OpenSim::Kinematics Class Reference

A class for recording the kinematics of the generalized coordinates of a model during a simulation. More...

#include <Kinematics.h>

Inheritance diagram for OpenSim::Kinematics:

Public Member Functions
	Kinematics (Model *aModel=0)
	Construct an Kinematics object for recording the kinematics of a model's generalized coodinates during a simulation.
	Kinematics (const std::string &aFileName)
	Construct an object from file.
	Kinematics (const Kinematics &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~Kinematics ()
	Destructor.
Kinematics &	operator= (const Kinematics &aKinematics)
	Assignment operator.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
Storage *	getAccelerationStorage ()
	Get the acceleration storage.
Storage *	getVelocityStorage ()
	Get the velocity storage.
Storage *	getPositionStorage ()
	Get the position storage.
virtual void	setModel (Model &aModel)
	Set the model pointer for analyzing kinematics.
void	setRecordAccelerations (bool aRecordAccelerations)
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 kinematics.
Protected Attributes
PropertyStrArray	_coordinatesProp
	Names of generalized coordinates whose kinematics are to be recorded.
Array< std::string > &	_coordinates
Array< int >	_coordinateIndices
Array< double >	_values
double *	_q
double *	_u
double *	_udot
Storage *	_pStore
Storage *	_vStore
Storage *	_aStore
bool	_recordAccelerations

Detailed Description

A class for recording the kinematics of the generalized coordinates of a model during a simulation.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

Kinematics::Kinematics ( Model * aModel = 0 )

Construct an Kinematics object for recording the kinematics of a model's generalized coodinates during a simulation.

Parameters:

aModel

Model for which the kinematics are to be recorded.

Kinematics::Kinematics ( const std::string & aFileName )

Construct an object from file.

The object is constructed from the root element of the XML document. The type of object is the tag name of the XML root element.

Parameters:

aFileName

File name of the document.

Kinematics::Kinematics ( const Kinematics & aObject )

Copy constructor.

Kinematics::~Kinematics ( ) [virtual]

Destructor.

Member Function Documentation

int Kinematics::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 is meant to be called at the begining of an integration

Parameters:

s

current state of System

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

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

Clone.

Reimplemented from OpenSim::Analysis.

int Kinematics::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 is meant to be called at the end of an integration

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

current state of System

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

Storage * Kinematics::getAccelerationStorage ( )

Get the acceleration storage.

Returns:: Acceleration storage.

Storage * Kinematics::getPositionStorage ( )

Get the position storage.

Returns:: Position storage.

Storage * Kinematics::getVelocityStorage ( )

Get the velocity storage.

Returns:: Velocity storage.

Kinematics & Kinematics::operator= ( const Kinematics & aAnalysis )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

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

Record the kinematics.

Returns:: 0 of success, -1 on error.

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

Set the model pointer for analyzing kinematics.

Reimplemented from OpenSim::Analysis.

void OpenSim::Kinematics::setRecordAccelerations ( bool aRecordAccelerations ) [inline]

void Kinematics::setStorageCapacityIncrements ( int aIncrement )

Set the capacity increments of all storage instances.

Parameters:

aIncrement

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

int Kinematics::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.

When called during an integration, this method is meant to be called

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

current state of system