OpenSim::PointKinematics Class Reference

A class for recording the kinematics of a point on a body of a model during a simulation. More...

#include <PointKinematics.h>

Inheritance diagram for OpenSim::PointKinematics:

Public Member Functions
	PointKinematics (Model *aModel=0)
	Construct an PointKinematics instance for recording the kinematics of the bodies of a model during a simulation.
	PointKinematics (const std::string &aFileName)
	Construct an object from file.
	PointKinematics (const PointKinematics &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~PointKinematics ()
	Destructor.
PointKinematics &	operator= (const PointKinematics &aPointKinematics)
	Assign this object to the values of another.
void	setBodyPoint (const std::string &aBody, const SimTK::Vec3 &aPoint)
	Set the body for which the point kinematics are to be computed and the point on the body represented in local frame.
void	setBody (Body *aBody)
	Set the body for which the induced accelerations are to be computed.
void	setRelativeToBody (Body *aBody)
Body *	getBody ()
	Get the body for which the induced accelerations are to be computed.
Body *	getRelativeToBody ()
void	setPoint (const SimTK::Vec3 &aPoint)
	Set the point for which the induced accelerations are to be computed.
void	getPoint (SimTK::Vec3 &rPoint)
	Get the point for which the induced accelerations are to be computed.
void	setPointName (const std::string &aName)
const std::string &	getPointName ()
	Get the point name.
virtual void	setModel (Model &aModel)
	Set the model for which the point kinematics are to be computed.
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 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.
Static Public Attributes
static const int	NAME_LENGTH = PointKinematicsNAME_LENGTH
static const int	BUFFER_LENGTH = PointKinematicsBUFFER_LENGTH
Protected Member Functions
virtual int	record (const SimTK::State &s)
	Record the kinematics.
Protected Attributes
PropertyStr	_bodyNameProp
PropertyDblVec3	_pointProp
PropertyStr	_pointNameProp
PropertyStr	_relativeToBodyNameProp
std::string &	_bodyName
SimTK::Vec3 &	_point
std::string &	_pointName
std::string &	_relativeToBodyName
double *	_dy
double *	_kin
Storage *	_pStore
Storage *	_vStore
Storage *	_aStore

Detailed Description

A class for recording the kinematics of a point on a body of a model during a simulation.

Author:: Frank C. Anderson

Version:: 1.0

Constructor & Destructor Documentation

PointKinematics::PointKinematics ( Model * aModel = 0 )

Construct an PointKinematics instance for recording the kinematics of the bodies of a model during a simulation.

Also serves as a default constructor

Parameters:

aModel

Model for which the analyses are to be recorded.

PointKinematics::PointKinematics ( 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.

PointKinematics::PointKinematics ( const PointKinematics & aObject )

Copy constructor.

PointKinematics::~PointKinematics ( ) [virtual]

Destructor.

Member Function Documentation

int PointKinematics::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

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 system state
	aClientData	General use pointer for sending in client data.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

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

Clone.

Reimplemented from OpenSim::Analysis.

int PointKinematics::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
	aClientData	General use pointer for sending in client data.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

Storage * PointKinematics::getAccelerationStorage ( )

Get the acceleration storage.

Returns:: Acceleration storage.

Body * PointKinematics::getBody ( )

Get the body for which the induced accelerations are to be computed.

Returns:: Body pointer

void PointKinematics::getPoint ( SimTK::Vec3 & rPoint )

Get the point for which the induced accelerations are to be computed.

Parameters:

rPoint

X-Y-Z Point

const std::string & PointKinematics::getPointName ( )

Get the point name.

Parameters:

aName

Name for the point.

Storage * PointKinematics::getPositionStorage ( )

Get the position storage.

Returns:: Position storage.

Body * PointKinematics::getRelativeToBody ( )

Storage * PointKinematics::getVelocityStorage ( )

Get the velocity storage.

Returns:: Velocity storage.

PointKinematics & PointKinematics::operator= ( const PointKinematics & aPointKinematics )

Assign this object to the values of another.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

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

Record the kinematics.

void PointKinematics::setBody ( Body * aBody )

Set the body for which the induced accelerations are to be computed.

Parameters:

aBody

Body ID

void PointKinematics::setBodyPoint	(	const std::string &	aBody,
		const SimTK::Vec3 &	aPoint
	)

Set the body for which the point kinematics are to be computed and the point on the body represented in local frame.

Both params are required to avoid the limbo state where either body or point are undefined..

Parameters:

aBody

Body name [3] aPoint point coordinates

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

Set the model for which the point kinematics are to be computed.

Parameters:

aModel

Model pointer

Reimplemented from OpenSim::Analysis.

void PointKinematics::setPoint ( const SimTK::Vec3 & aPoint )

Set the point for which the induced accelerations are to be computed.

Parameters:

aPoint

X-Y-Z Point

void OpenSim::PointKinematics::setPointName ( const std::string & aName )

void PointKinematics::setRelativeToBody ( Body * aBody )

void PointKinematics::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 PointKinematics::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: