coordinate &aCoordinate)
	Copy constructor.
virtual	~Coordinate ()
	Destructor.
virtual Object *	copy () const
	Copy this coordinate and return a pointer to the copy.
Coordinate &	operator= (const Coordinate &aCoordinate)
	Assignment operator.
void	copyData (const Coordinate &aCoordinate)
	Copy data members from one Coordinate to another.
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
void	initState (SimTK::State &s) const
void	setDefaultsFromState (const SimTK::State &state)
virtual void	setJoint (const Joint &aOwningJoint)
	Set the joint to which this coordinate belongs.
virtual const Joint &	getJoint () const
	Get the joint to which this coordinate belongs.
Model &	getModel () const
virtual void	updateFromCoordinate (const Coordinate &aCoordinate)
	Update an existing coordinate with parameter values from a new one, but only for the parameters that were explicitly specified in the XML node.
virtual double	getValue (const SimTK::State &s) const
	Get the value.
virtual bool	setValue (SimTK::State &s, double aValue, bool aEnforceContraints=true) const
	Set the value.
virtual double	getSpeedValue (const SimTK::State &s) const
virtual bool	setSpeedValue (SimTK::State &s, double aValue) const
const std::string	getSpeedName () const
virtual double	getAccelerationValue (const SimTK::State &s) const
virtual bool	getValueUseDefault () const
virtual void	getRange (double rRange[2]) const
virtual bool	setRange (double aRange[2])
	Set the range min and max.
virtual double	getRangeMin () const
virtual double	getRangeMax () const
virtual bool	setRangeMin (double aMin)
	Set the range min.
virtual bool	setRangeMax (double aMax)
	Set the range max.
virtual bool	getRangeUseDefault () const
virtual double	getDefaultValue () const
virtual bool	setDefaultValue (double aDefaultValue)
	Set the default value.
double	getDefaultSpeedValue () const
void	setDefaultSpeedValue (double aDefaultSpeedValue)
virtual double	getInitialValue () const
virtual void	setInitialValue (double aInitialValue)
	Set the initial value.
virtual bool	getDefaultValueUseDefault () const
virtual bool	getClamped (const SimTK::State &s) const
	Get whether or not this coordinate is clamped.
virtual bool	setClamped (SimTK::State &s, bool aClamped) const
virtual bool	getDefaultClamped () const
virtual void	setDefaultClamped (bool aClamped)
virtual bool	getClampedUseDefault () const
virtual bool	getLocked (const SimTK::State &s) const
	Get whether or not this coordinate is locked.
virtual bool	setLocked (SimTK::State &s, bool aLocked) const
	Set whether or not this coordinate is locked.
virtual bool	getDefaultLocked () const
virtual void	setDefaultLocked (bool aLocked)
virtual bool	getLockedUseDefault () const
virtual bool	isPrescribed (const SimTK::State &s) const
void	setIsPrescribed (SimTK::State &s, bool isPrescribed) const
	Set whether or not this coordinate is being prescribed.
virtual bool	getDefaultIsPrescribed () const
void	setDefaultIsPrescribed (bool isPrescribed)
void	setPrescribedFunction (const Function &function)
	Set the prescribed motion function.
virtual OpenSim::Function *	getPrescribedFunction () const
	Get the prescribed motion function.
virtual MotionType	getMotionType () const
virtual void	setMotionType (MotionType aMotionType)
	Set coordinate's motion type.
virtual bool	isConstrained () const
	Determine if the the coordinate is constrained or not.
int	getMobilityIndex () const
SimTK::MobilizedBodyIndex	getBodyIndex () const
	OPENSIM_DECLARE_DERIVED (Coordinate, Object)
Protected Attributes
PropertyStr	_motionTypeNameProp
std::string &	_motionTypeName
PropertyDbl	_defaultValueProp
double &	_defaultValue
PropertyDbl	_defaultSpeedValueProp
double &	_defaultSpeedValue
PropertyDbl	_initialValueProp
double &	_initialValue
PropertyDblArray	_rangeProp
Array< double > &	_range
PropertyBool	_clampedProp
	Flag indicating whether the coordinate is clamped or not.
bool &	_clamped
PropertyBool	_lockedProp
	Flag indicating whether the coordinate is locked or not.
bool &	_locked
SimTK::Function *	_lockFunction
PropertyBool	_isPrescribedProp
	Flag indicating whether the coordinate is prescribed or not.
bool &	_isPrescribed
PropertyObjPtr< OpenSim::Function >	_prescribedFunctionProp
	Specify the desired prescribed motion as a function of time.
OpenSim::Function *&	_prescribedFunction
SimTK::MobilizedBodyIndex	_bodyIndex
	ID of the body which this coordinate serves.
int	_mobilityIndex
	Mobility index for this coordinate.
MotionType	_motionType
	Motion type (translational, rotational or combination).
Joint const *	_joint
	Simbody joint that owns this coordinate.
Model *	_model
	OpenSim model that contains this coordintate.
Friends
class	Constraint
class	CoordinateCouplerConstraint
class	Joint
class	Model

---

Detailed Description

A class implementing a Simbody generalized coordinate.

Author:

Frank C. Anderson, Ajay Seth, Jeffrey A. Reinbolt

Version:

1.0

---

Member Enumeration Documentation

enum OpenSim::Coordinate::MotionType

Motion type that is described by the coordinate.

Enumerator:

Rotational
Translational
Coupled

---

Constructor & Destructor Documentation

Coordinate::Coordinate

(

)

Default constructor.

Coordinate::Coordinate	(	const std::string &	aName,
		MotionType	aMotionType,
		double	aRangeMin,
		double	aRangeMax
	)

Constructor.

Coordinate::Coordinate

(

const Coordinate &

aCoordinate

)

Copy constructor.

Parameters:

aCoordinate

Coordinate to be copied.

Coordinate::~Coordinate

(

)

[virtual]

Destructor.

---

Member Function Documentation

Object * Coordinate::copy

(

)

const [virtual]

Copy this coordinate and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this Coordinate.

Reimplemented from OpenSim::Object.

void Coordinate::copyData

(

const Coordinate &

aCoordinate

)

Copy data members from one Coordinate to another.

Parameters:

aCoordinate

Coordinate to be copied.

double Coordinate::getAccelerationValue

(

const SimTK::State &

s

)

const [virtual]

SimTK::MobilizedBodyIndex OpenSim::Coordinate::getBodyIndex

(

)

const [inline]

bool Coordinate::getClamped

(

const SimTK::State &

s

)

const [virtual]

Get whether or not this coordinate is clamped.

Calls the underlying constraint at the dynamics level.

Returns:

true if the coordinate is clamped.

virtual bool OpenSim::Coordinate::getClampedUseDefault

(

)

const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultClamped

(

)

const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultIsPrescribed

(

)

const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultLocked

(

)

const [inline, virtual]

double OpenSim::Coordinate::getDefaultSpeedValue

(

)

const [inline]

virtual double OpenSim::Coordinate::getDefaultValue

(

)

const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultValueUseDefault

(

)

const [inline, virtual]

virtual double OpenSim::Coordinate::getInitialValue

(

)

const [inline, virtual]

const Joint & Coordinate::getJoint

(

)

const [virtual]

Get the joint to which this coordinate belongs.

Returns:

Joint to which this coordinate belongs.

bool Coordinate::getLocked

(

const SimTK::State &

s

)

const [virtual]

Get whether or not this coordinate is locked.

Calls the underlying constraint at the dynamics level.

Returns:

true if the coordinate is locked and false if unlocked.

virtual bool OpenSim::Coordinate::getLockedUseDefault

(

)

const [inline, virtual]

int OpenSim::Coordinate::getMobilityIndex

(

)

const [inline]

Model& OpenSim::Coordinate::getModel

(

)

const [inline]

virtual MotionType OpenSim::Coordinate::getMotionType

(

)

const [inline, virtual]

OpenSim::Function * Coordinate::getPrescribedFunction

(

)

const [virtual]

Get the prescribed motion function.

Returns:

Pointer to the constraint function.

virtual void OpenSim::Coordinate::getRange

(

double

rRange[2]

)

const [inline, virtual]

virtual double OpenSim::Coordinate::getRangeMax

(

)

const [inline, virtual]

virtual double OpenSim::Coordinate::getRangeMin

(

)

const [inline, virtual]

virtual bool OpenSim::Coordinate::getRangeUseDefault

(

)

const [inline, virtual]

const std::string Coordinate::getSpeedName

(

)

const

double Coordinate::getSpeedValue

(

const SimTK::State &

s

)

const [virtual]

double Coordinate::getValue

(

const SimTK::State &

s

)

const [virtual]

Get the value.

Returns:

The current value of the coordinate.

virtual bool OpenSim::Coordinate::getValueUseDefault

(

)

const [inline, virtual]

void OpenSim::Coordinate::initState

(

SimTK::State &

s

)

const

bool Coordinate::isConstrained

(

)

const [virtual]

Determine if the the coordinate is constrained or not.

Specifically, is it a dependent coordinate in any of the constraints?\ If so return true, false otherwise.

virtual bool OpenSim::Coordinate::isPrescribed

(

const SimTK::State &

s

)

const [inline, virtual]

OpenSim::Coordinate::OPENSIM_DECLARE_DERIVED	(	Coordinate	,
		Object
	)

Coordinate & Coordinate::operator=

(

const Coordinate &

aCoordinate

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Object.

virtual bool OpenSim::Coordinate::setClamped	(	SimTK::State &	s,
		bool	aClamped
	)			const [virtual]

virtual void OpenSim::Coordinate::setDefaultClamped

(

bool

aClamped

)

[inline, virtual]

void OpenSim::Coordinate::setDefaultIsPrescribed

(

bool

isPrescribed

)

[inline]

virtual void OpenSim::Coordinate::setDefaultLocked

(

bool

aLocked

)

[inline, virtual]

void Coordinate::setDefaultsFromState

(

const SimTK::State &

state

)

void OpenSim::Coordinate::setDefaultSpeedValue

(

double

aDefaultSpeedValue

)

[inline]

bool Coordinate::setDefaultValue

(

double

aDefaultValue

)

[virtual]

Set the default value.

Parameters:

aDefaultValue

default value to change to.

Returns:

Whether or not the default value was changed.

void Coordinate::setInitialValue

(

double

aInitialValue

)

[virtual]

Set the initial value.

Used to initialize the initial_value field in sdm.q

void Coordinate::setIsPrescribed	(	SimTK::State &	s,
		bool	isPrescribed
	)			const

Set whether or not this coordinate is being prescribed.

A prescribed constraint is used specify motion at the dynamics level. If isPrescribed is set after clamping or locking it takes precedence- and clamped and locked are false.

Parameters:

isPrescribed

If true the coordinate is prescribed; if false not prescribed.

void Coordinate::setJoint

(

const Joint &

aOwningJoint

)

[virtual]

Set the joint to which this coordinate belongs.

Parameters:

aowningJoint

Joint to which this coordinate belongs.

bool Coordinate::setLocked	(	SimTK::State &	s,
		bool	aLocked
	)			const [virtual]

Set whether or not this coordinate is locked.

A prescribed constraint is used to lock the joint at the dynamics level. If lock is applied after clamping or prescribed motion it takes precedence.

Parameters:

aLocked

If true the joint is locked; if false the joint is unlocked.

void Coordinate::setMotionType

(

MotionType

aMotionType

)

[virtual]

Set coordinate's motion type.

void Coordinate::setPrescribedFunction

(

const Function &

function

)

Set the prescribed motion function.

bool Coordinate::setRange

(

double

aRange[2]

)

[virtual]

Set the range min and max.

