OpenSim::ForceSet Class Reference

A class for holding and managing a set of actuators for a model. More...

#include <ForceSet.h>

Inheritance diagram for OpenSim::ForceSet:

Public Member Functions
	ForceSet ()
	Default constructor.
	ForceSet (Model &model)
	ForceSet (Model &model, const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct an actuator set from file.
	ForceSet (const ForceSet &aForceSet)
	Copy constructor.
virtual	~ForceSet ()
	Destructor.
virtual Object *	copy () const
	Copy this ForceSet and return a pointer to the copy.
void	copyData (const ForceSet &aAbsForceSet)
	Copy the member variables of the ForceSet.
ForceSet &	operator= (const ForceSet &aSet)
	Assignment operator.
void	setup (Model &aModel)
void	postInit (Model &aModel)
bool	remove (int aIndex)
	Remove an actuator from the actuator set.
bool	append (Force *aForce)
	Append an actuator on to the set.
bool	append (ForceSet &aForceSet, bool aAllowDuplicateNames=false)
	Append actuators from an actuator set to this set.
bool	set (int aIndex, Force *aForce)
	Set the actuator at an index.
bool	insert (int aIndex, Force *aObject)
	Adding an object to the set causes its Model field to be set.
const Set< Actuator > &	getActuators () const
	Get the list of Actuators.
Set< Actuator > &	updActuators ()
void	getStateVariableNames (Array< std::string > &rNames) const
	Get the names of the states of the actuators.
void	computeEquilibrium (SimTK::State &s)
	Compute a set of equlibirium states.
void	computeStateDerivatives (const SimTK::State &s)
	Compute the time derivatives of the states that characterize the actuators.
bool	check () const
	Check that all actuators are valid.
Protected Attributes
Set< Actuator >	_actuators
	The subset of Forces that extend Actuator.

Detailed Description

A class for holding and managing a set of actuators for a model.

This class is based on ForceSet

Authors:: Jack Middleton

Version:: 1.0

Constructor & Destructor Documentation

ForceSet::ForceSet ( )

Default constructor.

ForceSet::ForceSet ( Model & model )

ForceSet::ForceSet	(	Model &	model,
		const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

Construct an actuator set from file.

Parameters:

aFileName

Name of the file.

ForceSet::ForceSet ( const ForceSet & aForceSet )

Copy constructor.

Parameters:

aForceSet

ForceSet to be copied.

ForceSet::~ForceSet ( ) [virtual]

Destructor.

Member Function Documentation

bool ForceSet::append	(	ForceSet &	aForceSet,
		bool	aAllowDuplicateNames = `false`
	)

Append actuators from an actuator set to this set.

Copies of the actuators are not made.

This method overrides the method in Set<Force> so that several internal variables of the actuator set can be updated.

Parameters:

	aForceSet	The set of actuators to be appended.
	aAllowDuplicateNames	If true, all actuators will be appended; If false, don't append actuators whose name already exists in this model's actuator set.

Returns:: True if successful; false otherwise.

bool ForceSet::append ( Force * aActuator ) [virtual]

Append an actuator on to the set.

A copy of the specified actuator is not made.

This method overrides the method in Set<Force> so that several internal variables of the actuator set can be updated.

Parameters:

aActuator

Pointer to the actuator to be appended.

Returns:: True if successful; false otherwise.

Reimplemented from OpenSim::ModelComponentSet< Force >.

bool ForceSet::check ( ) const

Check that all actuators are valid.

void ForceSet::computeEquilibrium ( SimTK::State & s )

Compute a set of equlibirium states.

Based on each actuator's curent set of states, each actuator alters those states to satisfy some notion of equilibrium. Each actuator is in charge of what it considers to be equilibirum. For example, given a muscle activation, compute muscle fiber length that is consistent with that activation level.

void ForceSet::computeStateDerivatives ( const SimTK::State & s )

Compute the time derivatives of the states that characterize the actuators.

Parameters:

rDY

Array of state derivatives.

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

Copy this ForceSet and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this ForceSet.

Reimplemented from OpenSim::ModelComponentSet< Force >.

void ForceSet::copyData ( const ForceSet & aAbsForceSet )

Copy the member variables of the ForceSet.

Parameters:

aAbsForceSet

actuator set to be copied

const Set< Actuator > & ForceSet::getActuators ( ) const

Get the list of Actuators.

void ForceSet::getStateVariableNames ( Array< std::string > & rNames ) const

Get the names of the states of the actuators.

Parameters:

rNames

Array of names.

bool ForceSet::insert	(	int	aIndex,
		Force *	aObject
	)			`[virtual]`

Adding an object to the set causes its Model field to be set.

Reimplemented from OpenSim::ModelComponentSet< Force >.

ForceSet & ForceSet::operator= ( const ForceSet & aAbsForceSet )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

void ForceSet::postInit ( Model & aModel )

bool ForceSet::remove ( int aIndex ) [virtual]

Remove an actuator from the actuator set.

Parameters:

aIndex

Index of the actuator to be removed.

Returns:: True if the remove was successful; false otherwise.

Reimplemented from OpenSim::Set< Force >.

bool ForceSet::set	(	int	aIndex,
		Force *	aActuator
	)

Set the actuator at an index.

A copy of the specified actuator is NOT made. The actuator previously set a the index is removed (and deleted).

This method overrides the method in Set<Force> so that several internal variables of the actuator set can be updated.

Parameters:

	aIndex	Array index where the actuator is to be stored. aIndex should be in the range 0 <= aIndex <= getSize();
	aActuator	Pointer to the actuator to be set.

Returns:: True if successful; false otherwise.

void ForceSet::setup ( Model & aModel )

Set< Actuator > & ForceSet::updActuators ( )

Member Data Documentation

Set<Actuator> OpenSim::ForceSet::_actuators [protected]

The subset of Forces that extend Actuator.

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

OpenSim/Simulation/Model/ForceSet.h
OpenSim/Simulation/Model/ForceSet.cpp

OpenSim::ForceSet Class Reference

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation