OpenSim::ForwardTool Class Reference

A concrete tool for perfroming forward dynamics simulations. More...

#include <ForwardTool.h>

Inheritance diagram for OpenSim::ForwardTool:

Public Member Functions
virtual	~ForwardTool ()
	Destructor.
	ForwardTool ()
	Default constructor.
	ForwardTool (const std::string &aFileName, bool aUpdateFromXMLNode=true, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
	ForwardTool (const ForwardTool &aObject)
	Copy constructor.
virtual Object *	copy () const
	Virtual copy constructor.
ForwardTool &	operator= (const ForwardTool &aForwardTool)
	Assignment operator.
virtual void	updateFromXMLNode ()
	Override default implementation by object to intercept and fix the XML node underneath the tool to match current version.
void	setManager (Manager &m)
	Set the current integration manager.
const Manager &	getManager () const
	Get the current integration manager.
const std::string &	getStatesFileName () const
void	setStatesFileName (const std::string &aFileName)
bool	getUseSpecifiedDt () const
void	setUseSpecifiedDt (bool aUseSpecifiedDt)
void	setPrintResultFiles (bool aToWrite)
virtual bool	run () SWIG_DECLARE_EXCEPTION
	Run the investigation.
void	printResults ()
void	loadStatesStorage (std::string &statesFileName, Storage *&rYStore) const
const std::string &	getParsingLog ()
Static Public Member Functions
static double	Step (double t, double t0, double t1)
	A smooth step-down function using cubic polynomial.
static double	SigmaUp (double tau, double to, double t)
	A smooth step-up function using exponentials.
static double	SigmaDn (double tau, double to, double t)
	A smooth step-down function using exponentials.
Protected Member Functions
void	setDesiredStatesForControllers (Storage &rYStore)
int	determineInitialTimeFromStatesStorage (double &rTI)
void	InitializeSpecifiedTimeStepping (Storage *aYStore, Manager &aManager)
	Setup time stepping so that the integrator follows a pre-specified series of time steps.
Protected Attributes
PropertyStr	_statesFileNameProp
	Name of the states file.
std::string &	_statesFileName
OpenSim::PropertyBool	_useSpecifiedDtProp
	If true, the time steps from the states file are used during current integration.
bool &	_useSpecifiedDt
Storage *	_yStore
	Storage for the input states.
bool	_printResultFiles
	Flag indicating whether or not to write to the results (GUI will set this to false).
Manager *	_manager
	pointer to the simulation Manager
std::string	_parsingLog

Detailed Description

A concrete tool for perfroming forward dynamics simulations.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

ForwardTool::~ForwardTool ( ) [virtual]

Destructor.

ForwardTool::ForwardTool ( )

Default constructor.

OpenSim::ForwardTool::ForwardTool	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`,
		bool	aLoadModel = `true`
	)

ForwardTool::ForwardTool ( const ForwardTool & aTool )

Copy constructor.

Copy constructors for all Tools only copy the non-XML variable members of the object; that is, the object's DOMnode and XMLDocument are not copied but set to NULL. The reason for this is that for the object and all its derived classes to establish the correct connection to the XML document nodes, the the object would need to reconstruct based on the XML document not the values of the object's member variables.

There are three proper ways to generate an XML document for an Tool:

1) Construction based on XML file (

See also:: Tool(const char *aFileName)). In this case, the XML document is created by parsing the XML file.

2) Construction by Tool(const XMLDocument *aDocument). This constructor explictly requests construction based on an XML document. In this way the proper connection between an object's node and the corresponding node within the XML document is established. This constructor is a copy constructor of sorts because all essential Tool member variables should be held within the XML document. The advantage of this style of construction is that nodes within the XML document, such as comments that may not have any associated Tool member variable, are preserved.

3) A call to generateXMLDocument(). This method generates an XML document for the Tool from scratch. Only the essential document nodes are created (that is, nodes that correspond directly to member variables.).

Parameters:

aTool

Object to be copied.

