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:
OpenSim::Analysis OpenSim::Object

List of all members.

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 Objectcopy () const
 Clone.
virtual ~Actuation ()
 Destructor.
Actuationoperator= (const Actuation &aActuation)
 Assignment operator.
void setStorageCapacityIncrements (int aIncrement)
 Set the capacity increments of all storage instances.
StoragegetForceStorage () const
 Get the force storage.
StoragegetSpeedStorage () const
 Get the speed storage.
StoragegetPowerStorage () 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
Returns:
-1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.


Member Data Documentation

Force storage.

double* OpenSim::Actuation::_fsp [protected]

Work array for storing forces, speeds, or powers.

int OpenSim::Actuation::_na [protected]

Number of actuators.

Power storage.

Speed storage.


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

Generated on Sun Sep 25 00:19:45 2011 for OpenSim by  doxygen 1.6.1