OpenSim::SMC_Joint Class Reference

A class for specifying the tracking task for a joint. More...

#include <SMC_Joint.h>

Inheritance diagram for OpenSim::SMC_Joint:
OpenSim::CMC_Joint OpenSim::CMC_Task OpenSim::Object

List of all members.

Public Member Functions

 SMC_Joint (const std::string &aCoordinateName="")
 SMC_Joint (const SMC_Joint &aTask)
 Copy constructor.
virtual ~SMC_Joint ()
 Destructor.
virtual Objectcopy () const
 Copy this track object and return a pointer to the copy.
SMC_Jointoperator= (const SMC_Joint &aTask)
 Assignment operator.
virtual void computeDesiredAccelerations (const SimTK::State &s, double aT)
 Compute the desired accelerations.

Protected Attributes

PropertyDbl _propS
 Parameter specifying the boundary of the error surface.
double & _s

Detailed Description

A class for specifying the tracking task for a joint.

Author:
Ko Sasaki
Version:
1.0

Constructor & Destructor Documentation

OpenSim::SMC_Joint::SMC_Joint ( const std::string &  aCoordinateName = ""  ) 
SMC_Joint::SMC_Joint ( const SMC_Joint aTask  ) 

Copy constructor.

Parameters:
aTask Joint task to be copied.
SMC_Joint::~SMC_Joint (  )  [virtual]

Destructor.


Member Function Documentation

void SMC_Joint::computeDesiredAccelerations ( const SimTK::State &  state,
double  aT 
) [virtual]

Compute the desired accelerations.

This method assumes that the states have been set for the model.

Parameters:
aT Time at which the desired accelerations are to be computed in real time units.
See also:
Model::set()
Model::setStates()

Reimplemented from OpenSim::CMC_Joint.

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

Copy this track object and return a pointer to the copy.

The copy constructor for this class is used.

Returns:
Pointer to a copy of this track object.

Reimplemented from OpenSim::CMC_Joint.

SMC_Joint & SMC_Joint::operator= ( const SMC_Joint aTask  ) 

Assignment operator.

Parameters:
aTask Object to be copied.
Returns:
Reference to the altered object.

Reimplemented from OpenSim::CMC_Joint.


Member Data Documentation

Parameter specifying the boundary of the error surface.

double& OpenSim::SMC_Joint::_s [protected]

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

Generated on Wed Dec 16 15:03:51 2009 for OpenSim by  doxygen 1.6.1