OpenSim::SimbodyEngine Class Reference

A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim. More...

#include <SimbodyEngine.h>

Inheritance diagram for OpenSim::SimbodyEngine:

Public Member Functions
virtual	~SimbodyEngine ()
	Destructor.
	SimbodyEngine ()
	Default constructor.
	SimbodyEngine (const std::string &aFileName)
	SimbodyEngine (const SimbodyEngine &aEngine)
	Copy constructor.
virtual Object *	copy () const
	Copy this engine and return a pointer to the copy.
SimbodyEngine &	operator= (const SimbodyEngine &aEngine)
	Assignment operator.
const Model &	getModel () const
Model &	getModel ()
void	setModel (Model &aModel)
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual void	updateCoordinateSet (CoordinateSet &aCoordinateSet)
	Update all coordinates in the model with the ones in the passed-in coordinate set.
virtual void	getUnlockedCoordinates (const SimTK::State &s, CoordinateSet &rUnlockedCoordinates) const
	Get the set of coordinates that are not locked.
virtual bool	scale (SimTK::State &s, const ScaleSet &aScaleSet, double aFinalMass=-1.0, bool aPreserveMassDist=false)
	Scale the dynamics engine.
virtual Body &	getGroundBody () const
	Get the body that is being used as ground.
virtual WrapObject *	getWrapObject (const std::string &aName) const
virtual double	getMass () const
	Get the total mass of the model.
virtual void	getSystemInertia (const SimTK::State &s, double &rM, SimTK::Vec3 &rCOM, double rI[3][3]) const
virtual void	getSystemInertia (const SimTK::State &s, double &rM, double rCOM, double rI) const
	getSystemInertia
virtual void	getPosition (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rPos) const
virtual void	getVelocity (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rVel) const
virtual void	getAcceleration (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rAcc) const
virtual void	getDirectionCosines (const SimTK::State &s, const OpenSim::Body &aBody, double rDirCos[3][3]) const
	Get the body orientation with respect to the ground.
virtual void	getDirectionCosines (const SimTK::State &s, const OpenSim::Body &aBody, double *rDirCos) const
	Get the body orientation with respect to the ground.
virtual void	getAngularVelocity (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngVel) const
virtual void	getAngularVelocityBodyLocal (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngVel) const
virtual void	getAngularAcceleration (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngAcc) const
virtual void	getAngularAccelerationBodyLocal (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngAcc) const
virtual Transform	getTransform (const SimTK::State &s, const OpenSim::Body &aBody) const
	get a copy of the transform from the inertial frame to a body
virtual void	computeReactions (const SimTK::State &s, SimTK::Vector_< SimTK::Vec3 > &rForces, SimTK::Vector_< SimTK::Vec3 > &rTorques) const
virtual void	formCompleteStorages (const SimTK::State &s, const OpenSim::Storage &aQIn, OpenSim::Storage &rQComplete, OpenSim::Storage &rUComplete) const
	From a potentially partial specification of the generalized coordinates, form a complete storage of the generalized coordinates (q's) and generalized speeds (u's).
virtual void	formEulerTransform (const SimTK::State &s, const OpenSim::Body &aBody, double *rE) const
virtual void	computeDerivatives (const SimTK::State &s, double dqdt, double dudt)
	Compute the derivatives of the generalized coordinates and speeds.
virtual void	transform (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aVec[3], const OpenSim::Body &aBodyTo, double rVec[3]) const
	Transform a vector from one body to another.
virtual void	transform (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aVec, const OpenSim::Body &aBodyTo, SimTK::Vec3 &rVec) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aPos[3], const OpenSim::Body &aBodyTo, double rPos[3]) const
	Transform a point from one body to another.
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aPos, const OpenSim::Body &aBodyTo, SimTK::Vec3 &rPos) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aPos[3], double rPos[3]) const
	Transform a point from one body to the ground body.
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aPos, SimTK::Vec3 &rPos) const
virtual double	calcDistance (const SimTK::State &s, const OpenSim::Body &aBody1, const double aPoint1[3], const OpenSim::Body &aBody2, const double aPoint2[3]) const
	Calculate the distance between a point on one body and a point on another body.
virtual double	calcDistance (const SimTK::State &s, const OpenSim::Body &aBody1, const SimTK::Vec3 &aPoint1, const OpenSim::Body &aBody2, const SimTK::Vec3 &aPoint2) const
void	convertRadiansToDegrees (Storage &rStorage) const
	Convert the rotational generalized coordinates or speeds from units of radians to units of degrees for all the state-vectors in an Storage object.
void	convertDegreesToRadians (Storage &rStorage) const
	Convert the rotational generalized coordinates or speeds from units of degrees to units of radians for all the state-vectors in an Storage object.
void	convertDegreesToRadians (double aQDeg, double rQRad) const
	Convert an array of Q/U values from degrees to radians.
void	convertRadiansToDegrees (double aQRad, double rQDeg) const
	Convert an array of Q/U values from radians to degrees.
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double rDirCos[3][3]) const
	Convert angles to direction cosines.
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double *rDirCos) const
	Convert angles to direction cosines.
virtual void	convertDirectionCosinesToAngles (double aDirCos[3][3], double rE1, double rE2, double *rE3) const
	Convert direction cosines to angles.
virtual void	convertDirectionCosinesToAngles (double aDirCos, double rE1, double rE2, double rE3) const
	Convert direction cosines to angles.
virtual void	convertDirectionCosinesToQuaternions (double aDirCos[3][3], double rQ1, double rQ2, double rQ3, double rQ4) const
	Convert direction cosines to quaternions.
virtual void	convertDirectionCosinesToQuaternions (double aDirCos, double rQ1, double rQ2, double rQ3, double *rQ4) const
	Convert direction cosines to quaternions.
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const
	Convert quaternions to direction cosines.
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double *rDirCos) const
	Convert quaternions to direction cosines.
Public Attributes
Model *	_model
	Pointer to the model that owns this dynamics engine.
Protected Attributes
Body *	_groundBody
	Body used for ground, the inertial frame.
Friends
class	Body
class	Coordinate
class	Joint
class	Constraint
class	WeldConstraint
class	CoordinateCouplerConstraint

Detailed Description

A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim.

Authors:: Frank C. Anderson, Ajay Seth

Version:: 1.0

Constructor & Destructor Documentation

SimbodyEngine::~SimbodyEngine ( ) [virtual]

Destructor.

SimbodyEngine::SimbodyEngine ( )

Default constructor.

This constructor constructs a dynamic model of a simple pendulum.

OpenSim::SimbodyEngine::SimbodyEngine ( const std::string & aFileName )

SimbodyEngine::SimbodyEngine ( const SimbodyEngine & aEngine )

Copy constructor.

Member Function Documentation

virtual double OpenSim::SimbodyEngine::calcDistance	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody1,
		const SimTK::Vec3 &	aPoint1,
		const OpenSim::Body &	aBody2,
		const SimTK::Vec3 &	aPoint2
	)			const `[virtual]`

double SimbodyEngine::calcDistance	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody1,
		const double	aPoint1[3],
		const OpenSim::Body &	aBody2,
		const double	aPoint2[3]
	)			const `[virtual]`

Calculate the distance between a point on one body and a point on another body.

Parameters:

	aBody1	the body that the first point is expressed in
	aPoint1	the XYZ coordinates of the first point
	aBody2	the body that the second point is expressed in
	aPoint2	the XYZ coordinates of the second point

Returns:: the distance between aPoint1 and aPoint2

void SimbodyEngine::computeDerivatives	(	const SimTK::State &	s,
		double *	dqdt,
		double *	dudt
	)			`[virtual]`

Compute the derivatives of the generalized coordinates and speeds.

Parameters:

	dqdt	Derivatives of generalized coordinates.
	dudt	Derivatives of generalized speeds.

virtual void OpenSim::SimbodyEngine::computeReactions	(	const SimTK::State &	s,
		SimTK::Vector_< SimTK::Vec3 > &	rForces,
		SimTK::Vector_< SimTK::Vec3 > &	rTorques
	)			const `[virtual]`

void SimbodyEngine::convertAnglesToDirectionCosines	(	double	aE1,
		double	aE2,
		double	aE3,
		double *	rDirCos
	)			const `[virtual]`

Convert angles to direction cosines.

Parameters:

	aE1	1st Euler angle.
	aE2	2nd Euler angle.
	aE3	3rd Euler angle.
	rDirCos	Vector of direction cosines.

void SimbodyEngine::convertAnglesToDirectionCosines	(	double	aE1,
		double	aE2,
		double	aE3,
		double	rDirCos[3][3]
	)			const `[virtual]`

Convert angles to direction cosines.

Parameters:

	aE1	1st Euler angle.
	aE2	2nd Euler angle.
	aE3	3rd Euler angle.
	rDirCos	Vector of direction cosines.

void SimbodyEngine::convertDegreesToRadians	(	double *	aQDeg,
		double *	rQRad
	)			const

Convert an array of Q/U values from degrees to radians.

The sizes of the arrays are assumed to be equal to the number of Us.

Parameters:

	aQDeg	Array of values, in degrees
	rQRad	Array of values, in radians

void SimbodyEngine::convertDegreesToRadians ( Storage & rStorage ) const

Convert the rotational generalized coordinates or speeds from units of degrees to units of radians for all the state-vectors in an Storage object.

Coordinates/speeds are identified by column names.

Parameters:

rStorage

Storage object.

void SimbodyEngine::convertDirectionCosinesToAngles	(	double *	aDirCos,
		double *	rE1,
		double *	rE2,
		double *	rE3
	)			const `[virtual]`

Convert direction cosines to angles.

Parameters:

	aDirCos	Vector of direction cosines.
	rE1	1st Euler angle.
	rE2	2nd Euler angle.
	rE3	3rd Euler angle.

void SimbodyEngine::convertDirectionCosinesToAngles	(	double	aDirCos[3][3],
		double *	rE1,
		double *	rE2,
		double *	rE3
	)			const `[virtual]`

Convert direction cosines to angles.

Parameters:

	aDirCos	Vector of direction cosines.
	rE1	1st Euler angle.
	rE2	2nd Euler angle.
	rE3	3rd Euler angle.

void SimbodyEngine::convertDirectionCosinesToQuaternions	(	double *	aDirCos,
		double *	rQ1,
		double *	rQ2,
		double *	rQ3,
		double *	rQ4
	)			const `[virtual]`

Convert direction cosines to quaternions.

Parameters:

	aDirCos	Vector of direction cosines.
	rQ1	1st Quaternion.
	rQ2	2nd Quaternion.
	rQ3	3rd Quaternion.
	rQ4	4th Quaternion.

void SimbodyEngine::convertDirectionCosinesToQuaternions	(	double	aDirCos[3][3],
		double *	rQ1,
		double *	rQ2,
		double *	rQ3,
		double *	rQ4
	)			const `[virtual]`

Convert direction cosines to quaternions.

Parameters:

	aDirCos	Vector of direction cosines.
	rQ1	1st Quaternion.
	rQ2	2nd Quaternion.
	rQ3	3rd Quaternion.
	rQ4	4th Quaternion.

void SimbodyEngine::convertQuaternionsToDirectionCosines	(	double	aQ1,
		double	aQ2,
		double	aQ3,
		double	aQ4,
		double *	rDirCos
	)			const `[virtual]`

Convert quaternions to direction cosines.

Parameters:

	aQ1	1st Quaternion.
	aQ2	2nd Quaternion.
	aQ3	3rd Quaternion.
	aQ4	4th Quaternion.
	rDirCos	Vector of direction cosines.

void SimbodyEngine::convertQuaternionsToDirectionCosines	(	double	aQ1,
		double	aQ2,
		double	aQ3,
		double	aQ4,
		double	rDirCos[3][3]
	)			const `[virtual]`

Convert quaternions to direction cosines.

Parameters:

	aQ1	1st Quaternion.
	aQ2	2nd Quaternion.
	aQ3	3rd Quaternion.
	aQ4	4th Quaternion.
	rDirCos	Vector of direction cosines.

void SimbodyEngine::convertRadiansToDegrees	(	double *	aQRad,
		double *	rQDeg
	)			const

Convert an array of Q/U values from radians to degrees.

The sizes of the arrays are assumed to be equal to the number of Us.

Parameters:

	aQRad	Array of values, in radians
	rQDeg	Array of values, in degrees

void SimbodyEngine::convertRadiansToDegrees ( Storage & rStorage ) const

Convert the rotational generalized coordinates or speeds from units of radians to units of degrees for all the state-vectors in an Storage object.

Coordinates/speeds are identified by column names.

Parameters:

rStorage

Storage object.

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

Copy this engine and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this SimbodyEngine.

Reimplemented from OpenSim::Object.

void SimbodyEngine::formCompleteStorages	(	const SimTK::State &	s,
		const OpenSim::Storage &	aQIn,
		OpenSim::Storage *&	rQComplete,
		OpenSim::Storage *&	rUComplete
	)			const `[virtual]`

From a potentially partial specification of the generalized coordinates, form a complete storage of the generalized coordinates (q's) and generalized speeds (u's).

Parameters:

	aQIn	Storage containing the q's or a subset of the q's. Rotational q's should be in degrees.
	rQComplete	Storage containing all the q's. If q's were not in aQIn, the values are set to 0.0. When a q is constrained, its value is altered to be consistent with the constraint. The caller is responsible for deleting the memory associated with this storage.
	rUComplete	Storage containing all the u's. The generalized speeds are obtained by spline fitting the q's and differentiating the splines. When a u is constrained, its value is altered to be consisten with the constraint. The caller is responsible for deleting the memory associated with this storage.

void SimbodyEngine::formEulerTransform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double *	rE
	)			const `[virtual]`

virtual void OpenSim::SimbodyEngine::getAcceleration	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rAcc
	)			const `[virtual]`

virtual void OpenSim::SimbodyEngine::getAngularAcceleration	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngAcc
	)			const `[virtual]`

virtual void OpenSim::SimbodyEngine::getAngularAccelerationBodyLocal	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngAcc
	)			const `[virtual]`

virtual void OpenSim::SimbodyEngine::getAngularVelocity	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngVel
	)			const `[virtual]`

virtual void OpenSim::SimbodyEngine::getAngularVelocityBodyLocal	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngVel
	)			const `[virtual]`

void SimbodyEngine::getDirectionCosines	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double *	rDirCos
	)			const `[virtual]`

Get the body orientation with respect to the ground.

Parameters:

	aBody	Pointer to body.
	rDirCos	Orientation of the body with respect to the ground frame.

void SimbodyEngine::getDirectionCosines	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double	rDirCos[3][3]
	)			const `[virtual]`

Get the body orientation with respect to the ground.

Parameters:

	aBody	Pointer to body.
	rDirCos	Orientation of the body with respect to the ground frame.

OpenSim::Body & SimbodyEngine::getGroundBody ( ) const [virtual]

Get the body that is being used as ground.

Returns:: Pointer to the ground body.

double SimbodyEngine::getMass ( ) const [virtual]

Get the total mass of the model.

Returns:: the mass of the model

Model& OpenSim::SimbodyEngine::getModel ( ) [inline]

const Model& OpenSim::SimbodyEngine::getModel ( ) const [inline]

virtual void OpenSim::SimbodyEngine::getPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rPos
	)			const `[virtual]`

void SimbodyEngine::getSystemInertia	(	const SimTK::State &	s,
		double &	rM,
		double *	rCOM,
		double *	rI
	)			const `[virtual]`

getSystemInertia

Parameters:

	rM
	rCOM
	rI

virtual void OpenSim::SimbodyEngine::getSystemInertia	(	const SimTK::State &	s,
		double &	rM,
		SimTK::Vec3 &	rCOM,
		double	rI[3][3]
	)			const `[virtual]`

SimTK::Transform SimbodyEngine::getTransform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody
	)			const `[virtual]`

get a copy of the transform from the inertial frame to a body

Parameters:

aBody

Returns:: Transform from inertial frame to body

void SimbodyEngine::getUnlockedCoordinates	(	const SimTK::State &	s,
		CoordinateSet &	rUnlockedCoordinates
	)			const `[virtual]`

Get the set of coordinates that are not locked.

Parameters:

rUnlockedCoordinates

set of unlocked coordinates is returned here

virtual void OpenSim::SimbodyEngine::getVelocity	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rVel
	)			const `[virtual]`

virtual WrapObject* OpenSim::SimbodyEngine::getWrapObject ( const std::string & aName ) const [virtual]

SimbodyEngine & SimbodyEngine::operator= ( const SimbodyEngine & aEngine )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

bool SimbodyEngine::scale	(	SimTK::State &	s,
		const ScaleSet &	aScaleSet,
		double	aFinalMass = `-1.0`,
		bool	aPreserveMassDist = `false`
	)			`[virtual]`

Scale the dynamics engine.

Parameters:

	aScaleSet	the set of XYZ scale factors for the bodies
	aFinalMass	the mass that the scaled model should have
	aPreserveMassDist	whether or not the masses of the individual bodies should be scaled with the body scale factors.

Returns:: Whether or not scaling was successful.

void OpenSim::SimbodyEngine::setModel ( Model & aModel ) [inline]

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

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters:

aModel

model containing this SimbodyEngine.

virtual void OpenSim::SimbodyEngine::transform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aVec,
		const OpenSim::Body &	aBodyTo,
		SimTK::Vec3 &	rVec
	)			const `[virtual]`

void SimbodyEngine::transform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aVec[3],
		const OpenSim::Body &	aBodyTo,
		double	rVec[3]
	)			const `[virtual]`

Transform a vector from one body to another.

Parameters:

	aBodyFrom	the body in which the vector is currently expressed
	aPos	the vector to be transformed
	aBodyTo	the body the vector will be transformed into
	rPos	the vector in the aBodyTo frame is returned here

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aPos,
		SimTK::Vec3 &	rPos
	)			const `[virtual]`

void SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aPos[3],
		double	rPos[3]
	)			const `[virtual]`

Transform a point from one body to the ground body.

Parameters:

	aBodyFrom	the body in which the point is currently expressed
	aPos	the XYZ coordinates of the point
	rPos	the XYZ coordinates of the point in the ground frame are returned here

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aPos,
		const OpenSim::Body &	aBodyTo,
		SimTK::Vec3 &	rPos
	)			const `[virtual]`

void SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aPos[3],
		const OpenSim::Body &	aBodyTo,
		double	rPos[3]
	)			const `[virtual]`

Transform a point from one body to another.

Parameters:

	aBodyFrom	the body in which the point is currently expressed
	aPos	the XYZ coordinates of the point
	aBodyTo	the body the point will be transformed into
	rPos	the XYZ coordinates of the point in the aBodyTo frame are returned here

void SimbodyEngine::updateCoordinateSet ( CoordinateSet & aCoordinateSet ) [virtual]

Update all coordinates in the model with the ones in the passed-in coordinate set.

If the coordinate does not exist in the model, it is not added.

Parameters:

aCoordinateSet

set of coordinates to be updated/added

Friends And Related Function Documentation

friend class Body [friend]

friend class Constraint [friend]

friend class Coordinate [friend]

friend class CoordinateCouplerConstraint [friend]

friend class Joint [friend]

friend class WeldConstraint [friend]

Member Data Documentation

Body* OpenSim::SimbodyEngine::_groundBody [protected]

Body used for ground, the inertial frame.

Model* OpenSim::SimbodyEngine::_model

Pointer to the model that owns this dynamics engine.

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

OpenSim/Simulation/SimbodyEngine/SimbodyEngine.h
OpenSim/Simulation/SimbodyEngine/SimbodyEngine.cpp

OpenSim::SimbodyEngine Class Reference

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation