OpenSim::RRATool Class Reference

An abstract class for specifying the interface for an investigation. More...

#include <RRATool.h>

Inheritance diagram for OpenSim::RRATool:

List of all members.

Public Member Functions
virtual	~RRATool ()
	Destructor.
	RRATool ()
	Default constructor.
	RRATool (const std::string &aFileName, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
	RRATool (const RRATool &aObject)
	Copy constructor.
virtual Object *	copy () const
	Virtual copy constructor.
RRATool &	operator= (const RRATool &aRRATool)
	Assignment operator.
const std::string &	getDesiredPointsFileName ()
void	setDesiredPointsFileName (const std::string &aFileName)
const std::string &	getDesiredKinematicsFileName ()
void	setDesiredKinematicsFileName (const std::string &aFileName)
const std::string &	getConstraintsFileName ()
void	setConstraintsFileName (const std::string &aFileName)
const std::string &	getTaskSetFileName ()
void	setTaskSetFileName (const std::string &aFileName)
const std::string &	getRRAControlsFileName ()
void	setRRAControlsFileName (const std::string &aFileName)
const std::string &	getOutputModelFileName ()
void	setOutputModelFileName (const std::string &aFileName)
bool	getAdjustCOMToReduceResiduals ()
void	setAdjustCOMToReduceResiduals (bool aAdjust)
const std::string &	getAdjustedCOMBody ()
void	setAdjustedCOMBody (const std::string &aBody)
double	getLowpassCutoffFrequency () const
void	setLowpassCutoffFrequency (double aLowpassCutoffFrequency)
const std::string &	getExternalLoadsFileName () const
void	setExternalLoadsFileName (const std::string &aFileName)
virtual bool	run () SWIG_DECLARE_EXCEPTION
	Run the investigation.
Storage &	getForceStorage ()
	Get a pointer to the Storage object holding forces.
void	setOriginalForceSet (const ForceSet &aForceSet)
virtual void	updateFromXMLNode ()
	Override default implementation by object to intercept and fix the XML node underneath the tool to match current version, issue warning for unexpected inputs.
ControlSet *	constructRRAControlSet (ControlSet *aControlConstraints)
	Create a set of control constraints based on an RRA solution.
void	initializeControlSetUsingConstraints (const ControlSet *aRRAControlSet, const ControlSet *aControlConstraints, ControlSet &rControlSet)
	Set controls to use steps except for the residuals, which use linear interpolation.
void	adjustCOMToReduceResiduals (SimTK::State &s, const Storage &qStore, const Storage &uStore)
void	adjustCOMToReduceResiduals (const OpenSim::Array< double > &aFAve, const OpenSim::Array< double > &aMAve)
	Adjust the center of mass to reduce any DC offsets in MX and MZ.
void	addNecessaryAnalyses ()
	Add Actuation/Kinematics analyses if necessary.
void	writeAdjustedModel ()
Static Public Member Functions
static void	computeAverageResiduals (const Storage &aForceStore, OpenSim::Array< double > &rFAve, OpenSim::Array< double > &rMAve)
	Compute the average residuals.
static void	computeAverageResiduals (SimTK::State &s, Model &aModel, double aTi, double aTf, const Storage &aStatesStore, OpenSim::Array< double > &rFAve, OpenSim::Array< double > &rMAve)

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Detailed Description

An abstract class for specifying the interface for an investigation.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

RRATool::~RRATool

(

)

[virtual]

Destructor.

RRATool::RRATool

(

)

Default constructor.

OpenSim::RRATool::RRATool	(	const std::string &	aFileName,
		bool	aLoadModel = true
	)

RRATool::RRATool

(

const RRATool &

aTool

)

Copy constructor.

Copy constructors for all Tools do not copy the Object's DOMnode and XMLDocument. The reason for this is that for the object and all its derived classes to establish the correct connection to the XML document nodes, the the object would need to reconstruct based on the XML document not the values of the object's member variables.

There are three proper ways to generate an XML document for a Tool:

1) Construction based on XML file (

See also:

Tool(const char *aFileName)). In this case, the XML document is created by parsing the XML file.

2) Construction by Tool(const XMLDocument *aDocument). This constructor explictly requests construction based on an XML document that is held in memory. In this way the proper connection between an object's node and the corresponding node within the XML document is established. This constructor is a copy constructor of sorts because all essential Tool member variables should be held within the XML document. The advantage of this style of construction is that nodes within the XML document, such as comments that may not have any associated Tool member variable, are preserved.

3) A call to generateXMLDocument(). This method generates an XML document for the Tool from scratch. Only the essential document nodes are created (that is, nodes that correspond directly to member variables.).

Parameters:

aTool

Object to be copied.

See also:

Tool(const XMLDocument *aDocument)

Tool(const char *aFileName)

generateXMLDocument()

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Member Function Documentation

void RRATool::addNecessaryAnalyses

(

)

Add Actuation/Kinematics analyses if necessary.

void RRATool::adjustCOMToReduceResiduals	(	const OpenSim::Array< double > &	aFAve,
		const OpenSim::Array< double > &	aMAve
	)

Adjust the center of mass to reduce any DC offsets in MX and MZ.

Parameters:

	aFAve	The average residual forces. The dimension of aFAve should be 3.
	aMAve	The average residual moments. The dimension of aMAve should be 3.

void RRATool::adjustCOMToReduceResiduals	(	SimTK::State &	s,
		const Storage &	qStore,
		const Storage &	uStore
	)

void RRATool::computeAverageResiduals	(	SimTK::State &	s,
		Model &	aModel,
		double	aTi,
		double	aTf,
		const Storage &	aStatesStore,
		OpenSim::Array< double > &	rFAve,
		OpenSim::Array< double > &	rMAve
	)			[static]

void RRATool::computeAverageResiduals	(	const Storage &	aForceStore,
		OpenSim::Array< double > &	rFAve,
		OpenSim::Array< double > &	rMAve
	)			[static]

Compute the average residuals.

Parameters:

	rFAve	The computed average force residuals. The size of rFAve is set to 3.
	rMAve	The computed average moment residuals. The size of rMAve is set to 3.

ControlSet * RRATool::constructRRAControlSet

(

ControlSet *

aControlConstraints

)

Create a set of control constraints based on an RRA solution.

If RRA (Residual Reduction Algorithm) was run to compute or reduce the residuals as a preprocessing step, those residuals need to be applied during the CMC run. They are applied by reading in the residuals computed during RRA and then using these controls to place narrow constraints on the controls for the residual actuators active during the CMC run.

Parameters:

aControlConstraints

Constraints based on a previous RRA solution to be used during this run of CMC.

Object * RRATool::copy

(

)

const [virtual]

Virtual copy constructor.

Returns:

Copy of this object.

Reimplemented from OpenSim::Object.

bool OpenSim::RRATool::getAdjustCOMToReduceResiduals

(

)

[inline]

const std::string& OpenSim::RRATool::getAdjustedCOMBody

(

)

[inline]

const std::string& OpenSim::RRATool::getConstraintsFileName

(

)

[inline]

const std::string& OpenSim::RRATool::getDesiredKinematicsFileName

(

)

[inline]

const std::string& OpenSim::RRATool::getDesiredPointsFileName

(

)

[inline]

const std::string& OpenSim::RRATool::getExternalLoadsFileName

(

)

const [inline]

Reimplemented from OpenSim::AbstractTool.

Storage & RRATool::getForceStorage

(

)

Get a pointer to the Storage object holding forces.

This's a utility routine used by the SimTrack GUI primarily to get access to residuals while running RRA.

User-beware, the storage will get out of scope and potentially get deleted when the analysis is done, so no assumptions about the lifetime of the returned storage object outside the owning analysis should be made.

double OpenSim::RRATool::getLowpassCutoffFrequency

(

)

const [inline]

const std::string& OpenSim::RRATool::getOutputModelFileName

(

)

[inline]

const std::string& OpenSim::RRATool::getRRAControlsFileName

(

)

[inline]

const std::string& OpenSim::RRATool::getTaskSetFileName

(

)

[inline]

void RRATool::initializeControlSetUsingConstraints	(	const ControlSet *	aRRAControlSet,
		const ControlSet *	aControlConstraints,
		ControlSet &	rControlSet
	)

Set controls to use steps except for the residuals, which use linear interpolation.

This method also sets the min and max values for the controls.

Parameters:

	aRRAControlSet	Controls that were output by an RRA pass.
	rControlSet	Controls for the current run of CMC.

RRATool & RRATool::operator=

(

const RRATool &

aTool

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::AbstractTool.

bool RRATool::run

(

)

[virtual]

Run the investigation.

Implements OpenSim::AbstractTool.

void OpenSim::RRATool::setAdjustCOMToReduceResiduals

(

bool

aAdjust

)

[inline]

void OpenSim::RRATool::setAdjustedCOMBody

(

const std::string &

aBody

)

[inline]

void OpenSim::RRATool::setConstraintsFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::RRATool::setDesiredKinematicsFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::RRATool::setDesiredPointsFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::RRATool::setExternalLoadsFileName

(

const std::string &

aFileName

)

[inline]

Reimplemented from OpenSim::AbstractTool.

void OpenSim::RRATool::setLowpassCutoffFrequency

(

double

aLowpassCutoffFrequency

)

[inline]

void RRATool::setOriginalForceSet

(

const ForceSet &

aForceSet

)

void OpenSim::RRATool::setOutputModelFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::RRATool::setRRAControlsFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::RRATool::setTaskSetFileName

(

const std::string &

aFileName

)

[inline]

void RRATool::updateFromXMLNode

(

)

[virtual]

Override default implementation by object to intercept and fix the XML node underneath the tool to match current version, issue warning for unexpected inputs.

Reimplemented from OpenSim::AbstractTool.

void RRATool::writeAdjustedModel

(

)

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The documentation for this class was generated from the following files:

• OpenSim/Tools/RRATool.h
• OpenSim/Tools/RRATool.cpp