See also:: Tool(const XMLDocument *aDocument); Tool(const char *aFileName); generateXMLDocument()

Member Function Documentation

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

Virtual copy constructor.

Reimplemented from OpenSim::Object.

int ForwardTool::determineInitialTimeFromStatesStorage ( double & rTI ) [protected]

const Manager & ForwardTool::getManager ( ) const

Get the current integration manager.

const std::string& OpenSim::ForwardTool::getParsingLog ( ) [inline]

const std::string& OpenSim::ForwardTool::getStatesFileName ( ) const [inline]

bool OpenSim::ForwardTool::getUseSpecifiedDt ( ) const [inline]

void ForwardTool::InitializeSpecifiedTimeStepping	(	Storage *	aYStore,
		Manager &	aManager
	)			`[protected]`

Setup time stepping so that the integrator follows a pre-specified series of time steps.

void ForwardTool::loadStatesStorage	(	std::string &	statesFileName,
		Storage *&	rYStore
	)			const

ForwardTool & ForwardTool::operator= ( const ForwardTool & aTool )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::AbstractTool.

void ForwardTool::printResults ( )

bool ForwardTool::run ( ) [virtual]

Run the investigation.

Implements OpenSim::AbstractTool.

void OpenSim::ForwardTool::setDesiredStatesForControllers ( Storage & rYStore ) [protected]

void ForwardTool::setManager ( Manager & m )

Set the current integration manager.

Parameters:

m

pointer to itegration manager

void OpenSim::ForwardTool::setPrintResultFiles ( bool aToWrite ) [inline]

void OpenSim::ForwardTool::setStatesFileName ( const std::string & aFileName ) [inline]

void OpenSim::ForwardTool::setUseSpecifiedDt ( bool aUseSpecifiedDt ) [inline]

double ForwardTool::SigmaDn	(	double	tau,
		double	to,
		double	t
	)			`[static]`

A smooth step-down function using exponentials.

Parameters:

	tau	Rise and fall time constant.
	to	Location of the midpoint of the step.
	t	Independent variable

double ForwardTool::SigmaUp	(	double	tau,
		double	to,
		double	t
	)			`[static]`

A smooth step-up function using exponentials.

Parameters:

	tau	Rise and fall time constant.
	to	Location of the midpoint of the step.
	t	Independent variable

double ForwardTool::Step	(	double	t,
		double	t0,
		double	t1
	)			`[static]`

A smooth step-down function using cubic polynomial.

x=0 for t<t0, x=1 for t>t1, and x=smooth step in between t0 and t1.

Parameters:

	t	Parameter at which to evaluate step function
	t0	Parameter value at which step starts (result=0 to the left)
	t1	Parameter value at which step ends (result=1 to the right)

void ForwardTool::updateFromXMLNode ( ) [virtual]

Override default implementation by object to intercept and fix the XML node underneath the tool to match current version.

Reimplemented from OpenSim::AbstractTool.

Member Data Documentation

Manager* OpenSim::ForwardTool::_manager [protected]

pointer to the simulation Manager

std::string OpenSim::ForwardTool::_parsingLog [protected]

bool OpenSim::ForwardTool::_printResultFiles [protected]

Flag indicating whether or not to write to the results (GUI will set this to false).

std::string& OpenSim::ForwardTool::_statesFileName [protected]

PropertyStr OpenSim::ForwardTool::_statesFileNameProp [protected]

Name of the states file.

The states file must at a minimum contain the initial states for a simulation. If a complete set of states is available, the time stamps can be used to specify the integration steps and corrective springs, which allow perturbations, can be added to the simulation.

bool& OpenSim::ForwardTool::_useSpecifiedDt [protected]

OpenSim::PropertyBool OpenSim::ForwardTool::_useSpecifiedDtProp [protected]

If true, the time steps from the states file are used during current integration.

Storage* OpenSim::ForwardTool::_yStore [protected]

Storage for the input states.

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

OpenSim/Tools/ForwardTool.h
OpenSim/Tools/ForwardTool.cpp

OpenSim::ForwardTool Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation