OpenSim::GeometryPath Class Reference

A base class representing a path (muscle, ligament, etc. More...

#include <GeometryPath.h>

Inheritance diagram for OpenSim::GeometryPath:

Public Member Functions
	GeometryPath ()
	Default constructor.
	GeometryPath (const GeometryPath &aPath)
	Copy constructor.
virtual	~GeometryPath ()
	Destructor.
virtual Object *	copy () const
	Copy this path and return a pointer to the copy.
virtual void	setup (Model &aModel, Object &aOwner)
	Perform set up functions after model has been deserialized or copied.
void	setName (const std::string &aName)
GeometryPath &	operator= (const GeometryPath &aPath)
	Assignment operator.
void	copyData (const GeometryPath &aPath)
	Copy data members from one GeometryPath to another.
const PathPointSet &	getPathPointSet () const
PathPointSet &	updPathPointSet () const
PathWrapSet &	getWrapSet ()
virtual void	initState (SimTK::State &s)
virtual void	initStateCache (SimTK::State &s, SimTK::SubsystemIndex subsystemIndex, Model &model)
	allocate and initialize the SimTK state for this acuator.
PathPoint *	addPathPoint (const SimTK::State &s, int aIndex, OpenSim::Body &aBody)
	Add a new path point, with default location, to the path.
PathPoint *	appendNewPathPoint (const std::string &proposedName, OpenSim::Body &aBody, const SimTK::Vec3 &aPositionOnBody)
bool	canDeletePathPoint (int aIndex)
	See if a path point can be deleted.
bool	deletePathPoint (const SimTK::State &s, int aIndex)
	Delete a path point.
void	addPathWrap (const SimTK::State &s, WrapObject &aWrapObject)
	Create a new wrap instance and add it to the set.
void	moveUpPathWrap (const SimTK::State &s, int aIndex)
	Move a wrap instance up in the list.
void	moveDownPathWrap (const SimTK::State &s, int aIndex)
	Move a wrap instance down in the list.
void	deletePathWrap (const SimTK::State &s, int aIndex)
	Delete a wrap instance.
bool	replacePathPoint (const SimTK::State &s, PathPoint aOldPathPoint, PathPoint aNewPathPoint)
	Replace a path point in the set with another point.
Object *	getOwner () const
virtual double	getLength (const SimTK::State &s)
	Compute the total length of the path.
virtual void	setLength (const SimTK::State &s, double length)
virtual double	getPreScaleLength (const SimTK::State &s) const
virtual void	setPreScaleLength (const SimTK::State &s, double preScaleLength)
virtual Array< PathPoint * > &	getCurrentPath (const SimTK::State &s) const
	get the current path of the path
virtual Array< PathPoint * > &	getCurrentDisplayPath (const SimTK::State &s)
	get the current display path of the path
void	compute (const SimTK::State &s)
	Calculate the current path.
void	applyWrapObjects (const SimTK::State &s)
	Apply the wrap objects to the current path.
double	_calc_path_length_change (const SimTK::State &s, WrapObject &wo, WrapResult &wr) const
	_calc_path_length_change - given the output of a successful path wrap over a wrap object, determine the percent change in length of the path segment incurred by wrapping.
virtual double	calcLengthAfterPathComputation (const SimTK::State &s)
	Compute the total length of the path.
virtual double	computeMomentArm (SimTK::State &s, Coordinate &aCoord)
	Compute the path's moment arm for a coordinate, using the dl/dtheta numerical technique.
virtual void	computeMomentArms (SimTK::State &s, Array< double > &rMomentArms)
	Compute the path's moment arms for all generalized coordinates.
virtual void	preScale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Perform computations that need to happen before the path is scaled.
virtual void	scale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Scale the path based on XYZ scale factors for each body.
virtual void	postScale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Perform computations that need to happen after the path is scaled.
virtual VisibleObject *	getDisplayer () const
virtual void	updateDisplayer (const SimTK::State &s)
	Update the visible object used to represent the path.
	OPENSIM_DECLARE_DERIVED (GeometryPath, Object)
virtual void	updateGeometry (const SimTK::State &s)
	Update the geometric representation of the path.
Protected Attributes
PropertyObj	_pathPointSetProp
PathPointSet &	_pathPointSet
PropertyObj	_displayerProp
VisibleObject &	_displayer
PropertyObj	_pathWrapSetProp
PathWrapSet &	_pathWrapSet
SimTK::SubsystemIndex	_subsystemIndex
SimTK::CacheEntryIndex	_lengthIndex
SimTK::CacheEntryIndex	_preScaleLengthIndex
SimTK::CacheEntryIndex	_currentPathIndex
SimTK::CacheEntryIndex	_pathValidIndex
Object *	_owner
Array< PathPoint * >	_currentDisplayPath

