OpenSim::Coordinate Class Reference

A class implementing a Simbody generalized coordinate. More...

#include <Coordinate.h>

Inheritance diagram for OpenSim::Coordinate:

Public Types
enum	MotionType { Rotational, Translational, Coupled }
	Motion type that is described by the coordinate. More...
Public Member Functions
	Coordinate ()
	Default constructor.
	Coordinate (const std::string &aName, MotionType aMotionType, double aRangeMin, double aRangeMax)
	Constructor.
	Coordinate (const Coordinate &aCoordinate)
	Copy constructor.
virtual	~Coordinate ()
	Destructor.
virtual Object *	copy () const
	Copy this coordinate and return a pointer to the copy.
Coordinate &	operator= (const Coordinate &aCoordinate)
	Assignment operator.
void	copyData (const Coordinate &aCoordinate)
	Copy data members from one Coordinate to another.
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual void	setJoint (const Joint &aOwningJoint)
	Set the joint to which this coordinate belongs.
virtual const Joint &	getJoint () const
	Get the joint to which this coordinate belongs.
Model &	getModel () const
	Get the Model this object is part of.
virtual void	updateFromCoordinate (const Coordinate &aCoordinate)
	Update an existing coordinate with parameter values from a new one, but only for the parameters that were explicitly specified in the XML node.
virtual double	getValue (const SimTK::State &s) const
	Get the value.
virtual bool	setValue (SimTK::State &s, double aValue, bool aEnforceContraints=true) const
	Set the value.
virtual double	getSpeedValue (const SimTK::State &s) const
virtual bool	setSpeedValue (SimTK::State &s, double aValue) const
const std::string	getSpeedName () const
virtual double	getAccelerationValue (const SimTK::State &s) const
virtual bool	getValueUseDefault () const
virtual void	getRange (double rRange[2]) const
virtual bool	setRange (double aRange[2])
	Set the range min and max.
virtual double	getRangeMin () const
virtual double	getRangeMax () const
virtual bool	setRangeMin (double aMin)
	Set the range min.
virtual bool	setRangeMax (double aMax)
	Set the range max.
virtual bool	getRangeUseDefault () const
virtual double	getDefaultValue () const
virtual bool	setDefaultValue (double aDefaultValue)
	Set the default value.
double	getDefaultSpeedValue () const
void	setDefaultSpeedValue (double aDefaultSpeedValue)
virtual double	getInitialValue () const
virtual void	setInitialValue (double aInitialValue)
	Set the initial value.
virtual bool	getDefaultValueUseDefault () const
virtual bool	getClamped (const SimTK::State &s) const
	Get whether or not this coordinate is clamped.
virtual bool	setClamped (SimTK::State &s, bool aClamped) const
virtual bool	getDefaultClamped () const
virtual void	setDefaultClamped (bool aClamped)
virtual bool	getClampedUseDefault () const
virtual bool	getLocked (const SimTK::State &s) const
	Get whether or not this coordinate is locked.
virtual bool	setLocked (SimTK::State &s, bool aLocked) const
	Set whether or not this coordinate is locked.
virtual bool	getDefaultLocked () const
virtual void	setDefaultLocked (bool aLocked)
virtual bool	getLockedUseDefault () const
virtual bool	isPrescribed (const SimTK::State &s) const
void	setIsPrescribed (SimTK::State &s, bool isPrescribed) const
	Set whether or not this coordinate is being prescribed.
virtual bool	getDefaultIsPrescribed () const
void	setDefaultIsPrescribed (bool isPrescribed)
void	setPrescribedFunction (const Function &function)
	Set the prescribed motion function.
virtual OpenSim::Function *	getPrescribedFunction () const
	Get the prescribed motion function.
virtual MotionType	getMotionType () const
virtual void	setMotionType (MotionType aMotionType)
	Set coordinate's motion type.
virtual bool	isDependent (const SimTK::State &s) const
	Determine if the the coordinate is dependent on other coordinates or not.
virtual bool	isConstrained (const SimTK::State &s) const
	Return true if coordinate is locked, prescribed, or dependent on other coordinates.
int	getMobilityIndex () const
SimTK::MobilizedBodyIndex	getBodyIndex () const
virtual std::string	getStateVariableName (int index) const
	Get the name of a state variable allocated by this ModelComponent.
virtual int	getStateVariableYIndex (int index) const
	Get the YIndex of a state variable allocated by this ModelComponent.
	OPENSIM_DECLARE_DERIVED (Coordinate, Object)
Protected Member Functions
virtual void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
virtual void	initState (SimTK::State &s) 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 int	getNumStateVariables () const
	Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.
Protected Attributes
PropertyStr	_motionTypeNameProp
std::string &	_motionTypeName
PropertyDbl	_defaultValueProp
double &	_defaultValue
PropertyDbl	_defaultSpeedValueProp
double &	_defaultSpeedValue
PropertyDbl	_initialValueProp
double &	_initialValue
PropertyDblArray	_rangeProp
Array< double > &	_range
PropertyBool	_clampedProp
	Flag indicating whether the coordinate is clamped or not.
bool &	_clamped
PropertyBool	_lockedProp
	Flag indicating whether the coordinate is locked or not.
bool &	_locked
SimTK::Function *	_lockFunction
PropertyBool	_isPrescribedProp
	Flag indicating whether the coordinate is prescribed or not.
bool &	_isPrescribed
PropertyObjPtr< OpenSim::Function >	_prescribedFunctionProp
	Specify the desired prescribed motion as a function of time.
OpenSim::Function *&	_prescribedFunction
SimTK::MobilizedBodyIndex	_bodyIndex
	ID of the body which this coordinate serves.
int	_mobilityIndex
	Mobility index for this coordinate.
MotionType	_motionType
	Motion type (translational, rotational or combination).
Joint const *	_joint
	Simbody joint that owns this coordinate.
int	_qIndex
Friends
class	Constraint
class	CoordinateCouplerConstraint
class	Joint
class	Model

Detailed Description

A class implementing a Simbody generalized coordinate.

Author:: Frank C. Anderson, Ajay Seth, Jeffrey A. Reinbolt

Version:: 1.0

Member Enumeration Documentation

enum OpenSim::Coordinate::MotionType

Motion type that is described by the coordinate.

Enumerator:

Rotational
Translational
Coupled

Constructor & Destructor Documentation

Coordinate::Coordinate ( )

Default constructor.

Coordinate::Coordinate	(	const std::string &	aName,
		MotionType	aMotionType,
		double	aRangeMin,
		double	aRangeMax
	)

Constructor.

Coordinate::Coordinate ( const Coordinate & aCoordinate )

Copy constructor.

Parameters:

aCoordinate

Coordinate to be copied.

Coordinate::~Coordinate ( ) [virtual]

Destructor.

Member Function Documentation

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

Copy this coordinate and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this Coordinate.

Reimplemented from OpenSim::Object.

void Coordinate::copyData ( const Coordinate & aCoordinate )

Copy data members from one Coordinate to another.

Parameters:

aCoordinate

Coordinate to be copied.

void Coordinate::createSystem ( SimTK::MultibodySystem & system ) const [protected, virtual]

This is called when a SimTK System is being created for the Model.

It must be implemented to add appropriate elements to the System corresponding to this object. Methods for adding modeling options, state variables and their derivatives, discrete variables, as well must be called with createSystem() only.

Parameters:

system

the System being created

Reimplemented from OpenSim::ModelComponent.

double Coordinate::getAccelerationValue ( const SimTK::State & s ) const [virtual]

SimTK::MobilizedBodyIndex OpenSim::Coordinate::getBodyIndex ( ) const [inline]

bool Coordinate::getClamped ( const SimTK::State & s ) const [virtual]

Get whether or not this coordinate is clamped.

Calls the underlying constraint at the dynamics level.

Returns:: true if the coordinate is clamped.

virtual bool OpenSim::Coordinate::getClampedUseDefault ( ) const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultClamped ( ) const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultIsPrescribed ( ) const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultLocked ( ) const [inline, virtual]

double OpenSim::Coordinate::getDefaultSpeedValue ( ) const [inline]

virtual double OpenSim::Coordinate::getDefaultValue ( ) const [inline, virtual]

virtual bool OpenSim::Coordinate::getDefaultValueUseDefault ( ) const [inline, virtual]

virtual double OpenSim::Coordinate::getInitialValue ( ) const [inline, virtual]

const Joint & Coordinate::getJoint ( ) const [virtual]

Get the joint to which this coordinate belongs.

Returns:: Joint to which this coordinate belongs.

bool Coordinate::getLocked ( const SimTK::State & s ) const [virtual]

Get whether or not this coordinate is locked.

Calls the underlying constraint at the dynamics level.

