OpenSim::ExternalLoads Class Reference

A convenience class for managing ExternaForce(s) to be applied to a model. More...

#include <ExternalLoads.h>

Inheritance diagram for OpenSim::ExternalLoads:

Public Member Functions
	ExternalLoads ()
	Default constructor.
	ExternalLoads (Model &model)
	ExternalLoads (Model &model, const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Construct an actuator set from file.
	ExternalLoads (const ExternalLoads &aExternalLoads)
	Copy constructor.
virtual	~ExternalLoads ()
	Destructor.
virtual Object *	copy () const
	Copy this ExternalLoads and return a pointer to the copy.
void	copyData (const ExternalLoads &otherExternalLoads)
	Copy the member variables of the ExternalLoads.
virtual void	updateFromXMLNode ()
	Override of the default implementation to account for versioning.
virtual void	setup (Model &aModel)
	Set the Model this object is part of.
const Model &	getModel () const
	Get this Model this set is part of.
const std::string &	getDataFileName () const
void	setDataFileName (const std::string &aNewFile)
const std::string &	getExternalLoadsModelKinematicsFileName () const
void	setExternalLoadsModelKinematicsFileName (const std::string &aFileName)
double	getLowpassCutoffFrequencyForLoadKinematics () const
void	setLowpassCutoffFrequencyForLoadKinematics (double aLowpassCutoffFrequency)
void	transformPointsExpressedInGroundToAppliedBodies (const Storage &kinematics, double startTime=-SimTK::Infinity, double endTime=SimTK::Infinity)
	Re-express the position of the point of application for all ExternalForces in this collection of ExternalLoads, such that all points expressed in ground are transformed (re-expressed) in the appliedToBody of the External- Force.
ExternalForce *	transformPointExpressedInGroundToAppliedBody (const ExternalForce &exForce, const Storage &kinematics, double startTime, double endTime)
ExternalLoads &	operator= (const ExternalLoads &otherExternalLoads)
	Assignment operator.
Protected Attributes
PropertyStr	_dataFileNameProp
	Data source for all forces in this ExternalLoads, where individual external forces identify which subsets of the data they will acceess.
std::string &	_dataFileName
OpenSim::PropertyStr	_externalLoadsModelKinematicsFileNameProp
	Name of the file containing the model kinematics corresponding to the external loads.
std::string &	_externalLoadsModelKinematicsFileName
OpenSim::PropertyDbl	_lowpassCutoffFrequencyForLoadKinematicsProp
	Low-pass cut-off frequency for filtering the model kinematics corresponding to the external loads.
double &	_lowpassCutoffFrequencyForLoadKinematics

Detailed Description

A convenience class for managing ExternaForce(s) to be applied to a model.

This includes creating instances and manipulating the data source of inividual ExternalForces so that they satsify conditions imposed by particular Tools. For example, ForwardTool, CMC/RRA, achieve better tracking (slower divergence) if the ground reaction forces are applied to a point that is expressed in the foot frame according to "ideal" kinematics. ExternalLoads provides convenience methdods to perform this "mapping" which is beyong the scope of an individual ExternalForce, but is too much detail to have each Tool implement.

An indiviudal ExternalForce has a property for its data source name, but under the management of ExternalLoads, the data source identified by ExternalLoads is used to set the data source on each ExternalForce. If multiple data sources are required for different groups of external forces then use multiple ExternalLoads.

Authors:: Ajay Seth, Ayman Habib

Version:: 1.0

Constructor & Destructor Documentation

ExternalLoads::ExternalLoads ( )

Default constructor.

ExternalLoads::ExternalLoads ( Model & model )

ExternalLoads::ExternalLoads	(	Model &	model,
		const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

Construct an actuator set from file.

Parameters:

aFileName

Name of the file.

ExternalLoads::ExternalLoads ( const ExternalLoads & otherExternalLoads )

Copy constructor.

Parameters:

otherExternalLoads

ExternalLoads to be copied.

ExternalLoads::~ExternalLoads ( ) [virtual]

Destructor.

Member Function Documentation

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

Copy this ExternalLoads and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this ExternalLoads.

Reimplemented from OpenSim::ModelComponentSet< ExternalForce >.

void ExternalLoads::copyData ( const ExternalLoads & aAbsExternalLoads )

Copy the member variables of the ExternalLoads.

Parameters:

otherExternalLoads

actuator set to be copied

const std::string& OpenSim::ExternalLoads::getDataFileName ( ) const [inline]

const std::string& OpenSim::ExternalLoads::getExternalLoadsModelKinematicsFileName ( ) const [inline]

double OpenSim::ExternalLoads::getLowpassCutoffFrequencyForLoadKinematics ( ) const [inline]

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

Get this Model this set is part of.

Reimplemented from OpenSim::ModelComponentSet< ExternalForce >.

ExternalLoads & ExternalLoads::operator= ( const ExternalLoads & otherExternalLoads )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

void OpenSim::ExternalLoads::setDataFileName ( const std::string & aNewFile ) [inline]

void OpenSim::ExternalLoads::setExternalLoadsModelKinematicsFileName ( const std::string & aFileName ) [inline]

void OpenSim::ExternalLoads::setLowpassCutoffFrequencyForLoadKinematics ( double aLowpassCutoffFrequency ) [inline]

void ExternalLoads::setup ( Model & model ) [virtual]

Set the Model this object is part of.

Reimplemented from OpenSim::ModelComponentSet< ExternalForce >.

ExternalForce * ExternalLoads::transformPointExpressedInGroundToAppliedBody	(	const ExternalForce &	exForce,
		const Storage &	kinematics,
		double	startTime,
		double	endTime
	)

void ExternalLoads::transformPointsExpressedInGroundToAppliedBodies	(	const Storage &	kinematics,
		double	startTime = `-SimTK::Infinity`,
		double	endTime = `SimTK::Infinity`
	)

Re-express the position of the point of application for all ExternalForces in this collection of ExternalLoads, such that all points expressed in ground are transformed (re-expressed) in the appliedToBody of the External- Force.

The pointExpressedInBody is correspondingly updated to be the appliedToBody as well. Note: If the point is not expressed in ground to begin with, it is not re-expressed. If the ExternalForce does not specify a point of application (body force or torque) it remains untouched.

Parameters:

kinematics

Storage containing the time history of generalized coordinates for the model. Note that all generalized coordinates must be specified and in radians and Euler parameters.

void ExternalLoads::updateFromXMLNode ( ) [virtual]

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Object.

Member Data Documentation

std::string& OpenSim::ExternalLoads::_dataFileName [protected]

PropertyStr OpenSim::ExternalLoads::_dataFileNameProp [protected]

Data source for all forces in this ExternalLoads, where individual external forces identify which subsets of the data they will acceess.

std::string& OpenSim::ExternalLoads::_externalLoadsModelKinematicsFileName [protected]

OpenSim::PropertyStr OpenSim::ExternalLoads::_externalLoadsModelKinematicsFileNameProp [protected]

Name of the file containing the model kinematics corresponding to the external loads.

double& OpenSim::ExternalLoads::_lowpassCutoffFrequencyForLoadKinematics [protected]

OpenSim::PropertyDbl OpenSim::ExternalLoads::_lowpassCutoffFrequencyForLoadKinematicsProp [protected]

Low-pass cut-off frequency for filtering the model kinematics corresponding to the external loads.

A negative value results in no filtering. The default value is -1.0, so no filtering.

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

OpenSim/Simulation/Model/ExternalLoads.h
OpenSim/Simulation/Model/ExternalLoads.cpp

OpenSim::ExternalLoads Class Reference

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation