OpenSim::Actuator_ Class Reference

Base class for an actuator (e.g., a torque motor, muscle, . More...

#include <Actuator.h>

Inheritance diagram for OpenSim::Actuator_:

List of all members.

Public Member Functions
	Actuator_ ()
	Construct an actuator of controls.
	Actuator_ (const Actuator_ &aActuator)
	Copy constructor.
virtual	~Actuator_ ()
	Destructor.
virtual Object *	copy () const =0
	Construct and return a copy of this object.
Actuator_ &	operator= (const Actuator_ &aActuator)
	Assignment operator.
virtual int	numControls () const =0
virtual const SimTK::Vector	getDefaultControls ()
	Actuator default controls are zero.
virtual const SimTK::VectorView_< double >	getControls (const SimTK::State &s) const
	Get the actuator's control values.
virtual void	getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const
	Convenience methods for getting, setting and adding to actuator controls from/into the model controls.
virtual void	setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	set actuator controls subvector into the right slot in the system-wide model controls
virtual void	addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	add actuator controls to the values already occupying the slot in the system-wide model controls
virtual double	computeActuation (const SimTK::State &s) const =0
virtual void	computeEquilibrium (SimTK::State &s) const
Protected Member Functions
virtual void	setup (Model &aModel)
	Perform set up functions after model has been deserialized or copied.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the udnerlying computational component.
virtual void	initState (SimTK::State &state) const
	This is called after a SimTK System and State have been created for the Model.
virtual void	setDefaultsFromState (const SimTK::State &state)
	Set all default values for this object to match those in a specified State.
virtual void	updateGeometry ()
	Update the geometric representation of the Actuator if any.
Protected Attributes
int	_controlIndex

---

Detailed Description

Base class for an actuator (e.g., a torque motor, muscle, .

..) that requires external input (controls) to generate force.

Author:

Ajay Seth

Version:

2.0

---

Constructor & Destructor Documentation

Actuator_::Actuator_

(

)

Construct an actuator of controls.

Actuator_::Actuator_

(

const Actuator_ &

aAct

)

Copy constructor.

Parameters:

aActuator

Actuator to copy.

Actuator_::~Actuator_

(

)

[virtual]

Destructor.

---

Member Function Documentation

virtual void OpenSim::Actuator_::addInControls	(	const SimTK::Vector &	actuatorControls,
		SimTK::Vector &	modelControls
	)			const [virtual]

add actuator controls to the values already occupying the slot in the system-wide model controls

virtual double OpenSim::Actuator_::computeActuation

(

const SimTK::State &

s

)

const [pure virtual]

Implemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::PointActuator, OpenSim::PointToPointActuator, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, OpenSim::ActivationFiberLengthMuscle, OpenSim::Muscle, and OpenSim::PathActuator.

virtual void OpenSim::Actuator_::computeEquilibrium

(

SimTK::State &

s

)

const [inline, virtual]

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::Schutte1993Muscle, and OpenSim::Thelen2003Muscle.

virtual Object* OpenSim::Actuator_::copy

(

)

const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:

Copy of this object.

Implements OpenSim::Force.

Implemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::PointActuator, OpenSim::PointToPointActuator, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, OpenSim::Muscle, and OpenSim::PathActuator.

void Actuator_::createSystem

(

SimTK::MultibodySystem &

system

)

const [protected, virtual]

Default is to create a ForceAdapter which is a SimTK::Force::Custom as the udnerlying computational component.

Create an underlying SimTK::Force to represent the OpenSim::Force in the computational system.

Subclasses override to employ other SimTK::Forces.

Create a SimTK::Force::Custom by default.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, OpenSim::Muscle, and OpenSim::PathActuator.

virtual void OpenSim::Actuator_::getControls	(	const SimTK::Vector &	modelControls,
		SimTK::Vector &	actuatorControls
	)			const [virtual]

Convenience methods for getting, setting and adding to actuator controls from/into the model controls.

These methods have no effect on the realization stage.

const VectorView_< Real > Actuator_::getControls

(

const SimTK::State &

s

)

const [virtual]

Get the actuator's control values.

Parameters:

the

current state

Returns:

The value of the controls.

virtual const SimTK::Vector OpenSim::Actuator_::getDefaultControls

(

)

[inline, virtual]

Actuator default controls are zero.

void Actuator_::initState

(

SimTK::State &

state

)

const [protected, virtual]

This is called after a SimTK System and State have been created for the Model.

It must be implementd to set initial values of state variables.

Parameters:

state

the State to initialize

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, and OpenSim::Muscle.

virtual int OpenSim::Actuator_::numControls

(

)

const [pure virtual]

Implemented in OpenSim::Actuator.

Actuator_ & Actuator_::operator=

(

const Actuator_ &

aAct

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::PointActuator, OpenSim::PointToPointActuator, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, OpenSim::Muscle, and OpenSim::PathActuator.

virtual void OpenSim::Actuator_::setControls	(	const SimTK::Vector &	actuatorControls,
		SimTK::Vector &	modelControls
	)			const [virtual]

set actuator controls subvector into the right slot in the system-wide model controls

void Actuator_::setDefaultsFromState

(

const SimTK::State &

state

)

[protected, virtual]

Set all default values for this object to match those in a specified State.

It must be implemented/overriden to set any default values defined by each subclass.

Parameters:

state

the State from which to take values that should become the defaults for this object

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, and OpenSim::Muscle.

void Actuator_::setup

(

Model &

aModel

)

[protected, virtual]

Perform set up functions after model has been deserialized or copied.

Parameters:

aModel

model containing this actuator.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::CoordinateActuator, OpenSim::Delp1990Muscle, OpenSim::PointActuator, OpenSim::PointToPointActuator, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::TorqueActuator, OpenSim::ActivationFiberLengthMuscle, OpenSim::Actuator, OpenSim::Muscle, and OpenSim::PathActuator.

void Actuator_::updateGeometry

(

)

[protected, virtual]

Update the geometric representation of the Actuator if any.

The resulting geometry is maintained at the VisibleObject layer

---

Member Data Documentation

int OpenSim::Actuator_::_controlIndex [protected]

---

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

• OpenSim/Simulation/Model/Actuator.h
• OpenSim/Simulation/Model/Actuator.cpp