Parameters:

aRange

range min and man to change to.

Returns:

Whether or not the range was changed.

bool Coordinate::setRangeMax

(

double

aMax

)

[virtual]

Set the range max.

Parameters:

aRange

range max to change to.

Returns:

Whether or not the range max was changed.

bool Coordinate::setRangeMin

(

double

aMin

)

[virtual]

Set the range min.

Parameters:

aRange

range min to change to.

Returns:

Whether or not the range min was changed.

bool Coordinate::setSpeedValue	(	SimTK::State &	s,
		double	aValue
	)			const [virtual]

void Coordinate::setup

(

Model &

aModel

)

[virtual]

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters:

aModel

OpenSim model containing this Coordinate.

bool Coordinate::setValue	(	SimTK::State &	s,
		double	aValue,
		bool	enforceConstraints = true
	)			const [virtual]

Set the value.

Parameters:

aValue

value to change to.

Returns:

Whether or not the value was changed.

void Coordinate::updateFromCoordinate

(

const Coordinate &

aCoordinate

)

[virtual]

Update an existing coordinate with parameter values from a new one, but only for the parameters that were explicitly specified in the XML node.

Parameters:

aCoordinate

coordinate to update from

---

Friends And Related Function Documentation

friend class Constraint [friend]

friend class CoordinateCouplerConstraint [friend]

friend class Joint [friend]

friend class Model [friend]

---

Member Data Documentation

SimTK::MobilizedBodyIndex OpenSim::Coordinate::_bodyIndex [protected]

ID of the body which this coordinate serves.

bool& OpenSim::Coordinate::_clamped [protected]

PropertyBool OpenSim::Coordinate::_clampedProp [protected]

Flag indicating whether the coordinate is clamped or not.

Clamped means that the coordinate is not allowed to go outside its range.

double& OpenSim::Coordinate::_defaultSpeedValue [protected]

PropertyDbl OpenSim::Coordinate::_defaultSpeedValueProp [protected]

double& OpenSim::Coordinate::_defaultValue [protected]

PropertyDbl OpenSim::Coordinate::_defaultValueProp [protected]

double& OpenSim::Coordinate::_initialValue [protected]

PropertyDbl OpenSim::Coordinate::_initialValueProp [protected]

bool& OpenSim::Coordinate::_isPrescribed [protected]

PropertyBool OpenSim::Coordinate::_isPrescribedProp [protected]

Flag indicating whether the coordinate is prescribed or not.

Prescribed means the value will vary with time according to the Prescribed Function, which must be set first.

Joint const* OpenSim::Coordinate::_joint [protected]

Simbody joint that owns this coordinate.

bool& OpenSim::Coordinate::_locked [protected]

PropertyBool OpenSim::Coordinate::_lockedProp [protected]

Flag indicating whether the coordinate is locked or not.

Locked means fixed at one value.

SimTK::Function* OpenSim::Coordinate::_lockFunction [protected]

int OpenSim::Coordinate::_mobilityIndex [protected]

Mobility index for this coordinate.

Model* OpenSim::Coordinate::_model [protected]

OpenSim model that contains this coordintate.

MotionType OpenSim::Coordinate::_motionType [protected]

Motion type (translational, rotational or combination).

std::string& OpenSim::Coordinate::_motionTypeName [protected]

PropertyStr OpenSim::Coordinate::_motionTypeNameProp [protected]

OpenSim::Function*& OpenSim::Coordinate::_prescribedFunction [protected]

PropertyObjPtr<OpenSim::Function> OpenSim::Coordinate::_prescribedFunctionProp [protected]

Specify the desired prescribed motion as a function of time.

Array<double>& OpenSim::Coordinate::_range [protected]

PropertyDblArray OpenSim::Coordinate::_rangeProp [protected]

---

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

• OpenSim/Simulation/SimbodyEngine/Coordinate.h
• OpenSim/Simulation/SimbodyEngine/Coordinate.cpp