Detailed Description

A base class representing a path (muscle, ligament, etc.

).

Author:: Peter Loan

Version:: 1.0

Constructor & Destructor Documentation

GeometryPath::GeometryPath ( )

Default constructor.

GeometryPath::GeometryPath ( const GeometryPath & aPath )

Copy constructor.

Parameters:

aPath

GeometryPath to be copied.

GeometryPath::~GeometryPath ( ) [virtual]

Destructor.

Member Function Documentation

double GeometryPath::_calc_path_length_change	(	const SimTK::State &	s,
		WrapObject &	wo,
		WrapResult &	wr
	)			const

_calc_path_length_change - given the output of a successful path wrap over a wrap object, determine the percent change in length of the path segment incurred by wrapping.

PathPoint * GeometryPath::addPathPoint	(	const SimTK::State &	s,
		int	aIndex,
		OpenSim::Body &	aBody
	)

Add a new path point, with default location, to the path.

Parameters:

	aIndex	The position in the pathPointSet to put the new point in.
	aBody	The body to attach the point to.

Returns:: Pointer to the newly created path point.

void GeometryPath::addPathWrap	(	const SimTK::State &	s,
		WrapObject &	aWrapObject
	)

Create a new wrap instance and add it to the set.

Parameters:

aWrapObject

The wrap object to use in the new wrap instance.

PathPoint * GeometryPath::appendNewPathPoint	(	const std::string &	proposedName,
		OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPositionOnBody
	)

void GeometryPath::applyWrapObjects ( const SimTK::State & s )

Apply the wrap objects to the current path.

double GeometryPath::calcLengthAfterPathComputation ( const SimTK::State & s ) [virtual]

Compute the total length of the path.

This function assumes that the path has already been updated.

bool GeometryPath::canDeletePathPoint ( int aIndex )

See if a path point can be deleted.

All paths must have at least two active path points to define the path.

Parameters:

aIndex

The index of the point to delete.

Returns:: Whether or not the point can be deleted.

void GeometryPath::compute ( const SimTK::State & s )

Calculate the current path.

double GeometryPath::computeMomentArm	(	SimTK::State &	s,
		Coordinate &	aCoord
	)			`[virtual]`

Compute the path's moment arm for a coordinate, using the dl/dtheta numerical technique.

The length of the path is found at coordinate-delta, coordinate, and coordinate+delta. A quadratic is fit to these three points, and the derivative is found at the value of the coordinate. This is equal to the negative of the moment arm.

Parameters:

aCoord

Coordinate for which to compute moment arm.

Returns:: Moment arm value.

void GeometryPath::computeMomentArms	(	SimTK::State &	s,
		OpenSim::Array< double > &	rMomentArms
	)			`[virtual]`

Compute the path's moment arms for all generalized coordinates.

Parameters:

rMomentArms

Array of moments arms

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

Copy this path and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this GeometryPath.

Reimplemented from OpenSim::Object.

void GeometryPath::copyData ( const GeometryPath & aPath )

Copy data members from one GeometryPath to another.

Parameters:

aPath

GeometryPath to be copied.

bool GeometryPath::deletePathPoint	(	const SimTK::State &	s,
		int	aIndex
	)

Delete a path point.

Parameters:

aIndex

The index of the point to delete.

Returns:: Whether or not the point was deleted.

void GeometryPath::deletePathWrap	(	const SimTK::State &	s,
		int	aIndex
	)

Delete a wrap instance.

