OpenSim::TorqueActuator Class Reference

#include <TorqueActuator.h>

Inheritance diagram for OpenSim::TorqueActuator:

Public Member Functions
	TorqueActuator (std::string aBodyNameA="", std::string abodyNameB="")
	TorqueActuator (const TorqueActuator &aTorqueActuator)
	Copy constructor.
virtual	~TorqueActuator ()
	Destructor.
virtual Object *	copy () const
	Copy this actuator and return a pointer to the copy.
void	copyData (const TorqueActuator &aTorqueActuator)
	Copy the member data of the specified actuator.
TorqueActuator &	operator= (const TorqueActuator &aGenForce)
	Assignment operator.
void	setBodyA (Body *aBody)
	Set the generalized Body to which the Body actuator is applied.
void	setBodyB (Body *aBody)
	Set the generalized Body to which the equal and opposite Body actuation is applied.
Body *	getBodyA () const
	Get the generalized Body to which the Body actuator is applied.
Body *	getBodyB () const
	Get the generalized Body to which the equal and opposite Body actuation is applied.
void	setAxis (SimTK::Vec3 anAxis)
SimTK::Vec3	getAxis () const
void	setTorqueIsGlobal (bool aBool)
bool	getTorqueIsGlobal ()
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the force.
double	getOptimalForce () const
	Get the optimal force of the force.
double	getStress (const SimTK::State &s) const
	Get the stress of the force.
virtual void	computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const
	Apply the actuator force to BodyA and BodyB.
virtual double	computeActuation (const SimTK::State &s) const
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this point actuator actuator is valid.
void	setup (Model &aModel)
	setup sets the actual Body references _bodyA and _bodyB
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().
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.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
	OPENSIM_DECLARE_DERIVED (TorqueActuator, Actuator)
Protected Attributes
PropertyStr	_propBodyNameA
	Name of Body to which the Body actuator is applied.
PropertyStr	_propBodyNameB
	Name of Body to which the equal and opposite torque is applied.
PropertyDblVec3	_propAxis
	Direction.
PropertyBool	_propTorqueIsGlobal
PropertyDbl	_propOptimalForce
	Optimal force.
std::string &	_bodyNameA
std::string &	_bodyNameB
SimTK::Vec3 &	_axis
	force direction: _axis is assumed to be expressed in the frame of _bodyA unless _torqueIsGlobal is true.
bool &	_torqueIsGlobal
double &	_optimalForce
Body *	_bodyA
	Corresponding Body to which the torque actuator is applied.
Body *	_bodyB
	Corresponding Body to which the equal and opposite torque is applied.

Constructor & Destructor Documentation

OpenSim::TorqueActuator::TorqueActuator	(	std::string	aBodyNameA = `""`,
		std::string	abodyNameB = `""`
	)

TorqueActuator::TorqueActuator ( const TorqueActuator & anActuator )

Copy constructor.

Parameters:

aForce

Force to be copied.

TorqueActuator::~TorqueActuator ( ) [virtual]

Destructor.

Member Function Documentation

bool TorqueActuator::check ( ) const [virtual]

Check that this point actuator actuator is valid.

Returns:: True if valid, false if invalid.

double TorqueActuator::computeActuation ( const SimTK::State & s ) const [virtual]

Compute all quantities necessary for applying the actuator force to the model.

Implements OpenSim::Actuator_.

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

Apply the actuator force to BodyA and BodyB.

Reimplemented from OpenSim::Force.

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

Copy this actuator and return a pointer to the copy.

The copy constructor for this class is used.

Returns:: Pointer to a copy of this actuator.

Implements OpenSim::Actuator.

void TorqueActuator::copyData ( const TorqueActuator & aTorqueActuator )

Copy the member data of the specified actuator.

Reimplemented from OpenSim::Force.

SimTK::Vec3 OpenSim::TorqueActuator::getAxis ( ) const [inline]

Body * TorqueActuator::getBodyA ( ) const

Get the generalized Body to which the Body actuator is applied.

Returns:: Pointer to the Body

Body * TorqueActuator::getBodyB ( ) const

Get the generalized Body to which the equal and opposite Body actuation is applied.

Returns:: Pointer to the Body

double TorqueActuator::getOptimalForce ( ) const [virtual]

Get the optimal force of the force.

Returns:: Optimal force.

Reimplemented from OpenSim::Actuator.

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

Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels().

Reimplemented from OpenSim::Force.

OpenSim::Array< double > TorqueActuator::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.

double TorqueActuator::getStress ( const SimTK::State & s ) const [virtual]

Get the stress of the force.

Returns:: Stress.

Reimplemented from OpenSim::Actuator.

bool OpenSim::TorqueActuator::getTorqueIsGlobal ( ) [inline]

OpenSim::TorqueActuator::OPENSIM_DECLARE_DERIVED	(	TorqueActuator	,
		Actuator
	)

TorqueActuator & TorqueActuator::operator= ( const TorqueActuator & aTorqueActuator )

Assignment operator.

Returns:: aBodyID ID (or number, or index) of the generalized Body.

Reimplemented from OpenSim::Actuator.

void OpenSim::TorqueActuator::setAxis ( SimTK::Vec3 anAxis ) [inline]

void TorqueActuator::setBodyA ( Body * aBody )

Set the generalized Body to which the Body actuator is applied.

Parameters:

aBody

Pointer to the generalized Body.

void TorqueActuator::setBodyB ( Body * aBody )

Set the generalized Body to which the equal and opposite Body actuation is applied.

Parameters:

aBody

Pointer to the generalized Body.

void TorqueActuator::setOptimalForce ( double aOptimalForce )

Set the optimal force of the force.

Parameters:

aOptimalForce

Optimal force.

void OpenSim::TorqueActuator::setTorqueIsGlobal ( bool aBool ) [inline]

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

setup sets the actual Body references _bodyA and _bodyB

Reimplemented from OpenSim::Actuator.

void TorqueActuator::updateFromXMLNode ( ) [virtual]

Update this object based on its XML node.

This method simply calls Object::updateFromXMLNode() and then calls a few methods in this class to ensure that variable members have been set in a consistent manner.

Reimplemented from OpenSim::Actuator.