OpenSim::PointActuator Class Reference

#include <PointActuator.h>

Inheritance diagram for OpenSim::PointActuator:

Public Member Functions
	PointActuator (std::string aBodyName="")
	PointActuator (const PointActuator &aGenForce)
	Copy constructor.
virtual	~PointActuator ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
void	copyData (const PointActuator &aGenForce)
	Copy the member data of the specified actuator.
PointActuator &	operator= (const PointActuator &aGenForce)
	Assignment operator.
void	setBody (Body *aBody)
	Set the generalized Body to which the Body actuator is applied.
Body *	getBody () const
	Get the generalized Body to which the Body actuator is applied.
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the force.
double	getOptimalForce () const
	Get the optimal force of the force.
double	getStress (const SimTK::State &s) const
	Get the stress of the force.
virtual void	computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const
	Apply the actuator force to BodyA and BodyB.
virtual double	computeActuation (const SimTK::State &s) const
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this point actuator actuator is valid.
void	setup (Model &aModel)
	setup sets the actual Body reference _body
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.
	OPENSIM_DECLARE_DERIVED (PointActuator, Actuator)
Protected Attributes
PropertyStr	_propBodyName
	Name of Body to which the Body actuator is applied.
PropertyDblVec3	_propPoint
	Point.
PropertyBool	_propPointIsGlobal
PropertyDblVec3	_propDirection
	Direction.
PropertyBool	_propForceIsGlobal
PropertyDbl	_propOptimalForce
	Optimal force.
std::string &	_bodyName
SimTK::Vec3 &	_point
bool &	_pointIsGlobal
SimTK::Vec3 &	_direction
bool &	_forceIsGlobal
double &	_optimalForce
Body *	_body
	Corresponding Body to which the point actuator is applied.

Constructor & Destructor Documentation

OpenSim::PointActuator::PointActuator ( std::string aBodyName = "" )

PointActuator::PointActuator ( const PointActuator & anActuator )

Copy constructor.

Parameters:

aForce

Force to be copied.

PointActuator::~PointActuator ( ) [virtual]

Destructor.

Member Function Documentation

bool PointActuator::check ( ) const [virtual]

Check that this point actuator actuator is valid.

Returns:: True if valid, false if invalid.

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

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

Implements OpenSim::Actuator_.

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

Apply the actuator force to BodyA and BodyB.

Reimplemented from OpenSim::Force.

Object * PointActuator::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.

void PointActuator::copyData ( const PointActuator & aGenForce )

Copy the member data of the specified actuator.

Reimplemented from OpenSim::Force.

Body * PointActuator::getBody ( ) const

Get the generalized Body to which the Body actuator is applied.

Returns:: Pointer to the Body

double PointActuator::getOptimalForce ( ) const [virtual]

Get the optimal force of the force.

Returns:: Optimal force.

Reimplemented from OpenSim::Actuator.

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

OpenSim::Array< double > PointActuator::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.

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

Get the stress of the force.

Returns:: Stress.

Reimplemented from OpenSim::Actuator.

OpenSim::PointActuator::OPENSIM_DECLARE_DERIVED	(	PointActuator	,
		Actuator
	)

PointActuator & PointActuator::operator= ( const PointActuator & aPointActuator )

Assignment operator.

Returns:: aBodyID ID (or number, or index) of the generalized Body.

Reimplemented from OpenSim::Actuator.

void PointActuator::setBody ( Body * aBody )

Set the generalized Body to which the Body actuator is applied.

Parameters:

aBody

Pointer to the generalized Body.

void PointActuator::setOptimalForce ( double aOptimalForce )

Set the optimal force of the force.

Parameters:

aOptimalForce

Optimal force.

void PointActuator::setup ( Model & aModel ) [virtual]

setup sets the actual Body reference _body

Reimplemented from OpenSim::Actuator.

void PointActuator::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.