OpenSim::LinearActuator Class Reference

#include <LinearActuator.h>

Inheritance diagram for OpenSim::LinearActuator:

Public Member Functions
	LinearActuator (std::string aBodyNameA="", std::string abodyNameB="")
	LinearActuator (const LinearActuator &aLinearActuator)
	Copy constructor.
virtual	~LinearActuator ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
void	copyData (const LinearActuator &aLinearActuator)
	Copy the member data of the specified actuator.
LinearActuator &	operator= (const LinearActuator &aGenForce)
	Assignment operator.
void	setBodyA (Body *aBody)
	Set the generalized Body to which the Body actuator is applied.
void	setBodyB (Body *aBody)
	Set the generalized Body to which the equal and opposite Body actuation is applied.
Body *	getBodyA () const
	Get the generalized Body to which the Body actuator is applied.
Body *	getBodyB () const
	Get the generalized Body to which the equal and opposite Body actuation is applied.
void	setPointA (SimTK::Vec3 aPosition)
SimTK::Vec3	getPointA () const
void	setPointB (SimTK::Vec3 aPosition)
SimTK::Vec3	getPointB () const
void	setPointsAreGlobal (bool aBool)
bool	getPointsAreGlobal ()
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the actuator.
double	getOptimalForce () const
	Get the optimal force of the actuator.
double	getStress (const SimTK::State &s) const
	Get the stress of the force.
virtual void	initStateCache (SimTK::State &s, SimTK::SubsystemIndex subsystemIndex, Model &model)
virtual void	computeForce (const SimTK::State &s) const
	Apply the actuator force to BodyA and BodyB.
virtual double	computeActuation (const SimTK::State &s) const
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this point actuator actuator is valid.
void	setup (Model &aModel)
	setup sets the actual Body references _bodyA and _bodyB
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.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
	OPENSIM_DECLARE_DERIVED (LinearActuator, Actuator)
Protected Attributes
PropertyStr	_propBodyNameA
	Name of Body to which the Body actuator is applied.
PropertyStr	_propBodyNameB
	Name of Body to which the equal and opposite torque is applied.
PropertyDblVec3	_propPointA
	Point of application on each body.
PropertyDblVec3	_propPointB
PropertyBool	_propPointsAreGlobal
	bool to indicate whether or not the points are expressed in global frame
PropertyDbl	_propOptimalForce
	Optimal force.
std::string &	_bodyNameA
std::string &	_bodyNameB
SimTK::Vec3 &	_pointA
	force points of application: assumed to be expressed in the frame of _bodyA and _bodyB unless _pointsAreGlobal is true.
SimTK::Vec3 &	_pointB
bool &	_pointsAreGlobal
double &	_optimalForce
	Optimal force.
Body *	_bodyA
	Corresponding Body to which the force actuator is applied.
Body *	_bodyB
	Corresponding Body to which the equal and force torque is applied.

Constructor & Destructor Documentation

OpenSim::LinearActuator::LinearActuator	(	std::string	aBodyNameA = `""`,
		std::string	abodyNameB = `""`
	)

LinearActuator::LinearActuator ( const LinearActuator & anActuator )

Copy constructor.

Parameters:

aForce

Force to be copied.

LinearActuator::~LinearActuator ( ) [virtual]

Destructor.

Member Function Documentation

bool LinearActuator::check ( ) const [virtual]

Check that this point actuator actuator is valid.

Returns:: True if valid, false if invalid.

Reimplemented from OpenSim::Actuator.

double LinearActuator::computeActuation ( const SimTK::State & s ) const [virtual]

Compute all quantities necessary for applying the actuator force to the model.

Implements OpenSim::Actuator.

void LinearActuator::computeForce ( const SimTK::State & s ) const [virtual]

Apply the actuator force to BodyA and BodyB.

Implements OpenSim::CustomActuator.

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

Copy this actuator and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this actuator.

Implements OpenSim::Actuator.

void LinearActuator::copyData ( const LinearActuator & aLinearActuator )

Copy the member data of the specified actuator.

Body * LinearActuator::getBodyA ( ) const

Get the generalized Body to which the Body actuator is applied.

Returns:: Pointer to the Body

Body * LinearActuator::getBodyB ( ) const

Get the generalized Body to which the equal and opposite Body actuation is applied.

Returns:: Pointer to the Body

double LinearActuator::getOptimalForce ( ) const [virtual]

Get the optimal force of the actuator.

Returns:: Optimal force.

Reimplemented from OpenSim::Actuator.

SimTK::Vec3 OpenSim::LinearActuator::getPointA ( ) const [inline]

SimTK::Vec3 OpenSim::LinearActuator::getPointB ( ) const [inline]

bool OpenSim::LinearActuator::getPointsAreGlobal ( ) [inline]

OpenSim::Array< std::string > LinearActuator::getRecordLabels ( ) const [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 from OpenSim::Force.

OpenSim::Array< double > LinearActuator::getRecordValues ( const SimTK::State & state ) const [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 from OpenSim::Force.

double LinearActuator::getStress ( const SimTK::State & s ) const [virtual]

Get the stress of the force.

Returns:: Stress.

Reimplemented from OpenSim::Actuator.

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

Reimplemented from OpenSim::Actuator.

OpenSim::LinearActuator::OPENSIM_DECLARE_DERIVED	(	LinearActuator	,
		Actuator
	)

Reimplemented from OpenSim::CustomActuator.

LinearActuator & LinearActuator::operator= ( const LinearActuator & aLinearActuator )

Assignment operator.

Returns:: aBodyID ID (or number, or index) of the generalized Body.

Reimplemented from OpenSim::Actuator.

void LinearActuator::setBodyA ( Body * aBody )

Set the generalized Body to which the Body actuator is applied.

Parameters:

aBody

Pointer to the generalized Body.

void LinearActuator::setBodyB ( Body * aBody )

Set the generalized Body to which the equal and opposite Body actuation is applied.

Parameters:

aBody

Pointer to the generalized Body.

void LinearActuator::setOptimalForce ( double aOptimalForce )

Set the optimal force of the actuator.

Parameters:

aOptimalForce

Optimal force.

void OpenSim::LinearActuator::setPointA ( SimTK::Vec3 aPosition ) [inline]

void OpenSim::LinearActuator::setPointB ( SimTK::Vec3 aPosition ) [inline]

void OpenSim::LinearActuator::setPointsAreGlobal ( bool aBool ) [inline]

void LinearActuator::setup ( Model & aModel ) [virtual]

setup sets the actual Body references _bodyA and _bodyB

Reimplemented from OpenSim::Actuator.

void LinearActuator::updateFromXMLNode ( ) [virtual]

Update this object based on its XML node.

This method simply calls Object::updateFromXMLNode() and then calls a few methods in this class to ensure that variable members have been set in a consistent manner.

Reimplemented from OpenSim::Object.