OpenSim::PointActuator Class Reference

#include <PointActuator.h>

Inheritance diagram for OpenSim::PointActuator:
OpenSim::CustomActuator OpenSim::Actuator OpenSim::Force OpenSim::ModelComponent OpenSim::Object

List of all members.

Public Member Functions

 PointActuator (std::string aBodyName="")
 PointActuator (const PointActuator &aGenForce)
 Copy constructor.
virtual ~PointActuator ()
 Destructor.
virtual Objectcopy () const
 Copy this actuator and return a pointer to the copy.
void copyData (const PointActuator &aGenForce)
 Copy the member data of the specified actuator.
PointActuatoroperator= (const PointActuator &aGenForce)
 Assignment operator.
void setBody (Body *aBody)
 Set the generalized Body to which the Body actuator is applied.
BodygetBody () const
 Get the generalized Body to which the Body actuator is applied.
void setOptimalForce (double aOptimalForce)
 Set the optimal force of the force.
double getOptimalForce () const
 Get the optimal force of the force.
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 reference _body
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 (PointActuator, Actuator)

Protected Attributes

PropertyStr _propBodyName
 Name of Body to which the Body actuator is applied.
PropertyDblVec3 _propPoint
 Point.
PropertyBool _propPointIsGlobal
PropertyDblVec3 _propDirection
 Direction.
PropertyBool _propForceIsGlobal
PropertyDbl _propOptimalForce
 Optimal force.
std::string & _bodyName
SimTK::Vec3 & _point
bool & _pointIsGlobal
SimTK::Vec3 & _direction
bool & _forceIsGlobal
double & _optimalForce
Body_body
 Corresponding Body to which the point actuator is applied.

Constructor & Destructor Documentation

OpenSim::PointActuator::PointActuator ( std::string  aBodyName = ""  ) 
PointActuator::PointActuator ( const PointActuator anActuator  ) 

Copy constructor.

Parameters:
aForce Force to be copied.
PointActuator::~PointActuator (  )  [virtual]

Destructor.


Member Function Documentation

bool PointActuator::check (  )  const [virtual]

Check that this point actuator actuator is valid.

Returns:
True if valid, false if invalid.

Reimplemented from OpenSim::Actuator.

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

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

Implements OpenSim::Actuator.

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

Apply the actuator force to BodyA and BodyB.

Implements OpenSim::CustomActuator.

Object * PointActuator::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 PointActuator::copyData ( const PointActuator aGenForce  ) 

Copy the member data of the specified actuator.

Body * PointActuator::getBody (  )  const

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

Returns:
Pointer to the Body
double PointActuator::getOptimalForce (  )  const [virtual]

Get the optimal force of the force.

Returns:
Optimal force.

Reimplemented from OpenSim::Actuator.

OpenSim::Array< std::string > PointActuator::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 > PointActuator::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 PointActuator::getStress ( const SimTK::State &  s  )  const [virtual]

Get the stress of the force.

Returns:
Stress.

Reimplemented from OpenSim::Actuator.

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

Reimplemented from OpenSim::Actuator.

OpenSim::PointActuator::OPENSIM_DECLARE_DERIVED ( PointActuator  ,
Actuator   
)

Reimplemented from OpenSim::CustomActuator.

PointActuator & PointActuator::operator= ( const PointActuator aPointActuator  ) 

Assignment operator.

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

Reimplemented from OpenSim::Actuator.

void PointActuator::setBody ( Body aBody  ) 

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

Parameters:
aBody Pointer to the generalized Body.
void PointActuator::setOptimalForce ( double  aOptimalForce  ) 

Set the optimal force of the force.

Parameters:
aOptimalForce Optimal force.
void PointActuator::setup ( Model aModel  )  [virtual]

setup sets the actual Body reference _body

Reimplemented from OpenSim::Actuator.

void PointActuator::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.


Member Data Documentation

Corresponding Body to which the point actuator is applied.

std::string& OpenSim::PointActuator::_bodyName [protected]
SimTK::Vec3& OpenSim::PointActuator::_direction [protected]
SimTK::Vec3& OpenSim::PointActuator::_point [protected]

Name of Body to which the Body actuator is applied.

Direction.

Optimal force.

Point.


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

Generated on Wed Dec 16 15:03:38 2009 for OpenSim by  doxygen 1.6.1