OpenSim::PathActuator Class Reference

#include <PathActuator.h>

Inheritance diagram for OpenSim::PathActuator:

Public Member Functions
	PathActuator ()
	Default constructor.
	PathActuator (const PathActuator &aGenForce)
	Copy constructor.
virtual	~PathActuator ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
void	copyData (const PathActuator &aGenForce)
	Copy the member data of the specified actuator.
PathActuator &	operator= (const PathActuator &aGenForce)
	Assignment operator.
GeometryPath &	updGeometryPath () const
const GeometryPath &	getGeometryPath () const
virtual bool	hasGeometryPath () const
	return a flag indicating whether the Force is applied along a Path if you override this method to return true for a specific subclass, it must also implement the getGeometryPath() mathod
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the force.
double	getOptimalForce () const
	Get the optimal force of the force.
virtual double	getLength (const SimTK::State &s) const
	Get the length of the path actuator.
virtual double	getLengtheningSpeed (const SimTK::State &s) const
	Get the speed of actuator along its path.
virtual double	getStress (const SimTK::State &s) const
	Get the stress of the force.
void	addNewPathPoint (const std::string &proposedName, OpenSim::Body &aBody, const SimTK::Vec3 &aPositionOnBody)
	Note that this function does not maintain the State and so should be used only before a valid State is created.
virtual void	computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const
	Apply the actuator force along path wrapping over and connecting rigid bodies.
virtual double	computeActuation (const SimTK::State &s) const
	Compute all quantities necessary for applying the actuator force to the model.
virtual double	computeMomentArm (SimTK::State &s, Coordinate &aCoord) const
	Compute the moment-arm of this muscle about a coordinate.
virtual OpenSim::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 OpenSim::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	updateFromXMLNode ()
	Update this object based on its XML node.
virtual void	preScale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Perform computations that need to happen before the muscle is scaled.
virtual void	scale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Scale the muscle based on XYZ scale factors for each body.
virtual void	postScale (const SimTK::State &s, const ScaleSet &aScaleSet)
	Perform computations that need to happen after the muscle is scaled.
virtual VisibleObject *	getDisplayer () const
	Get the visible object used to represent the muscle.
virtual void	updateDisplayer (const SimTK::State &s)
	Update the visible object used to represent the muscle.
	OPENSIM_DECLARE_DERIVED (PathActuator, Actuator)
Protected Member Functions
virtual void	setup (Model &aModel)
	Perform some setup functions that happen after the object has been deserialized or copied.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	Create underlying SimTK::Force.
Protected Attributes
PropertyObj	_pathProp
	the set of points defining the path of the muscle
GeometryPath &	_path
PropertyDbl	_propOptimalForce
	Optimal force.
double &	_optimalForce

Constructor & Destructor Documentation

PathActuator::PathActuator ( )

Default constructor.

PathActuator::PathActuator ( const PathActuator & aPathActuator )

Copy constructor.

Parameters:

aForce

Force to be copied.

PathActuator::~PathActuator ( ) [virtual]

Destructor.

Member Function Documentation

void PathActuator::addNewPathPoint	(	const std::string &	proposedName,
		OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPositionOnBody
	)

Note that this function does not maintain the State and so should be used only before a valid State is created.

Add a Path point to the _path of the actuator.

The new point is appended to the end of the current path

double PathActuator::computeActuation ( const SimTK::State & s ) const [virtual]

Compute all quantities necessary for applying the actuator force to the model.

Implements OpenSim::Actuator_.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

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

Apply the actuator force along path wrapping over and connecting rigid bodies.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

double PathActuator::computeMomentArm	(	SimTK::State &	s,
		Coordinate &	aCoord
	)			const `[virtual]`

Compute the moment-arm of this muscle about a coordinate.

Object * PathActuator::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::Actuator.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

void PathActuator::copyData ( const PathActuator & aGenForce )

Copy the member data of the specified actuator.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

void PathActuator::createSystem ( SimTK::MultibodySystem & system ) const [protected, virtual]

Create underlying SimTK::Force.

Reimplemented from OpenSim::Actuator.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

VisibleObject * PathActuator::getDisplayer ( ) const [virtual]

Get the visible object used to represent the muscle.

Reimplemented from OpenSim::Object.

const GeometryPath& OpenSim::PathActuator::getGeometryPath ( ) const [inline]

double PathActuator::getLength ( const SimTK::State & s ) const [virtual]

Get the length of the path actuator.

This is a convenience function that calls the underlying path object for its length.

Returns:: Current length of the actuator's path.

double PathActuator::getLengtheningSpeed ( const SimTK::State & s ) const [virtual]

Get the speed of actuator along its path.

Returns:: path lengthening speed.

double PathActuator::getOptimalForce ( ) const [virtual]

Get the optimal force of the force.

Returns:: Optimal force.

Reimplemented from OpenSim::Actuator.

OpenSim::Array< std::string > PathActuator::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.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

OpenSim::Array< double > PathActuator::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.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

double PathActuator::getStress ( const SimTK::State & s ) const [virtual]

Get the stress of the force.

Returns:: Stress.

Reimplemented from OpenSim::Actuator.

Reimplemented in OpenSim::ContDerivMuscle, and OpenSim::ActivationFiberLengthMuscle.

virtual bool OpenSim::PathActuator::hasGeometryPath ( ) const [inline, virtual]

return a flag indicating whether the Force is applied along a Path if you override this method to return true for a specific subclass, it must also implement the getGeometryPath() mathod

Reimplemented from OpenSim::Force.

OpenSim::PathActuator::OPENSIM_DECLARE_DERIVED	(	PathActuator	,
		Actuator
	)

PathActuator & PathActuator::operator= ( const PathActuator & aPathActuator )

Assignment operator.

Returns:: aCoordinateID ID (or number, or index) of the generalized coordinate.

Reimplemented from OpenSim::Actuator.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

void PathActuator::postScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Perform computations that need to happen after the muscle is scaled.

For this object, that entails updating the muscle path. Derived classes should probably also scale or update some of the force-generating properties.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

Reimplemented in OpenSim::ActivationFiberLengthMuscle.

void PathActuator::preScale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Perform computations that need to happen before the muscle is scaled.

For this object, that entails calculating and storing the muscle-tendon length in the current body position.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

void PathActuator::scale	(	const SimTK::State &	s,
		const ScaleSet &	aScaleSet
	)			`[virtual]`

Scale the muscle based on XYZ scale factors for each body.

Parameters:

aScaleSet

XYZ scale factors for the bodies.

Returns:: Whether muscle was successfully scaled or not.

void PathActuator::setOptimalForce ( double aOptimalForce )

Set the optimal force of the force.

Parameters:

aOptimalForce

Optimal force.

void PathActuator::setup ( Model & aModel ) [protected, virtual]

Perform some setup functions that happen after the object has been deserialized or copied.

Parameters:

aModel

OpenSim model containing this PathActuator.

Reimplemented from OpenSim::Actuator.

Reimplemented in OpenSim::ContDerivMuscle, OpenSim::Delp1990Muscle, OpenSim::RigidTendonMuscle, OpenSim::Schutte1993Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

void PathActuator::updateDisplayer ( const SimTK::State & s ) [virtual]

Update the visible object used to represent the muscle.

Reimplemented from OpenSim::ModelComponent.

void PathActuator::updateFromXMLNode ( ) [virtual]

Update this object based on its XML node.

This method simply calls Object::updateFromXMLNode() and then calls a few methods in this class to ensure that variable members have been set in a consistent manner.

Reimplemented from OpenSim::Actuator.

Reimplemented in OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, and OpenSim::Muscle.

GeometryPath& OpenSim::PathActuator::updGeometryPath ( ) const [inline]