OpenSim::PrescribedForce Class Reference

This applies a force and/or torque to a body which is fully specified as a function of time. More...

#include <PrescribedForce.h>

Inheritance diagram for OpenSim::PrescribedForce:

Public Member Functions
	PrescribedForce (OpenSim::Body *body=0)
	Construct a PrescribedForce.
	PrescribedForce (const PrescribedForce &force)
	Copy constructor.
	PrescribedForce (DOMElement *aNode)
	Constructor from XML file.
	~PrescribedForce ()
	Destructor.
virtual Object *	copy () const
	Copy this force and return a pointer to the copy.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
void	setBodyName (const std::string &aBodyName)
const std::string &	getBodyName () const
void	setForceFunctions (Function forceX, Function forceY, Function *forceZ)
	Set the functions which specify the force to apply.
const FunctionSet &	getForceFunctions () const
FunctionSet &	updForceFunctions ()
void	getForceFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
void	setForceFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
void	clearForceFunctions ()
void	setPointFunctions (Function pointX, Function pointY, Function *pointZ)
	Set the functions which specify the point at which to apply the force.
const FunctionSet &	getPointFunctions () const
FunctionSet &	updPointFunctions ()
void	getPointFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
void	setPointFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
void	clearPointFunctions ()
void	setTorqueFunctions (Function torqueX, Function torqueY, Function *torqueZ)
	Set the functions which specify the torque to apply.
const FunctionSet &	getTorqueFunctions () const
FunctionSet &	updTorqueFunctions ()
void	getTorqueFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
void	setTorqueFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
void	clearTorqueFunctions ()
bool	getForceIsInGlobalFrame () const
	Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates.
void	setForceIsInGlobalFrame (bool isGlobal)
	Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates.
bool	getPointIsInGlobalFrame () const
	Get whether the point is specified in inertial coordinates or in the body's local coordinates.
void	setPointIsInGlobalFrame (bool isGlobal)
	Set whether the point is specified in inertial coordinates or in the body's local coordinates.
const OpenSim::Body &	getBody () const
	Get the body that the prescribed force is acting upon.
SimTK::Vec3	getForceAtTime (double aTime) const
	Conevenince methods to access prescribed force functions.
SimTK::Vec3	getPointAtTime (double aTime) const
SimTK::Vec3	getTorqueAtTime (double aTime) const
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Methods used for reporting.
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.
PrescribedForce &	operator= (const PrescribedForce &aJoint)
	Assignment operator.
	OPENSIM_DECLARE_DERIVED (PrescribedForce, Force)
Protected Member Functions
virtual void	setup (Model &model)
	ModelComponent interface.
virtual void	computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const
	Compute the force.
Protected Attributes
PropertyStr	_bodyNameProp
	The body that the Prescribed force is applied to.
std::string &	_bodyName
PropertyBool	_forceIsGlobalProp
bool &	_forceIsGlobal
PropertyBool	_pointIsGlobalProp
bool &	_pointIsGlobal
PropertyObj	_forceFunctionSetProp
FunctionSet &	_forceFunctionSet
PropertyObj	_pointFunctionSetProp
FunctionSet &	_pointFunctionSet
PropertyObj	_torqueFunctionSetProp
FunctionSet &	_torqueFunctionSet

Detailed Description

This applies a force and/or torque to a body which is fully specified as a function of time.

It is defined by three sets of functions, all of which are optional:

Three functions that specify a force to apply as a function of time. If these functions are not provided, no force is applied.

Three functions that specify the point at which the force should be applied. The resulting torque is automatically calculated and applied. If these functions are not provided, the force is applied at the body's center of mass, and therefore produces no torque.

Three functions that specify a torque to apply. This is in addition to any torque resulting from the force. If these functions are not provided, no additional torque is applied.

Author:: Peter Eastman, Matt DeMers

Constructor & Destructor Documentation

PrescribedForce::PrescribedForce ( OpenSim::Body * body = 0 )

Construct a PrescribedForce.

Default constructor.

By default, the force, torque, and point functions are all unspecified, meaning that it applies no force or torque. To specify them, call setForceFunctions(), setTorqueFunctions(), and setPointFunctions().

Parameters:

body

the body to apply the force to

PrescribedForce::PrescribedForce ( const PrescribedForce & force )

Copy constructor.

PrescribedForce::PrescribedForce ( DOMElement * aNode )

Constructor from XML file.

PrescribedForce::~PrescribedForce ( )

Destructor.

Member Function Documentation

void OpenSim::PrescribedForce::clearForceFunctions ( ) [inline]

void OpenSim::PrescribedForce::clearPointFunctions ( ) [inline]

void OpenSim::PrescribedForce::clearTorqueFunctions ( ) [inline]

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

Compute the force.

Reimplemented from OpenSim::Force.

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

Copy this force and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this force.

Implements OpenSim::Force.

const OpenSim::Body& OpenSim::PrescribedForce::getBody ( ) const [inline]

Get the body that the prescribed force is acting upon.

const std::string& OpenSim::PrescribedForce::getBodyName ( ) const [inline]

Vec3 PrescribedForce::getForceAtTime ( double aTime ) const

Conevenince methods to access prescribed force functions.

void OpenSim::PrescribedForce::getForceFunctionNames ( OpenSim::Array< std::string > & aFunctionNames ) [inline]

const FunctionSet& OpenSim::PrescribedForce::getForceFunctions ( ) const [inline]

bool PrescribedForce::getForceIsInGlobalFrame ( ) const

Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

Vec3 PrescribedForce::getPointAtTime ( double aTime ) const

void OpenSim::PrescribedForce::getPointFunctionNames ( OpenSim::Array< std::string > & aFunctionNames ) [inline]

const FunctionSet& OpenSim::PrescribedForce::getPointFunctions ( ) const [inline]

bool PrescribedForce::getPointIsInGlobalFrame ( ) const

Get whether the point is specified in inertial coordinates or in the body's local coordinates.

OpenSim::Array< std::string > PrescribedForce::getRecordLabels ( ) const [virtual]

Methods used for reporting.

Reimplemented from OpenSim::Force.

OpenSim::Array< double > PrescribedForce::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.

Vec3 PrescribedForce::getTorqueAtTime ( double aTime ) const

void OpenSim::PrescribedForce::getTorqueFunctionNames ( OpenSim::Array< std::string > & aFunctionNames ) [inline]

const FunctionSet& OpenSim::PrescribedForce::getTorqueFunctions ( ) const [inline]

OpenSim::PrescribedForce::OPENSIM_DECLARE_DERIVED	(	PrescribedForce	,
		Force
	)

PrescribedForce & PrescribedForce::operator= ( const PrescribedForce & aForce )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Force.

void OpenSim::PrescribedForce::setBodyName ( const std::string & aBodyName ) [inline]

void PrescribedForce::setForceFunctionNames	(	const OpenSim::Array< std::string > &	aFunctionNames,
		const OpenSim::Storage &	kineticsStore
	)

void PrescribedForce::setForceFunctions	(	Function *	forceX,
		Function *	forceY,
		Function *	forceZ
	)

Set the functions which specify the force to apply.

By default the force is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters:

	forceX	a function of time which calculates the X component of the force to apply
	forceY	a function of time which calculates the Y component of the force to apply
	forceZ	a function of time which calculates the Z component of the force to apply

void PrescribedForce::setForceIsInGlobalFrame ( bool isGlobal )

Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

void PrescribedForce::setPointFunctionNames	(	const OpenSim::Array< std::string > &	aFunctionNames,
		const OpenSim::Storage &	kineticsStore
	)

void PrescribedForce::setPointFunctions	(	Function *	pointX,
		Function *	pointY,
		Function *	pointZ
	)

Set the functions which specify the point at which to apply the force.

By default the point is specified in the body's local coordinates. This can be changed by calling setPointIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters:

	pointX	a function of time which calculates the X coordinate of the point at which to apply the force
	pointY	a function of time which calculates the Y coordinate of the point at which to apply the force
	pointZ	a function of time which calculates the Z coordinate of the point at which to apply the force

void PrescribedForce::setPointIsInGlobalFrame ( bool isGlobal )

Set whether the point is specified in inertial coordinates or in the body's local coordinates.

void PrescribedForce::setTorqueFunctionNames	(	const OpenSim::Array< std::string > &	aFunctionNames,
		const OpenSim::Storage &	kineticsStore
	)

void PrescribedForce::setTorqueFunctions	(	Function *	torqueX,
		Function *	torqueY,
		Function *	torqueZ
	)

Set the functions which specify the torque to apply.

By default the torque is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters:

	torqueX	a function of time which calculates the X component of the torque to apply
	torqueY	a function of time which calculates the Y component of the torque to apply
	torqueZ	a function of time which calculates the Z component of the torque to apply