OpenSim::PassiveJointTorque Class Reference

#include <PassiveJointTorque.h>

Inheritance diagram for OpenSim::PassiveJointTorque:

List of all members.

Public Member Functions
	PassiveJointTorque (std::string aQName="")
	PassiveJointTorque (const PassiveJointTorque &aActuator)
	Copy constructor.
virtual	~PassiveJointTorque ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
PassiveJointTorque &	operator= (const PassiveJointTorque &aActuator)
	Assignment operator.
void	setSlope1 (double aSlope1)
	Set the parameters.
double	getSlope1 () const
	Get the parameters.
void	setLimit1 (double aLimit1)
double	getLimit1 () const
void	setSlope2 (double aSlope2)
double	getSlope2 () const
void	setLimit2 (double aLimit2)
double	getLimit2 () const
void	setOffset (double aOffset)
double	getOffset () const
void	setDamping (double aDamping)
double	getDamping () const
virtual double	computeActuation (const SimTK::State &s)
	Compute all quantities necessary for applying the actuator force to the model.
	OPENSIM_DECLARE_DERIVED (PassiveJointTorque, Actuator)
Protected Attributes
PropertyDbl	_propSlope1
	Passive torque parameters.
double &	_slope1
PropertyDbl	_propLimit1
double &	_limit1
PropertyDbl	_propSlope2
double &	_slope2
PropertyDbl	_propLimit2
double &	_limit2
PropertyDbl	_propOffset
double &	_offset
PropertyDbl	_propDamping
	Damping parameters.
double &	_damping

---

Constructor & Destructor Documentation

OpenSim::PassiveJointTorque::PassiveJointTorque

(

std::string

aQName = ""

)

PassiveJointTorque::PassiveJointTorque

(

const PassiveJointTorque &

aActuator

)

Copy constructor.

Parameters:

aActuator

Actuator to be copied.

PassiveJointTorque::~PassiveJointTorque

(

)

[virtual]

Destructor.

---

Member Function Documentation

double PassiveJointTorque::computeActuation

(

const SimTK::State &

s

)

[virtual]

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

Object * PassiveJointTorque::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.

Reimplemented from OpenSim::CoordinateActuator.

double PassiveJointTorque::getDamping

(

)

const

double PassiveJointTorque::getLimit1

(

)

const

double PassiveJointTorque::getLimit2

(

)

const

double PassiveJointTorque::getOffset

(

)

const

double PassiveJointTorque::getSlope1

(

)

const

Get the parameters.

double PassiveJointTorque::getSlope2

(

)

const

OpenSim::PassiveJointTorque::OPENSIM_DECLARE_DERIVED	(	PassiveJointTorque	,
		Actuator
	)

Reimplemented from OpenSim::CoordinateActuator.

PassiveJointTorque & PassiveJointTorque::operator=

(

const PassiveJointTorque &

aActuator

)

Assignment operator.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::CoordinateActuator.

void PassiveJointTorque::setDamping

(

double

aDamping

)

void PassiveJointTorque::setLimit1

(

double

aLimit1

)

void PassiveJointTorque::setLimit2

(

double

aLimit2

)

void PassiveJointTorque::setOffset

(

double

aOffset

)

void PassiveJointTorque::setSlope1

(

double

aSlope1

)

Set the parameters.

void PassiveJointTorque::setSlope2

(

double

aSlope2

)

---

Member Data Documentation

double& OpenSim::PassiveJointTorque::_damping [protected]

double& OpenSim::PassiveJointTorque::_limit1 [protected]

double& OpenSim::PassiveJointTorque::_limit2 [protected]

double& OpenSim::PassiveJointTorque::_offset [protected]

PropertyDbl OpenSim::PassiveJointTorque::_propDamping [protected]

Damping parameters.

PropertyDbl OpenSim::PassiveJointTorque::_propLimit1 [protected]

PropertyDbl OpenSim::PassiveJointTorque::_propLimit2 [protected]

PropertyDbl OpenSim::PassiveJointTorque::_propOffset [protected]

PropertyDbl OpenSim::PassiveJointTorque::_propSlope1 [protected]

Passive torque parameters.

PropertyDbl OpenSim::PassiveJointTorque::_propSlope2 [protected]

double& OpenSim::PassiveJointTorque::_slope1 [protected]

double& OpenSim::PassiveJointTorque::_slope2 [protected]

---

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

• OpenSim/Actuators/PassiveJointTorque.h
• OpenSim/Actuators/PassiveJointTorque.cpp