OpenSim::CoordinateLimitForce Class Reference

#include <CoordinateLimitForce.h>

Inheritance diagram for OpenSim::CoordinateLimitForce:

Public Member Functions
	CoordinateLimitForce ()
	Default constructor.
	CoordinateLimitForce (const std::string &coordName, double q_upper, double K_upper, double q_lower, double K_lower, double damping, double dq)
	Generate a force that acts to limit the range of motion of a coordinate Force experienced at upper and lower limits of the coordinate (q) value is according to a linear siffneses K_upper and K_lower, with a C2 continuos transition from 0 to K.
	CoordinateLimitForce (const CoordinateLimitForce &aForce)
	Copy constructor.
virtual	~CoordinateLimitForce ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
CoordinateLimitForce &	operator= (const CoordinateLimitForce &aForce)
	Assignment operator.
void	setUpperStiffness (double aUpperStiffness)
	Set the parameters.
double	getUpperStiffness () const
	Get the parameters.
void	setUpperLimit (double aUpperLimit)
double	getUpperLimit () const
void	setLowerStiffness (double aLowerStiffness)
double	getLowerStiffness () const
void	setLowerLimit (double aLowerLimit)
double	getLowerLimit () const
void	setOffset (double aOffset)
double	getOffset () const
void	setDamping (double aDamping)
double	getDamping () const
void	setTransition (double aTransition)
virtual void	computeForce (const SimTK::State &s, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const
	Compute and apply the mobility force corrsponding to the passive limit force.
double	calcLimitForce (const SimTK::State &s) const
virtual 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 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 void	setup (Model &aModel)
	Perform some setup functions that happen after the object has been deserialized or copied.
	OPENSIM_DECLARE_DERIVED (CoordinateLimitForce, Force)
Protected Attributes
PropertyStr	_propCoordinateName
	Name of coordinate to which the coordinate actuator is applied.
std::string &	_coordName
PropertyDbl	_propUpperStiffness
	Stiffness of the limiting force beyond the transition region.
double &	_upperStiffness
PropertyDbl	_propUpperLimit
double &	_upperLimit
PropertyDbl	_propLowerStiffness
double &	_lowerStiffness
PropertyDbl	_propLowerLimit
double &	_lowerLimit
PropertyDbl	_propDamping
	Damping parameter.
double &	_damping
PropertyDbl	_propTransition
	The width of the nonlinear transition region.
double &	_transition
Coordinate *	_coord
	Corresponding generalized coordinate to which the coordinate actuator is applied.

Constructor & Destructor Documentation

CoordinateLimitForce::CoordinateLimitForce ( )

Default constructor.

OpenSim::CoordinateLimitForce::CoordinateLimitForce	(	const std::string &	coordName,
		double	q_upper,
		double	K_upper,
		double	q_lower,
		double	K_lower,
		double	damping,
		double	dq
	)

Generate a force that acts to limit the range of motion of a coordinate Force experienced at upper and lower limits of the coordinate (q) value is according to a linear siffneses K_upper and K_lower, with a C2 continuos transition from 0 to K.

The transition parameter (dq) defines how far beyond the limit the stiffness becomes purely linear. The integrator will like smoother (i.e. larger transition regions).

CoordinateLimitForce::CoordinateLimitForce ( const CoordinateLimitForce & aForce )

Copy constructor.

Parameters:

aForce

Actuator to be copied.

CoordinateLimitForce::~CoordinateLimitForce ( ) [virtual]

Destructor.

Member Function Documentation

double CoordinateLimitForce::calcLimitForce ( const SimTK::State & s ) const

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

Compute and apply the mobility force corrsponding to the passive limit force.

Reimplemented from OpenSim::Force.

Object * CoordinateLimitForce::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::Force.

double CoordinateLimitForce::getDamping ( ) const

double CoordinateLimitForce::getLowerLimit ( ) const

double CoordinateLimitForce::getLowerStiffness ( ) const

double OpenSim::CoordinateLimitForce::getOffset ( ) const

Array< std::string > CoordinateLimitForce::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.

Array< double > CoordinateLimitForce::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 CoordinateLimitForce::getUpperLimit ( ) const

double CoordinateLimitForce::getUpperStiffness ( ) const

Get the parameters.