OpenSim::ControlSet Class Reference

#include <ControlSet.h>

Inheritance diagram for OpenSim::ControlSet:

Public Member Functions
	ControlSet ()
	Default constructor.
	ControlSet (const std::string &aFileName)
	ControlSet (const ControlSet &aSet)
	Copy constructor.
virtual	~ControlSet ()
	Destructor.
virtual Object *	copy () const
	Copy this ControlSet and return a pointer to the copy.
	ControlSet (const Storage &aStorage, int nControlsToConvert=0, int aStartIndex=0)
	Constructor from a storage.
ControlSet &	operator= (const ControlSet &aSet)
	Assign this set to another set.
int	getSize (bool aForModelControls=true) const
	Get the size of the control set.
void	getControlList (const char *aType, Array< int > &rList, bool aForModelControls=true) const
	Get the list of controls of a specified type.
void	getControlValues (double aT, double rX[], bool aForModelControls=true) const
	Get the values of the control curves held in this set at a specified time.
void	getControlValues (double aT, Array< double > &rX, bool aForModelControls=true) const
	Get the values of the control curves held in this set at a specified time.
void	setControlValues (double aT, const double aX[], bool aForModelControls=true)
	Set the values of the control curves held in this set at a specified time.
void	setControlValues (double aT, const Array< double > &aX, bool aForModelControls=true)
	Set the values of the control curves held in this set at a specified time.
int	getNumParameters (bool aForModelControls=true) const
	Get the number of control parameters.
void	getParameterList (Array< int > &rList, bool aForModelControls=true) const
	Get a list of parameters for all controls or just the controls that are model controls.
void	getParameterList (double aT, Array< int > &rList, bool aForModelControls=true) const
	Get the list of parameters that affect the control curves at a specified time.
void	getParameterList (double aTLower, double aTUpper, Array< int > &rList, bool aForModelControls=true) const
	Get the list of parameters that affect the control curves between two specified times and that do NOT affect the control curve below the lower of these two times.
void	getParameterMins (Array< double > &rMins, const Array< int > *aList=NULL) const
	Get the minimum values allowed for the control parameters.
void	getParameterMaxs (Array< double > &rMaxs, const Array< int > *aList=NULL) const
	Get the maximum values allowed for the control parameters.
void	getParameterValues (double rP[], const Array< int > *aList=NULL) const
	Get the values of the control parameters.
void	getParameterValues (Array< double > &rP, const Array< int > *aList=NULL) const
	Get the values of the control parameters.
void	setParameterValues (const double aP[], const Array< int > *aList=NULL)
void	setParameterValues (const Array< double > &aP, const Array< int > *aList=NULL)
	Set the values of the control parameters.
void	simplify (const PropertySet &aProperties)
	Simplify all the control curves in a control set.
void	filter (double aT)
	Filter all the control curves in a control set.
Storage *	constructStorage (int aN, double aT1, double aT2, bool aForModelControls)
	Construct a storage object from the controls in the set over a specified interval using a specified number of points.
int	mapParameterToControl (int aIndex) const
	Map a control-set parameter to a control.
int	mapParameterToParameter (int aIndex) const
	Map a control-set parameter to a parameter of a particular control.
void	generateParameterMaps ()
	Generate the maps relating a parmeter in the control set to a control and a parameter of a control.
Protected Attributes
Array< int >	_ptcMap
	Map from parameters to controls.
Array< int >	_ptpMap
	Map from set parameters to control parameters.

Constructor & Destructor Documentation

ControlSet::ControlSet ( )

Default constructor.

OpenSim::ControlSet::ControlSet ( const std::string & aFileName )

ControlSet::ControlSet ( const ControlSet & aSet )

Copy constructor.

Parameters:

aSet

Analysis set to be copied.

ControlSet::~ControlSet ( ) [virtual]

Destructor.

ControlSet::ControlSet	(	const Storage &	aStorage,
		int	numControls = `0`,
		int	startIndex = `0`
	)

Constructor from a storage.

Parameters:

	aStorage	to get the data from
	numControls	number of columns to convert into controls, 0 for all
	startIndex	or columns to convert, default to all

Member Function Documentation

Storage * ControlSet::constructStorage	(	int	aN,
		double	aT1,
		double	aT2,
		bool	aForModelControls
	)

Construct a storage object from the controls in the set over a specified interval using a specified number of points.

Parameters:

	aN	Number of times to sample the time interval.
	aT1	Start of the interval.
	aT2	End of the interval.
	aForModelControls

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

Copy this ControlSet and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this ControlSet.

Reimplemented from OpenSim::Set< Control >.

void ControlSet::filter ( double aT )

Filter all the control curves in a control set.

Currently implemented only for ControlLinear controls.

