OpenSim::Actuation Class Reference

A class for recording the basic actuator information for a model during a simulation. More...

#include <Actuation.h>

Inheritance diagram for OpenSim::Actuation:

Public Member Functions
	Actuation (Model *aModel=0)
	Construct an Actuation object for recording the Actuation of a model's generalized coodinates during a simulation.
	Actuation (const std::string &aFileName)
	Construct an object from file.
	Actuation (const Actuation &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~Actuation ()
	Destructor.
Actuation &	operator= (const Actuation &aActuation)
	Assignment operator.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
Storage *	getForceStorage () const
	Get the force storage.
Storage *	getSpeedStorage () const
	Get the speed storage.
Storage *	getPowerStorage () const
	Get the power storage.
virtual void	setModel (Model &aModel)
	Set the model pointer for analysis.
virtual int	begin (SimTK::State &s)
	This method is called at the beginning of an analysis so that any necessary initializations may be performed.
virtual int	step (const SimTK::State &s, int setNumber)
	This method is called to perform the analysis.
virtual int	end (SimTK::State &s)
	This method is called at the end of an analysis so that any necessary finalizations may be performed.
virtual int	printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
	Print the results of the analysis.
Protected Member Functions
virtual int	record (const SimTK::State &s)
	Record the actuation quantities.
Protected Attributes
int	_na
	Number of actuators.
double *	_fsp
	Work array for storing forces, speeds, or powers.
Storage *	_forceStore
	Force storage.
Storage *	_speedStore
	Speed storage.
Storage *	_powerStore
	Power storage.

Detailed Description

A class for recording the basic actuator information for a model during a simulation.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

Actuation::Actuation ( Model * aModel = 0 )

Construct an Actuation object for recording the Actuation of a model's generalized coodinates during a simulation.

Parameters:

aModel

Model for which the Actuation are to be recorded.

Actuation::Actuation ( const std::string & aFileName )

Construct an object from file.

The object is constructed from the root element of the XML document. The type of object is the tag name of the XML root element.

Parameters:

aFileName

File name of the document.

Actuation::Actuation ( const Actuation & aObject )

Copy constructor.

Actuation::~Actuation ( ) [virtual]

Destructor.

Member Function Documentation

int Actuation::begin ( SimTK::State & s ) [virtual]

This method is called at the beginning of an analysis so that any necessary initializations may be performed.

This method is meant to be called at the begining of an integration in Model::integBeginCallback() and has the same argument list.

This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary.

Parameters:

	state	system State
	aStep	Step number of the integration.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

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

Clone.

Reimplemented from OpenSim::Analysis.

int Actuation::end ( SimTK::State & s ) [virtual]

This method is called at the end of an analysis so that any necessary finalizations may be performed.

This method is meant to be called at the end of an integration in Model::integEndCallback() and has the same argument list.

This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary.

Parameters:

state

System state

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

Storage * Actuation::getForceStorage ( ) const

Get the force storage.

Returns:: Force storage.

Storage * Actuation::getPowerStorage ( ) const

Get the power storage.

Returns:: Power storage.

Storage * Actuation::getSpeedStorage ( ) const

Get the speed storage.

Returns:: Speed storage.

Actuation & Actuation::operator= ( const Actuation & aAnalysis )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

virtual int OpenSim::Actuation::printResults	(	const std::string &	aBaseName,
		const std::string &	aDir = `""`,
		double	aDT = `-1.0`,
		const std::string &	aExtension = `".sto"`
	)			`[virtual]`

Print the results of the analysis.

Parameters:

	aFileName	File to which to print the data.
	aDT	Time interval between results (linear interpolation is used). If not included as an argument or negative, all time steps are printed without interpolation.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int Actuation::record ( const SimTK::State & s ) [protected, virtual]

Record the actuation quantities.

void Actuation::setModel ( Model & aModel ) [virtual]

Set the model pointer for analysis.

Reimplemented from OpenSim::Analysis.

void Actuation::setStorageCapacityIncrements ( int aIncrement )

Set the capacity increments of all storage instances.

Parameters:

aIncrement

Increment by which storage capacities will be increased when storage capcities run out.

int Actuation::step	(	const SimTK::State &	s,
		int	stepNumber
	)			`[virtual]`

This method is called to perform the analysis.

It can be called during the execution of a forward integrations or after the integration by feeding it the necessary data.

When called during an integration, this method is meant to be called in Model::integStepCallback(), which has the same argument list.

This method should be overriden in derived classes. It is included here so that the derived class will not have to implement it if it is not necessary.

Parameters:

state

System state