Parameters:

aIndex

The index of the wrap instance to delete.

OpenSim::Array< PathPoint * > & GeometryPath::getCurrentDisplayPath ( const SimTK::State & s ) [virtual]

get the current display path of the path

Returns:: The array of currently active path points, plus points along the surfaces of the wrap objects (if any).

OpenSim::Array< PathPoint * > & GeometryPath::getCurrentPath ( const SimTK::State & s ) const [virtual]

get the current path of the path

Returns:: The array of currently active path points.

virtual VisibleObject* OpenSim::GeometryPath::getDisplayer ( ) const [inline, virtual]

Reimplemented from OpenSim::Object.

double GeometryPath::getLength ( const SimTK::State & s ) [virtual]

Compute the total length of the path.

Returns:: Total length of the path.

Object* OpenSim::GeometryPath::getOwner ( ) const [inline]

const PathPointSet& OpenSim::GeometryPath::getPathPointSet ( ) const [inline]

double GeometryPath::getPreScaleLength ( const SimTK::State & s ) const [virtual]

PathWrapSet& OpenSim::GeometryPath::getWrapSet ( ) [inline]

void GeometryPath::initState ( SimTK::State & s ) [virtual]

void GeometryPath::initStateCache	(	SimTK::State &	s,
		SimTK::SubsystemIndex	subsystemIndex,
		Model &	model
	)			`[virtual]`

allocate and initialize the SimTK state for this acuator.

void GeometryPath::moveDownPathWrap	(	const SimTK::State &	s,
		int	aIndex
	)

Move a wrap instance down in the list.

Changing the order of wrap instances for a path may affect how the path wraps over the wrap objects.

Parameters:

aIndex

The index of the wrap instance to move down.

void GeometryPath::moveUpPathWrap	(	const SimTK::State &	s,
		int	aIndex
	)

Move a wrap instance up in the list.

Changing the order of wrap instances for a path may affect how the path wraps over the wrap objects.

Parameters:

aIndex

The index of the wrap instance to move up.

OpenSim::GeometryPath::OPENSIM_DECLARE_DERIVED	(	GeometryPath	,
		Object
	)

GeometryPath & GeometryPath::operator= ( const GeometryPath & aPath )

Assignment operator.

Parameters:

aPath

The path from which to copy its data

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

void GeometryPath::postScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Perform computations that need to happen after the path is scaled.

For this object, that entails updating the path.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

void GeometryPath::preScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Perform computations that need to happen before the path is scaled.

For this object, that entails calculating and storing the path length in the current body position.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

bool GeometryPath::replacePathPoint	(	const SimTK::State &	s,
		PathPoint *	aOldPathPoint,
		PathPoint *	aNewPathPoint
	)

Replace a path point in the set with another point.

The new one is made a member of all the same groups as the old one, and is inserted in the same place the old one occupied.

Parameters:

	aOldPathPoint	Path point to remove.
	aNewPathPoint	Path point to add.

void GeometryPath::scale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Scale the path based on XYZ scale factors for each body.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

Returns:: Whether path was successfully scaled or not.

void GeometryPath::setLength	(	const SimTK::State &	s,
		double	length
	)			`[virtual]`

void OpenSim::GeometryPath::setName ( const std::string & aName )

Reimplemented from OpenSim::Object.

void GeometryPath::setPreScaleLength	(	const SimTK::State &	s,
		double	preScaleLength
	)			`[virtual]`

void GeometryPath::setup	(	Model &	aModel,
		Object &	aOwner
	)			`[virtual]`

Perform set up functions after model has been deserialized or copied.

Parameters:

aModel

The model containing this path.

void GeometryPath::updateDisplayer ( const SimTK::State & s ) [virtual]

Update the visible object used to represent the path.

void GeometryPath::updateGeometry ( const SimTK::State & s ) [virtual]

Update the geometric representation of the path.

The resulting geometry is maintained at the VisibleObject layer. This function should not be made public. It is called internally by compute() only when the path has changed.

PathPointSet& OpenSim::GeometryPath::updPathPointSet ( ) const [inline]