#include <PointActuator.h>
Public Member Functions | |
PointActuator (std::string aBodyName="") | |
PointActuator (const PointActuator &aGenForce) | |
Copy constructor. | |
virtual | ~PointActuator () |
Destructor. | |
virtual Object * | copy () const |
Copy this actuator and return a pointer to the copy. | |
void | copyData (const PointActuator &aGenForce) |
Copy the member data of the specified actuator. | |
PointActuator & | operator= (const PointActuator &aGenForce) |
Assignment operator. | |
void | setBody (Body *aBody) |
Set the generalized Body to which the Body actuator is applied. | |
Body * | getBody () 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. |
OpenSim::PointActuator::PointActuator | ( | std::string | aBodyName = "" |
) |
PointActuator::PointActuator | ( | const PointActuator & | anActuator | ) |
Copy constructor.
aForce | Force to be copied. |
PointActuator::~PointActuator | ( | ) | [virtual] |
Destructor.
bool PointActuator::check | ( | ) | const [virtual] |
Check that this point actuator actuator is valid.
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.
Implements OpenSim::Actuator.
void PointActuator::copyData | ( | const PointActuator & | aGenForce | ) |
Copy the member data of the specified actuator.
Body * PointActuator::getBody | ( | ) | const |
double PointActuator::getOptimalForce | ( | ) | const [virtual] |
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] |
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.
Reimplemented from OpenSim::Actuator.
void PointActuator::setBody | ( | Body * | aBody | ) |
void PointActuator::setOptimalForce | ( | double | aOptimalForce | ) |
Set the optimal force of the force.
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.
Body* OpenSim::PointActuator::_body [protected] |
Corresponding Body to which the point actuator is applied.
std::string& OpenSim::PointActuator::_bodyName [protected] |
SimTK::Vec3& OpenSim::PointActuator::_direction [protected] |
bool& OpenSim::PointActuator::_forceIsGlobal [protected] |
double& OpenSim::PointActuator::_optimalForce [protected] |
SimTK::Vec3& OpenSim::PointActuator::_point [protected] |
bool& OpenSim::PointActuator::_pointIsGlobal [protected] |
PropertyStr OpenSim::PointActuator::_propBodyName [protected] |
Direction.
PropertyDbl OpenSim::PointActuator::_propOptimalForce [protected] |
Optimal force.
PropertyDblVec3 OpenSim::PointActuator::_propPoint [protected] |
Point.