Returns:: true if the coordinate is locked and false if unlocked.

virtual bool OpenSim::Coordinate::getLockedUseDefault ( ) const [inline, virtual]

int OpenSim::Coordinate::getMobilityIndex ( ) const [inline]

Model& OpenSim::Coordinate::getModel ( ) const [inline]

Get the Model this object is part of.

Reimplemented from OpenSim::ModelComponent.

virtual MotionType OpenSim::Coordinate::getMotionType ( ) const [inline, virtual]

virtual int OpenSim::Coordinate::getNumStateVariables ( ) const [inline, protected, virtual]

Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.

Implements OpenSim::ModelComponent.

OpenSim::Function * Coordinate::getPrescribedFunction ( ) const [virtual]

Get the prescribed motion function.

Returns:: Pointer to the constraint function.

virtual void OpenSim::Coordinate::getRange ( double rRange[2] ) const [inline, virtual]

virtual double OpenSim::Coordinate::getRangeMax ( ) const [inline, virtual]

virtual double OpenSim::Coordinate::getRangeMin ( ) const [inline, virtual]

virtual bool OpenSim::Coordinate::getRangeUseDefault ( ) const [inline, virtual]

const std::string Coordinate::getSpeedName ( ) const

double Coordinate::getSpeedValue ( const SimTK::State & s ) const [virtual]

std::string Coordinate::getStateVariableName ( int index ) const [virtual]

Get the name of a state variable allocated by this ModelComponent.

The default implementation throws an exception, so subclasses that allocate state variables must override it.

Parameters:

index

the index of the state variable (0 to getNumStateVariables()-1)

Reimplemented from OpenSim::ModelComponent.

int Coordinate::getStateVariableYIndex ( int index ) const [virtual]

Get the YIndex of a state variable allocated by this ModelComponent.

The default implementation throws an exception, so subclasses that allocate state variables must override it.

Parameters:

index

the index of the state variable (0 to getNumStateVariables()-1)

Reimplemented from OpenSim::ModelComponent.

double Coordinate::getValue ( const SimTK::State & s ) const [virtual]

Get the value.

Returns:: The current value of the coordinate.

virtual bool OpenSim::Coordinate::getValueUseDefault ( ) const [inline, virtual]

virtual void OpenSim::Coordinate::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::ModelComponent.

bool Coordinate::isConstrained ( const SimTK::State & s ) const [virtual]

Return true if coordinate is locked, prescribed, or dependent on other coordinates.

Determine if the the coordinate is constrained or not.

Specifically, is locked, prescribed, or completely dependent on other coordinates? If so return true, false otherwise.

bool Coordinate::isDependent ( const SimTK::State & s ) const [virtual]

Determine if the the coordinate is dependent on other coordinates or not.

If so return true, false otherwise.

bool Coordinate::isPrescribed ( const SimTK::State & s ) const [virtual]

OpenSim::Coordinate::OPENSIM_DECLARE_DERIVED	(	Coordinate	,
		Object
	)

Coordinate & Coordinate::operator= ( const Coordinate & aCoordinate )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::ModelComponent.

virtual bool OpenSim::Coordinate::setClamped	(	SimTK::State &	s,
		bool	aClamped
	)			const `[virtual]`

virtual void OpenSim::Coordinate::setDefaultClamped ( bool aClamped ) [inline, virtual]

void OpenSim::Coordinate::setDefaultIsPrescribed ( bool isPrescribed ) [inline]

virtual void OpenSim::Coordinate::setDefaultLocked ( bool aLocked ) [inline, virtual]

void Coordinate::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::ModelComponent.

void OpenSim::Coordinate::setDefaultSpeedValue ( double aDefaultSpeedValue ) [inline]

bool Coordinate::setDefaultValue ( double aDefaultValue ) [virtual]

Set the default value.

Parameters:

aDefaultValue

default value to change to.

Returns:: Whether or not the default value was changed.

void Coordinate::setInitialValue ( double aInitialValue ) [virtual]

Set the initial value.

Used to initialize the initial_value field in sdm.q

void Coordinate::setIsPrescribed	(	SimTK::State &	s,
		bool	isPrescribed
	)			const

Set whether or not this coordinate is being prescribed.

A prescribed constraint is used specify motion at the dynamics level. If isPrescribed is set after clamping or locking it takes precedence- and clamped and locked are false.

Parameters:

isPrescribed

If true the coordinate is prescribed; if false not prescribed.

void Coordinate::setJoint ( const Joint & aOwningJoint ) [virtual]

Set the joint to which this coordinate belongs.

Parameters:

aowningJoint

Joint to which this coordinate belongs.