OpenSim::CoordinateActuator Class Reference

#include <CoordinateActuator.h>

Inheritance diagram for OpenSim::CoordinateActuator:

Public Member Functions
	CoordinateActuator (std::string aCoordinateName="")
	CoordinateActuator (const CoordinateActuator &aGenForce)
	Copy constructor.
virtual	~CoordinateActuator ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
void	copyData (const CoordinateActuator &aGenForce)
	Copy the member data of the specified actuator.
CoordinateActuator &	operator= (const CoordinateActuator &aGenForce)
	Assignment operator.
void	setCoordinate (Coordinate *aCoordinate)
	Set the generalized coordinate to which the coordinate actuator is applied.
Coordinate *	getCoordinate () const
	Get the generalized coordinate to which the coordinate actuator is applied.
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the force.
double	getOptimalForce () const
	Get the optimal force of the force.
double	getStress (const SimTK::State &s) const
	Get the stress of the force.
virtual void	computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const
	Apply the actuator force to BodyA and BodyB.
virtual double	computeActuation (const SimTK::State &s) const
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this coordinate actuator actuator is valid.
virtual bool	isCoordinateValid () const
	Is the.
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().
virtual OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const
	Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.
virtual double	getSpeed (const SimTK::State &s) const
	For a CooridnateActuator, the speed is really the speed of the coordinate underneath it this overrides the default behavior (bug ).
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
	OPENSIM_DECLARE_DERIVED (CoordinateActuator, Actuator)
Static Public Member Functions
static ForceSet *	CreateForceSetOfCoordinateActuatorsForModel (const SimTK::State &s, Model &aModel, double aOptimalForce=1, bool aIncludeLockedAndConstrainedCoordinates=true)
Protected Member Functions
virtual void	setup (Model &aModel)
	Perform some setup functions that happen after the object has been deserialized or copied.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	Create underlying SimTK::Force.
Protected Attributes
PropertyStr	_propCoordinateName
	Name of coordinate to which the coordinate actuator is applied.
PropertyDbl	_propOptimalForce
	Optimal force.
std::string &	_coordName
double &	_optimalForce
Coordinate *	_coord
	Corresponding generalized coordinate to which the coordinate actuator is applied.

Constructor & Destructor Documentation

OpenSim::CoordinateActuator::CoordinateActuator ( std::string aCoordinateName = "" )

CoordinateActuator::CoordinateActuator ( const CoordinateActuator & aGenForce )

Copy constructor.

Parameters:

aForce

Force to be copied.

CoordinateActuator::~CoordinateActuator ( ) [virtual]

Destructor.

Member Function Documentation

bool CoordinateActuator::check ( ) const [virtual]

Check that this coordinate actuator actuator is valid.

Returns:: True if valid, false if invalid.

double CoordinateActuator::computeActuation ( const SimTK::State & s ) const [virtual]

Compute all quantities necessary for applying the actuator force to the model.

Implements OpenSim::Actuator_.

void CoordinateActuator::computeForce	(	const SimTK::State &	state,
		SimTK::Vector_< SimTK::SpatialVec > &	bodyForces,
		SimTK::Vector &	mobilityForces
	)			const `[virtual]`

Apply the actuator force to BodyA and BodyB.

Reimplemented from OpenSim::Force.

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

Copy this actuator and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this actuator.

Implements OpenSim::Actuator.

void CoordinateActuator::copyData ( const CoordinateActuator & aGenForce )

Copy the member data of the specified actuator.

Reimplemented from OpenSim::Force.

ForceSet * CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel	(	const SimTK::State &	s,
		Model &	aModel,
		double	aOptimalForce = `1`,
		bool	aIncludeLockedAndConstrainedCoordinates = `true`
	)			`[static]`

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

Create underlying SimTK::Force.

Reimplemented from OpenSim::Actuator.

Coordinate * CoordinateActuator::getCoordinate ( ) const

Get the generalized coordinate to which the coordinate actuator is applied.

Returns:: Pointer to the coordinate

double CoordinateActuator::getOptimalForce ( ) const [virtual]

Get the optimal force of the force.

Returns:: Optimal force.

Reimplemented from OpenSim::Actuator.

OpenSim::Array< std::string > CoordinateActuator::getRecordLabels ( ) const [virtual]

Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().

Reimplemented from OpenSim::Force.

OpenSim::Array< double > CoordinateActuator::getRecordValues ( const SimTK::State & state ) const [virtual]

Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.

used in conjunction with getRecordLabels and should return same size Array

Reimplemented from OpenSim::Force.

double CoordinateActuator::getSpeed ( const SimTK::State & s ) const [virtual]

For a CooridnateActuator, the speed is really the speed of the coordinate underneath it this overrides the default behavior (bug ).

Reimplemented from OpenSim::Actuator.

double CoordinateActuator::getStress ( const SimTK::State & s ) const [virtual]

Get the stress of the force.

Returns:: Stress.

Reimplemented from OpenSim::Actuator.

bool CoordinateActuator::isCoordinateValid ( ) const [virtual]

Is the.

OpenSim::CoordinateActuator::OPENSIM_DECLARE_DERIVED	(	CoordinateActuator	,
		Actuator
	)

CoordinateActuator & CoordinateActuator::operator= ( const CoordinateActuator & aGenForce )

Assignment operator.

Returns:: aCoordinateID ID (or number, or index) of the generalized coordinate.

Reimplemented from OpenSim::Actuator.

void CoordinateActuator::setCoordinate ( Coordinate * aCoordinate )

Set the generalized coordinate to which the coordinate actuator is applied.

Parameters:

aCoordinate

Pointer to the generalized coordinate.

void CoordinateActuator::setOptimalForce ( double aOptimalForce )

Set the optimal force of the force.

Parameters:

aOptimalForce

Optimal force.

void CoordinateActuator::setup ( Model & aModel ) [protected, virtual]

Perform some setup functions that happen after the object has been deserialized or copied.

Parameters:

aModel

OpenSim model containing this CoordinateActuator.

Reimplemented from OpenSim::Actuator.

void CoordinateActuator::updateFromXMLNode ( ) [virtual]

Update this object based on its XML node.

This method simply calls Object::updateFromXMLNode() and then calls a few methods in this class to ensure that variable members have been set in a consistent manner.

Reimplemented from OpenSim::Actuator.