OpenSim::CMC_Point Class Reference

A class for specifying and computing parameters for tracking a point. More...

#include <CMC_Point.h>

Inheritance diagram for OpenSim::CMC_Point:

Public Member Functions
	CMC_Point (const SimTK::Vec3 &aPoint=SimTK::Vec3(0))
	Construct a task for a specified point.
	CMC_Point (const CMC_Point &aTask)
	Copy constructor.
virtual	~CMC_Point ()
	Destructor.
virtual Object *	copy () const
	Copy this track object and return a pointer to the copy.
CMC_Point &	operator= (const CMC_Point &aTask)
	Assignment operator.
virtual void	setModel (Model &aModel)
	Initializes pointers to the Coordinate and Speed in the model given the coordinate name assigned to this task.
void	setPoint (const SimTK::Vec3 &aPoint)
	Set the point that is to be tracked.
SimTK::Vec3	getPoint () const
	Get the point that is to be tracked.
virtual void	computeErrors (const SimTK::State &s, double aT)
	Compute the position and velocity errors.
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aT)
	Compute the desired accelerations.
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)
	Compute the desired accelerations.
virtual void	computeAccelerations (const SimTK::State &s)
	Compute the acceleration of the appropriate point.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
Protected Attributes
PropertyDblVec3	_propPoint
	Location of the tracked point on the body expressed in the body-local coordinate frame.
SimTK::Vec3 &	_point
SimTK::Vec3	_p
SimTK::Vec3	_v
SimTK::Vec3	_inertialPTrk
SimTK::Vec3	_inertialVTrk
Body *	_wrtBody
Body *	_expressBody

Detailed Description

A class for specifying and computing parameters for tracking a point.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

CMC_Point::CMC_Point ( const SimTK::Vec3 & aPoint = SimTK::Vec3(0) )

Construct a task for a specified point.

CMC_Point::CMC_Point ( const CMC_Point & aTask )

Copy constructor.

Parameters:

aTask

Point task to be copied.

CMC_Point::~CMC_Point ( ) [virtual]

Destructor.

Member Function Documentation

void CMC_Point::computeAccelerations ( const SimTK::State & s ) [virtual]

Compute the acceleration of the appropriate point.

For the computed accelerations to be correct, Model::computeAccelerations() must have already been called.

For joints (i.e., generalized coordinates), the acceleration is not computed. It has already been computed and is simply retrieved from the model.

See also:: Model::computeAccelerations(); suTrackObject::getAcceleration()

Implements OpenSim::CMC_Task.

void CMC_Point::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aTI,
		double	aTF
	)			`[virtual]`

Compute the desired accelerations.

This method assumes that the states have been set for the model.

Parameters:

	aTI	Initial time of the controlled interval in real time units.
	aTF	Final time of the controlled interval in real time units.

See also:: Model::set(); Model::setStates()

Implements OpenSim::CMC_Task.

void CMC_Point::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aT
	)			`[virtual]`

Compute the desired accelerations.

Implements OpenSim::CMC_Task.

void CMC_Point::computeErrors	(	const SimTK::State &	s,
		double	aT
	)			`[virtual]`

Compute the position and velocity errors.

This method assumes the states have been set for the model.

Parameters:

aT

Current time in real time units.

See also:: Model::set(); Model::setStates()

Implements OpenSim::CMC_Task.

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

Copy this track object and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this track object.

Implements OpenSim::CMC_Task.

SimTK::Vec3 CMC_Point::getPoint ( ) const

Get the point that is to be tracked.

Returns:: Components of the tracked point.

CMC_Point & CMC_Point::operator= ( const CMC_Point & aTask )

Assignment operator.

Parameters:

aTask

Object to be copied.

Returns:: Reference to the altered object.

Reimplemented from OpenSim::CMC_Task.

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

Initializes pointers to the Coordinate and Speed in the model given the coordinate name assigned to this task.

Parameters:

aModel

Model.

Reimplemented from OpenSim::TrackingTask.

void CMC_Point::setPoint ( const SimTK::Vec3 & aPoint )

Set the point that is to be tracked.

Parameters:

aPoint

Components of the tracked point.

void CMC_Point::updateFromXMLNode ( ) [virtual]

Update this object based on its XML node.

Parameters:

aDeep

If true, update this object and all its child objects (that is, member variables that are Object's); if false, update only the member variables that are not Object's.

Reimplemented from OpenSim::CMC_Task.