Parameters:

aT

Time at which each control's value is filtered.

void ControlSet::generateParameterMaps ( )

Generate the maps relating a parmeter in the control set to a control and a parameter of a control.

This method should be called any time there is a change in the number or types of controls held in the control set.

void ControlSet::getControlList	(	const char *	aType,
		Array< int > &	rList,
		bool	aForModelControls = `true`
	)			const

Get the list of controls of a specified type.

This method can be slow, so minimize its use.

Parameters:

	aType	Type of the control (e.g., ControlLinear).
	aList	Array of indices of the controls of type aType.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

See also:: get()

void ControlSet::getControlValues	(	double	aT,
		Array< double > &	rX,
		bool	aForModelControls = `true`
	)			const

Get the values of the control curves held in this set at a specified time.

This is the bread-and-butter method of the controls class; it is called repeatedly throughout an integration.

Parameters:

	aT	Time at which to get the values of the control curves.
	rX	Array of control curve values.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

void ControlSet::getControlValues	(	double	aT,
		double	rX[],
		bool	aForModelControls = `true`
	)			const

Get the values of the control curves held in this set at a specified time.

This is the bread-and-butter method of the controls class; it is called repeatedly throughout an integration.

Parameters:

	aT	Time at which to get the values of the control curves.
	rX	Array of control curve values.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

int ControlSet::getNumParameters ( bool aForModelControls = true ) const

Get the number of control parameters.

Parameters:

aForModelControls

If true, only model controls are considered. If false, all controls are considered.

Returns:: Number of control parameters.

void ControlSet::getParameterList	(	double	aTLower,
		double	aTUpper,
		Array< int > &	rList,
		bool	aForModelControls = `true`
	)			const

Get the list of parameters that affect the control curves between two specified times and that do NOT affect the control curve below the lower of these two times.

This method is useful when solving for a set of controls for a dynamic simulation. When solving for a set of controls, one always wants to go forward in time. Therefore, one does not want to change control parameters that affect the control curve at past times.

A control parameter is included in the list only if it affects the control curve in the specified time interval AND does NOT affect the control curve below the lower bound of the specified time interval. So, it is possible that some of the parameters on the returned list could affect the control curve at times greater than the upper bound of the specified time interval.

Parameters:

	aTLower	Lower time bound. The control curves are not affected below this time by any of the returned parameters.
	aTUpper	Upper time bound. The control curves may be affected for times greater than this time.
	rList	List of control parameters (their indices to be exact) that affect the curve between aTLower and aTUpper but not before aTLower.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

See also:: getParameterMins(); getParameterMaxs(); getParameterValues()

void ControlSet::getParameterList	(	double	aT,
		Array< int > &	rList,
		bool	aForModelControls = `true`
	)			const

Get the list of parameters that affect the control curves at a specified time.

This list can be used to get parameter mins, maxs, and values.

Parameters:

	aT	Time in question.
	rList	List of parameters.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

See also:: getParameterMins(); getParameterMaxs(); getParameterValues()

void ControlSet::getParameterList	(	Array< int > &	rList,
		bool	aForModelControls = `true`
	)			const

Get a list of parameters for all controls or just the controls that are model controls.

This list can be used to get parameter mins, maxs, and values.

Parameters:

	rList	List of parameters.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

See also:: getParameterMins(); getParameterMaxs(); getParameterValues()

void ControlSet::getParameterMaxs	(	Array< double > &	rMaxs,
		const Array< int > *	aList = `NULL`
	)			const

Get the maximum values allowed for the control parameters.

Parameters:

	rMaxs	Array of maximum allowed values.
	aList	List of controls. If NULL, the values for all parameters for all controls in the control set are gotten. Otherwise, the parameters for the controls in the list are gotten.

void ControlSet::getParameterMins	(	Array< double > &	rMins,
		const Array< int > *	aList = `NULL`
	)			const

Get the minimum values allowed for the control parameters.

Parameters:

	rMins	Array of minimum allowed values.
	aList	List of controls. If NULL, the values for all parameters for all controls in the control set are gotten. Otherwise, the parameters for the controls in the list are gotten.

void ControlSet::getParameterValues	(	Array< double > &	rP,
		const Array< int > *	aList = `NULL`
	)			const

Get the values of the control parameters.

Parameters:

	rP	Array of parameters values, the length of which should equal the total number of parameters or the size of aList.
	aList	List of controls. If NULL, the values for all parameters for all controls in the control set are gotten. Otherwise, the parameters for the controls in the list are gotten.

void ControlSet::getParameterValues	(	double	rP[],
		const Array< int > *	aList = `NULL`
	)			const

Get the values of the control parameters.

Parameters:

	rP	Array of parameters values, the length of which should equal the total number of parameters or the size of aList.
	aList	List of controls. If NULL, the values for all parameters for all controls in the control set are gotten. Otherwise, the parameters for the controls in the list are gotten.

int ControlSet::getSize ( bool aForModelControls = true ) const

Get the size of the control set.

Parameters:

aForModelControls

Flag indicating whether or not to get the size for only model controls or all controls in the set. Model controls are controls that are involved in controlling a model; Example of non-model controls include the final time of a simulation or an initial value for a joint angle; these quantities are for setting up a simulation, they are not involved in controlling a model. If aForModelControls is true, the number of model controls in the set is returned; if false, the total number of controls in the set is returned.

int ControlSet::mapParameterToControl ( int aIndex ) const

Map a control-set parameter to a control.

In the control set, the paramters for each of the controls are concatenated into an array. Since there is not a one-to-one correspondence between control-set parameters and controls (i.e., a particular control may have many parameters), it is necessary both to map to which control each control-set parameter belongs and to map to which parameter within a particular control a control-set parameter corresponds.

Parameters:

aIndex

Index of the parameter in this control set.

Returns:: Index of the control to which the specified parameter belongs. If no such parameter exists, -1 is returned.

See also:: mapParameterToParameter()

int ControlSet::mapParameterToParameter ( int aIndex ) const

Map a control-set parameter to a parameter of a particular control.

In the control set, the paramters for each of the controls are concatenated into an array. Since there is not a one-to-one correspondence between control-set parameters and controls (i.e., a particular control may have many parameters), it is necessary both to map to which control each control-set parameter belongs and to map to which parameter within a particular control a control-set parameter corresponds.

Parameters:

aIndex

Index of the parameter in the control set.

Returns:: Index of the parameter with in a particular to which the specified parameter corresponds. If no such parameter exists, -1 is returned.

See also:: mapParameterToControl()

ControlSet & ControlSet::operator= ( const ControlSet & aSet )

Assign this set to another set.

This operator makes a complete copy of the specified set; all member variables and objects in the set are copied. Because all objects are copied, this set takes ownership of the newly allocated objects (i.e., _memoryOwner is set to true. So, the result is two independent, identical sets, with the possible exception of the _memoryOwner flag.

Parameters:

aSet

Set to be copied.

Returns:: Reference to this set.

Reimplemented from OpenSim::Object.

void ControlSet::setControlValues	(	double	aT,
		const Array< double > &	aX,
		bool	aForModelControls = `true`
	)

Set the values of the control curves held in this set at a specified time.

Normally to modify the value of a control curve setParameterValues() would be used. The shape of the control curve is determined by the parameters.

If parameters exist at the specified time, these parameters are modified to give the control curve the specified value. Otherwise, new parameters are added to the control curve.

Parameters:

	aT	Time at which the value of the control curve is to be set.
	aX	Array of control curve values, the length of which should equal the number of controls.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

void ControlSet::setControlValues	(	double	aT,
		const double	aX[],
		bool	aForModelControls = `true`
	)

Set the values of the control curves held in this set at a specified time.

Normally to modify the value of a control curve setParameterValues() would be used. The shape of the control curve is determined by the parameters.

If parameters exist at the specified time, these parameters are modified to give the control curve the specified value. Otherwise, new parameters are added to the control curve.

Parameters:

	aT	Time at which the value of the control curve is to be set.
	aX	Array of control curve values, the length of which should equal the number of controls.
	aForModelControls	If true, only model controls are considered. If false, all controls are considered.

void ControlSet::setParameterValues	(	const Array< double > &	aP,
		const Array< int > *	aList = `NULL`
	)

Set the values of the control parameters.

Parameters:

	aP	Array of control parameters, the length of which should be either the total number of parameters (if aList=NULL) or the same length as aList.
	aList	List of controls. If NULL, the values for all parameters for all controls in the control set are gotten. Otherwise, the parameters for the controls in the list are gotten.

void OpenSim::ControlSet::setParameterValues	(	const double	aP[],
		const Array< int > *	aList = `NULL`
	)

void ControlSet::simplify ( const PropertySet & aProperties )

Simplify all the control curves in a control set.

Parameters:

aProperties

Set of properties containing the parameters used to carry out the simplifications. See each control class for the list of properties needed to perform the simplification.

Member Data Documentation

Array<int> OpenSim::ControlSet::_ptcMap [protected]

Map from parameters to controls.

Array<int> OpenSim::ControlSet::_ptpMap [protected]

Map from set parameters to control parameters.

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

OpenSim/Simulation/Control/ControlSet.h
OpenSim/Simulation/Control/ControlSet.cpp

OpenSim::ControlSet Class Reference

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation