OpenSim::SMC_Joint Class Reference

A class for specifying the tracking task for a joint. More...

#include <SMC_Joint.h>

Inheritance diagram for OpenSim::SMC_Joint:

List of all members.

Public Member Functions
	SMC_Joint (const std::string &aCoordinateName="")
	SMC_Joint (const SMC_Joint &aTask)
	Copy constructor.
virtual	~SMC_Joint ()
	Destructor.
virtual Object *	copy () const
	Copy this track object and return a pointer to the copy.
SMC_Joint &	operator= (const SMC_Joint &aTask)
	Assignment operator.
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aT)
	Compute the desired accelerations.
Protected Attributes
PropertyDbl	_propS
	Parameter specifying the boundary of the error surface.
double &	_s

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Detailed Description

A class for specifying the tracking task for a joint.

Author:

Ko Sasaki

Version:

1.0

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Constructor & Destructor Documentation

OpenSim::SMC_Joint::SMC_Joint

(

const std::string &

aCoordinateName = ""

)

SMC_Joint::SMC_Joint

(

const SMC_Joint &

aTask

)

Copy constructor.

Parameters:

aTask

Joint task to be copied.

SMC_Joint::~SMC_Joint

(

)

[virtual]

Destructor.

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Member Function Documentation

void SMC_Joint::computeDesiredAccelerations	(	const SimTK::State &	state,
		double	aT
	)			[virtual]

Compute the desired accelerations.

This method assumes that the states have been set for the model.

Parameters:

aT

Time at which the desired accelerations are to be computed in real time units.

See also:

Model::set()

Model::setStates()

Reimplemented from OpenSim::CMC_Joint.

Object * SMC_Joint::copy

(

)

const [virtual]

Copy this track object and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this track object.

Reimplemented from OpenSim::CMC_Joint.

SMC_Joint & SMC_Joint::operator=

(

const SMC_Joint &

aTask

)

Assignment operator.

Parameters:

aTask

Object to be copied.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::CMC_Joint.

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Member Data Documentation

PropertyDbl OpenSim::SMC_Joint::_propS [protected]

Parameter specifying the boundary of the error surface.

double& OpenSim::SMC_Joint::_s [protected]

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

• OpenSim/Tools/SMC_Joint.h
• OpenSim/Tools/SMC_Joint.cpp