OpenSim::InverseDynamics Class Reference

A class for performing and recording Inverse Dynamics forces/moments on a motion trajectory. More...

#include <InverseDynamics.h>

Inheritance diagram for OpenSim::InverseDynamics:

Public Member Functions
	InverseDynamics (Model *aModel=0)
	InverseDynamics (const InverseDynamics &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~InverseDynamics ()
	Destructor.
InverseDynamics &	operator= (const InverseDynamics &aInverseDynamics)
	Assign this object to the values of another.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
Storage *	getStorage ()
	Get the inverse dynamics force storage.
bool	getUseModelForceSet ()
void	setUseModelForceSet (bool aUseModelForceSet)
virtual void	setModel (Model &aModel)
	Set the model for which the inverse dynamics are to be computed.
virtual int	begin (SimTK::State &s)
	This method is called at the beginning of an analysis so that any necessary initializations may be performed.
virtual int	step (const SimTK::State &s, int setNumber)
	This method is called to perform the analysis.
virtual int	end (SimTK::State &s)
	This method is called at the end of an analysis so that any necessary finalizations may be performed.
virtual int	printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
	Print the results of the analysis.
Protected Member Functions
virtual int	record (const SimTK::State &s)
	Record the inverse dynamics forces.
Protected Attributes
PropertyBool	_useModelForceSetProp
	Use force set from model.
bool &	_useModelForceSet
Storage *	_storage
GCVSplineSet	_statesSplineSet
Array< double >	_dydt
Array< int >	_accelerationIndices
bool	_ownsForceSet
ForceSet *	_forceSet
SimTK::Matrix	_performanceMatrix
SimTK::Vector	_performanceVector
SimTK::Matrix	_constraintMatrix
SimTK::Vector	_constraintVector
SimTK::Vector	_lapackWork
Model *	_modelWorkingCopy

Detailed Description

A class for performing and recording Inverse Dynamics forces/moments on a motion trajectory.

Author:: Eran

Constructor & Destructor Documentation

InverseDynamics::InverseDynamics ( Model * aModel = 0 )

InverseDynamics::InverseDynamics ( const InverseDynamics & aObject )

Copy constructor.

InverseDynamics::~InverseDynamics ( ) [virtual]

Destructor.

Member Function Documentation

int InverseDynamics::begin ( SimTK::State & s ) [virtual]

This method is called at the beginning of an analysis so that any necessary initializations may be performed.

This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary.

Parameters:

s

state of system

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

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

Clone.

Reimplemented from OpenSim::Analysis.

int InverseDynamics::end ( SimTK::State & s ) [virtual]

This method is called at the end of an analysis so that any necessary finalizations may be performed.

This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary.

Parameters:

s

state of system

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

Storage * InverseDynamics::getStorage ( )

Get the inverse dynamics force storage.

Returns:: Inverse dynamics force storage.

bool OpenSim::InverseDynamics::getUseModelForceSet ( ) [inline]

InverseDynamics & InverseDynamics::operator= ( const InverseDynamics & aInverseDynamics )

Assign this object to the values of another.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

virtual int OpenSim::InverseDynamics::printResults	(	const std::string &	aBaseName,
		const std::string &	aDir = `""`,
		double	aDT = `-1.0`,
		const std::string &	aExtension = `".sto"`
	)			`[virtual]`

Print the results of the analysis.

Parameters:

	aFileName	File to which to print the data.
	aDT	Time interval between results (linear interpolation is used). If not included as an argument or negative, all time steps are printed without interpolation.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int InverseDynamics::record ( const SimTK::State & s ) [protected, virtual]

Record the inverse dynamics forces.

void InverseDynamics::setModel ( Model & aModel ) [virtual]

Set the model for which the inverse dynamics are to be computed.

Parameters:

aModel

Model pointer

Reimplemented from OpenSim::Analysis.

void InverseDynamics::setStorageCapacityIncrements ( int aIncrement )

Set the capacity increments of all storage instances.

Parameters:

aIncrement

Increment by which storage capacities will be increased when storage capacities run out.

void OpenSim::InverseDynamics::setUseModelForceSet ( bool aUseModelForceSet ) [inline]

int InverseDynamics::step	(	const SimTK::State &	s,
		int	stepNumber
	)			`[virtual]`

This method is called to perform the analysis.

It can be called during the execution of a forward integrations or after the integration by feeding it the necessary data.

This method should be overriden in derived classes. It is included here so that the derived class will not have to implement it if it is not necessary.

Parameters:

s

state of sytem