OpenSim::SpringGeneralizedForce Class Reference

#include <SpringGeneralizedForce.h>

Inheritance diagram for OpenSim::SpringGeneralizedForce:

List of all members.

Public Member Functions
	SpringGeneralizedForce (std::string aCoordinateName="")
	SpringGeneralizedForce (const SpringGeneralizedForce &aForce)
	Copy constructor.
	~SpringGeneralizedForce ()
	Destructor.
virtual Object *	copy () const
	Copy this force and return a pointer to the copy.
SpringGeneralizedForce &	operator= (const SpringGeneralizedForce &aForce)
	Assignment operator.
void	setup (Model &aModel)
	setup sets the actual Coordinate reference _coord
void	setCoordinate (Coordinate *aCoordinate)
Coordinate *	getCoordinate () const
void	setStiffness (double aStiffness)
	Set the stiffness of the spring.
double	getStiffness () const
	Get the stiffness of the force.
void	setRestLength (double aRestLength)
	Set the rest length of the spring.
double	getRestLength () const
	Get the rest length of the spring.
void	setViscosity (double aViscosity)
	Set the viscosity of the spring.
double	getViscosity () const
	Get the viscosity of the spring.
Protected Member Functions
virtual void	computeForce (const SimTK::State &s) const
	Compute all quantities necessary for applying the spring force to the model.
	OPENSIM_DECLARE_DERIVED (SpringGeneralizedForce, CustomForce)
Protected Attributes
PropertyStr	_propCoordinateName
	Name of coordinate to which the spring gen force is applied.
PropertyDbl	_propStiffness
	Stiffness.
PropertyDbl	_propRestLength
	Rest length.
PropertyDbl	_propViscosity
	Viscosity.
std::string &	_coordName
double &	_stiffness
double &	_restLength
double &	_viscosity
Coordinate *	_coord
	Corresponding generalized coordinate to which the coordinate actuator is applied.

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Constructor & Destructor Documentation

OpenSim::SpringGeneralizedForce::SpringGeneralizedForce

(

std::string

aCoordinateName = ""

)

SpringGeneralizedForce::SpringGeneralizedForce

(

const SpringGeneralizedForce &

aForce

)

Copy constructor.

Parameters:

aforce

force to be copied.

SpringGeneralizedForce::~SpringGeneralizedForce

(

)

Destructor.

---

Member Function Documentation

void SpringGeneralizedForce::computeForce

(

const SimTK::State &

s

)

const [protected, virtual]

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

Implements OpenSim::CustomForce.

Object * SpringGeneralizedForce::copy

(

)

const [virtual]

Copy this force and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this force.

Reimplemented from OpenSim::Object.

Coordinate* OpenSim::SpringGeneralizedForce::getCoordinate

(

)

const

double SpringGeneralizedForce::getRestLength

(

)

const

Get the rest length of the spring.

Returns:

Rest length of the spring.

double SpringGeneralizedForce::getStiffness

(

)

const

Get the stiffness of the force.

Returns:

Stiffness of the force.

double SpringGeneralizedForce::getViscosity

(

)

const

Get the viscosity of the spring.

Returns:

Stiffness of the spring.

OpenSim::SpringGeneralizedForce::OPENSIM_DECLARE_DERIVED	(	SpringGeneralizedForce	,
		CustomForce
	)			[protected]

SpringGeneralizedForce & SpringGeneralizedForce::operator=

(

const SpringGeneralizedForce &

aForce

)

Assignment operator.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::Object.

void OpenSim::SpringGeneralizedForce::setCoordinate

(

Coordinate *

aCoordinate

)

void SpringGeneralizedForce::setRestLength

(

double

aRestLength

)

Set the rest length of the spring.

Parameters:

aRestLength

Rest length of the spring.

void SpringGeneralizedForce::setStiffness

(

double

aStiffness

)

Set the stiffness of the spring.

Normally the stiffness is a positive quantity. Negative stiffnessess will result in an unstable system- the force will push away from the rest length instead of pulling toward it.

Parameters:

aStiffness

Stiffness of the spring force.

void SpringGeneralizedForce::setup

(

Model &

aModel

)

[virtual]

setup sets the actual Coordinate reference _coord

Reimplemented from OpenSim::Force.

void SpringGeneralizedForce::setViscosity

(

double

aViscosity

)

Set the viscosity of the spring.

Normally the viscosity should be a positive number. Negative viscosities will put energy into the system rather than apply a damping force.

Parameters:

aViscosity

Viscosity of the spring.

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Member Data Documentation

Coordinate* OpenSim::SpringGeneralizedForce::_coord [protected]

Corresponding generalized coordinate to which the coordinate actuator is applied.

std::string& OpenSim::SpringGeneralizedForce::_coordName [protected]

PropertyStr OpenSim::SpringGeneralizedForce::_propCoordinateName [protected]

Name of coordinate to which the spring gen force is applied.

PropertyDbl OpenSim::SpringGeneralizedForce::_propRestLength [protected]

Rest length.

PropertyDbl OpenSim::SpringGeneralizedForce::_propStiffness [protected]

Stiffness.

PropertyDbl OpenSim::SpringGeneralizedForce::_propViscosity [protected]

Viscosity.

double& OpenSim::SpringGeneralizedForce::_restLength [protected]

double& OpenSim::SpringGeneralizedForce::_stiffness [protected]

double& OpenSim::SpringGeneralizedForce::_viscosity [protected]

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

• OpenSim/Actuators/SpringGeneralizedForce.h
• OpenSim/Actuators/SpringGeneralizedForce.cpp