OpenSim::BodyKinematics Class Reference

A class for recording the kinematics of the bodies of a model during a simulation. More...

#include <BodyKinematics.h>

Inheritance diagram for OpenSim::BodyKinematics:

Public Member Functions
	BodyKinematics (Model *aModel=0, bool aInDegrees=true)
	Construct an BodyKinematics instance for recording the kinematics of the bodies of a model during a simulation.
	BodyKinematics (const std::string &aFileName)
	Construct an object from file.
	BodyKinematics (const BodyKinematics &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~BodyKinematics ()
	Destructor.
BodyKinematics &	operator= (const BodyKinematics &aBodyKinematics)
	Assign this object to the values of another.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
Storage *	getAccelerationStorage ()
	Get the acceleration storage.
Storage *	getVelocityStorage ()
	Get the velocity storage.
Storage *	getPositionStorage ()
	Get the position storage.
void	setExpressResultsInLocalFrame (bool aTrueFalse)
	Set a flag indicating that the angular velocities should be output in the the body local reference frame.
bool	getExpressResultsInLocalFrame ()
	Get a flag indicating whether the angular velocities should be output in the the body local reference frame.
void	setRecordCenterOfMass (bool aTrueFalse)
void	setBodiesToRecord (Array< std::string > &listOfBodies)
virtual void	setModel (Model &aModel)
	Set the model for which the body kinematics are to be computed.
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 kinematics.
Protected Attributes
PropertyStrArray	_bodiesProp
	Names of bodies whose kinematics are to be recorded.
Array< std::string > &	_bodies
PropertyBool	_expressInLocalFrameProp
	Flag indicating whether or not to express the results in the global or body-local frame.
bool &	_expressInLocalFrame
Array< int >	_bodyIndices
bool	_recordCenterOfMass
Array< double >	_kin
Storage *	_pStore
Storage *	_vStore
Storage *	_aStore

Detailed Description

A class for recording the kinematics of the bodies of a model during a simulation.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

BodyKinematics::BodyKinematics	(	Model *	aModel = `0`,
		bool	aInDegrees = `true`
	)

Construct an BodyKinematics instance for recording the kinematics of the bodies of a model during a simulation.

Parameters:

aModel

Model for which the analyses are to be recorded.

BodyKinematics::BodyKinematics ( 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.

BodyKinematics::BodyKinematics ( const BodyKinematics & aObject )

Copy constructor.

BodyKinematics::~BodyKinematics ( ) [virtual]

Destructor.

Member Function Documentation

int BodyKinematics::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

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:

s

System state

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

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

Clone.

Reimplemented from OpenSim::Analysis.

int BodyKinematics::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

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:

s

System state

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

Storage * BodyKinematics::getAccelerationStorage ( )

Get the acceleration storage.

Returns:: Acceleration storage.

bool BodyKinematics::getExpressResultsInLocalFrame ( )

Get a flag indicating whether the angular velocities should be output in the the body local reference frame.

Parameters:

rTrueFalse

False indicates the angular velocities being output in the global reference frame

Storage * BodyKinematics::getPositionStorage ( )

Get the position storage.

Returns:: Position storage.

Storage * BodyKinematics::getVelocityStorage ( )

Get the velocity storage.

Returns:: Velocity storage.

BodyKinematics & BodyKinematics::operator= ( const BodyKinematics & aBodyKinematics )

Assign this object to the values of another.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

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

Record the kinematics.

void OpenSim::BodyKinematics::setBodiesToRecord ( Array< std::string > & listOfBodies ) [inline]

void BodyKinematics::setExpressResultsInLocalFrame ( bool aTrueFalse )

Set a flag indicating that the angular velocities should be output in the the body local reference frame.

Parameters:

aTrueFalse

False will result in the angular velocities being output in the global reference frame

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

Set the model for which the body kinematics are to be computed.

Parameters:

aModel

Model pointer

Reimplemented from OpenSim::Analysis.

void OpenSim::BodyKinematics::setRecordCenterOfMass ( bool aTrueFalse ) [inline]

void BodyKinematics::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 BodyKinematics::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

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:

s

System state