OpenSim::Force Class Reference

This abstract class represents a force applied to bodies or generalized coordinates during a simulation. More...

#include <Force.h>

Inheritance diagram for OpenSim::Force:

List of all members.

Public Member Functions
virtual void	setup (Model &model)
	Subclasses may optionally override this method to perform setup.
virtual void	postInit (Model &model)
	Subclasses may optionally override this method to perform setup after initSystem() has been called.
virtual int	getNumStateVariables () const
	Get the number of state variables allocated by this force.
virtual std::string	getStateVariableName (int index) const
	Get the name of a state variable allocated by this force.
virtual double	getStateVariable (const SimTK::State &state, int index) const
	Get the value of a state variable allocated by this force.
virtual void	setStateVariable (SimTK::State &state, int index, double value) const
	Set the value of a state variable allocated by this force.
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().
virtual OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const
	Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.

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Detailed Description

This abstract class represents a force applied to bodies or generalized coordinates during a simulation.

Each subclass represents a different type of force. The actual force computation is done by a SimTK::Force, which is created by createSimTKForce().

Author:

Peter Eastman

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Member Function Documentation

int OpenSim::Force::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 in OpenSim::Actuator.

virtual OpenSim::Array<std::string> OpenSim::Force::getRecordLabels

(

)

const [inline, virtual]

Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().

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

virtual OpenSim::Array<double> OpenSim::Force::getRecordValues

(

const SimTK::State &

state

)

const [inline, virtual]

Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.

used in conjunction with getRecordLabels and should return same size Array

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

double OpenSim::Force::getStateVariable	(	const SimTK::State &	state,
		int	index
	)			const [virtual]

Get the value of a state variable allocated by this force.

The default implementation throws an exception, so subclasses that allocate state variables must override it.

Parameters:

	state	the State for which to get the value
	index	the index of the state variable (0 to getNumStateVariables()-1)

Reimplemented in OpenSim::Actuator.

std::string OpenSim::Force::getStateVariableName

(

int

index

)

const [virtual]

Get the name of a state variable allocated by this force.

The default implementation throws an exception, so subclasses that allocate state variables must override it.

Parameters:

index

the index of the state variable (0 to getNumStateVariables()-1)

Reimplemented in OpenSim::Actuator.

virtual void OpenSim::Force::postInit

(

Model &

model

)

[inline, virtual]

Subclasses may optionally override this method to perform setup after initSystem() has been called.

Reimplemented in OpenSim::Muscle.

void OpenSim::Force::setStateVariable	(	SimTK::State &	state,
		int	index,
		double	value
	)			const [virtual]

Set the value of a state variable allocated by this force.

The default implementation throws an exception, so subclasses that allocate state variables must override it.

Parameters:

	state	the State for which to set the value
	index	the index of the state variable (0 to getNumStateVariables()-1)
	value	the value to set

Reimplemented in OpenSim::Actuator.

void OpenSim::Force::setup

(

Model &

model

)

[virtual]

Subclasses may optionally override this method to perform setup.

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

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

• OpenSim/Simulation/Model/Force.h
• OpenSim/Simulation/Model/Force.cpp