OpenSim::VectorFunctionForActuators Class Reference

#include <VectorFunctionForActuators.h>

Inheritance diagram for OpenSim::VectorFunctionForActuators:

Public Member Functions
	VectorFunctionForActuators (SimTK::System aActuatorSystem, Model model, CMCActuatorSubsystem *actSubsys)
	Constructor.
	VectorFunctionForActuators (const VectorFunctionForActuators &aFunction)
	Copy constructor.
	VectorFunctionForActuators ()
virtual	~VectorFunctionForActuators ()
	Destructor.
virtual Object *	copy () const
	Copy this object.
VectorFunctionForActuators &	operator= (const VectorFunctionForActuators &aFunction)
	Assignment operator.
void	setInitialTime (double aTI)
	Set the initial time of the simulation.
double	getInitialTime () const
	Get the initial time of the simulation.
void	setFinalTime (double aTF)
	Set the final time of the simulation.
double	getFinalTime () const
	Get the final time of the simulation.
void	setTargetForces (const double *aF)
	Set the target actuator forces.
void	getTargetForces (double *rF) const
	Get the target actuator forces.
CMCActuatorSubsystem *	getCMCActSubsys ()
	Get the Actuator subsystem.
virtual void	calcValue (const double aX, double rF, int aSize)
virtual void	calcValue (const Array< double > &aX, Array< double > &rF)
virtual void	calcValue (const Array< double > &aX, Array< double > &rF, const Array< int > &aDerivWRT)
virtual void	calcDerivative (const Array< double > &aX, Array< double > &rY, const Array< int > &aDerivWRT)
virtual void	evaluate (const SimTK::State &s, double aX, double rF)
	Evaluate the vector function.
virtual void	evaluate (const SimTK::State &s, const OpenSim::Array< double > &aX, Array< double > &rF)
	Evaluate the vector function.
virtual void	evaluate (const SimTK::State &s, Array< double > &rF, const Array< int > &aDerivWRT)
	Evaluate the vector function.
virtual void	evaluate (const double *rY)
virtual void	evaluate (const Array< double > &rY)
virtual void	evaluate (Array< double > &rY, const Array< int > &aDerivWRT)
Protected Attributes
double	_ti
	Initial time for the integration.
double	_tf
	Final time for the integration.
Array< double >	_f
	Target actuator forces.
SimTK::System *	_CMCActuatorSystem
	Actuator System.
CMCActuatorSubsystem *	_CMCActuatorSubsystem
	Actuator SubSystem.
SimTK::Integrator *	_integrator
	Integrator.
Model *	_model
	Model.

Constructor & Destructor Documentation

VectorFunctionForActuators::VectorFunctionForActuators	(	SimTK::System *	aActuatorSystem,
		Model *	model,
		CMCActuatorSubsystem *	actSubsys
	)

Constructor.

VectorFunctionForActuators::VectorFunctionForActuators ( const VectorFunctionForActuators & aVectorFunction )

Copy constructor.

Parameters:

aVectorFunction

Function to copy.

OpenSim::VectorFunctionForActuators::VectorFunctionForActuators ( )

VectorFunctionForActuators::~VectorFunctionForActuators ( ) [virtual]

Destructor.

Member Function Documentation

virtual void OpenSim::VectorFunctionForActuators::calcDerivative	(	const Array< double > &	aX,
		Array< double > &	rY,
		const Array< int > &	aDerivWRT
	)			`[inline, virtual]`

Implements OpenSim::VectorFunction.

virtual void OpenSim::VectorFunctionForActuators::calcValue	(	const Array< double > &	aX,
		Array< double > &	rF,
		const Array< int > &	aDerivWRT
	)			`[inline, virtual]`

virtual void OpenSim::VectorFunctionForActuators::calcValue	(	const Array< double > &	aX,
		Array< double > &	rF
	)			`[inline, virtual]`

Implements OpenSim::VectorFunction.

virtual void OpenSim::VectorFunctionForActuators::calcValue	(	const double *	aX,
		double *	rF,
		int	aSize
	)			`[inline, virtual]`

Implements OpenSim::VectorFunction.

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

Copy this object.

Returns:: Pointer to a copy of this object.

Implements OpenSim::VectorFunctionUncoupledNxN.

virtual void OpenSim::VectorFunctionForActuators::evaluate	(	Array< double > &	rY,
		const Array< int > &	aDerivWRT
	)			`[inline, virtual]`

virtual void OpenSim::VectorFunctionForActuators::evaluate ( const Array< double > & rY ) [inline, virtual]

virtual void OpenSim::VectorFunctionForActuators::evaluate ( const double * rY ) [inline, virtual]

void VectorFunctionForActuators::evaluate	(	const SimTK::State &	s,
		OpenSim::Array< double > &	rF,
		const Array< int > &	aDerivWRT
	)			`[virtual]`

Evaluate the vector function.

Parameters:

	s	SimTK::State
	aF	Array of actuator force differences.

void VectorFunctionForActuators::evaluate	(	const SimTK::State &	s,
		const OpenSim::Array< double > &	aX,
		OpenSim::Array< double > &	rF
	)			`[virtual]`

Evaluate the vector function.

Parameters:

	aX	Array of controls.
	aF	Array of actuator force differences.

Reimplemented from OpenSim::VectorFunctionUncoupledNxN.

void VectorFunctionForActuators::evaluate	(	const SimTK::State &	s,
		double *	aX,
		double *	rF
	)			`[virtual]`

Evaluate the vector function.

Parameters:

	s	SimTK::State.
	aF	Array of actuator force differences.

CMCActuatorSubsystem * VectorFunctionForActuators::getCMCActSubsys ( )

Get the Actuator subsystem.

Returns:: Actuator Subsystem.

double VectorFunctionForActuators::getFinalTime ( ) const

Get the final time of the simulation.

Returns:: Final time.

double VectorFunctionForActuators::getInitialTime ( ) const

Get the initial time of the simulation.

Returns:: Initial time.

void VectorFunctionForActuators::getTargetForces ( double * rF ) const

Get the target actuator forces.

Parameters:

rF

Array of target forces.

VectorFunctionForActuators & VectorFunctionForActuators::operator= ( const VectorFunctionForActuators & aVectorFunction )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::VectorFunctionUncoupledNxN.

void VectorFunctionForActuators::setFinalTime ( double aTF )

Set the final time of the simulation.

Parameters:

aTF

Final time.

void VectorFunctionForActuators::setInitialTime ( double aTI )

Set the initial time of the simulation.

Parameters:

aTI

Initial time.

void VectorFunctionForActuators::setTargetForces ( const double * aF )

Set the target actuator forces.

Parameters:

aF

Array of target forces.

Member Data Documentation

CMCActuatorSubsystem* OpenSim::VectorFunctionForActuators::_CMCActuatorSubsystem [protected]

Actuator SubSystem.

SimTK::System* OpenSim::VectorFunctionForActuators::_CMCActuatorSystem [protected]

Actuator System.

Array<double> OpenSim::VectorFunctionForActuators::_f [protected]

Target actuator forces.

SimTK::Integrator* OpenSim::VectorFunctionForActuators::_integrator [protected]

Integrator.

Model* OpenSim::VectorFunctionForActuators::_model [protected]

Model.

double OpenSim::VectorFunctionForActuators::_tf [protected]

Final time for the integration.

double OpenSim::VectorFunctionForActuators::_ti [protected]

Initial time for the integration.

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

OpenSim/Tools/VectorFunctionForActuators.h
OpenSim/Tools/VectorFunctionForActuators.cpp

OpenSim::VectorFunctionForActuators Class Reference

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation