OpenSim::TrackingTask Class Reference

An abstract base class for specifying a target for a tracking problem. More...

#include <TrackingTask.h>

Inheritance diagram for OpenSim::TrackingTask:

List of all members.

Public Member Functions
	TrackingTask ()
	Construct a default track object for a specified model.
	TrackingTask (const TrackingTask &aTaskObject)
	Copy constructor.
virtual	~TrackingTask ()
	Destructor.
virtual Object *	copy () const =0
	Construct and return a copy of this object.
TrackingTask &	operator= (const TrackingTask &aTaskObject)
	Assignment operator.
virtual void	setModel (OpenSim::Model &aModel)
	Set the model to which this track object applies.
Model *	getModel () const
	Get the model to which this track object applies.
void	setOn (bool aTrueFalse)
	Turn this track object on or off.
bool	getOn () const
	Get whether or not this track object is on.
void	setWeight (double aW0, double aW1=0.0, double aW2=0.0)
	Set the weight of each track goal.
void	setWeights (const Array< double > &aWeights)
double	getWeight (int aWhich) const
	Get the weight of each track goal.
const Array< double > &	getWeights () const
int	getNumTaskFunctions () const
	Get the number of position track functions.
virtual void	setTaskFunctions (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
	Set the track functions.
Protected Attributes
PropertyBool	_propOn
	Property to indicate on or off state.
PropertyDblArray	_propW
	Weights of the task goals.
bool &	_on
	Reference to the value of the on property.
Array< double > &	_w
	Reference to the value of the Weight property.
Model *	_model
	Model.
int	_nTrk
	Number of functions for this target.
Function *	_pTrk [3]
	Position task functions.
Function *	_vTrk [3]
	Velocity task functions.
Function *	_aTrk [3]
	Acceleration task functions.

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Detailed Description

An abstract base class for specifying a target for a tracking problem.

Author:

Ayman Habib & Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

TrackingTask::TrackingTask

(

)

Construct a default track object for a specified model.

TrackingTask::TrackingTask

(

const TrackingTask &

aTask

)

Copy constructor.

Parameters:

aTask

Task object to be copied.

TrackingTask::~TrackingTask

(

)

[virtual]

Destructor.

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Member Function Documentation

virtual Object* OpenSim::TrackingTask::copy

(

)

const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:

Copy of this object.

Reimplemented from OpenSim::Object.

Implemented in OpenSim::CMC_Joint, OpenSim::CMC_Point, OpenSim::CMC_Task, OpenSim::MuscleStateTrackingTask, and OpenSim::SMC_Joint.

Model * TrackingTask::getModel

(

)

const

Get the model to which this track object applies.

Returns:

Pointer to the model.

int TrackingTask::getNumTaskFunctions

(

)

const

Get the number of position track functions.

Returns:

Number of position track functions.

bool TrackingTask::getOn

(

)

const

Get whether or not this track object is on.

Returns:

True if on, false if off.

double TrackingTask::getWeight

(

int

aWhich

)

const

Get the weight of each track goal.

Parameters:

aWhich

Number of the track goal in question.

Returns:

Weight.

Reimplemented in OpenSim::CMC_Task.

const Array<double>& OpenSim::TrackingTask::getWeights

(

)

const [inline]

TrackingTask & TrackingTask::operator=

(

const TrackingTask &

aTask

)

Assignment operator.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::CMC_Joint, OpenSim::CMC_Point, OpenSim::CMC_Task, OpenSim::MuscleStateTrackingTask, OpenSim::SMC_Joint, and OpenSim::StateTrackingTask.

void TrackingTask::setModel

(

OpenSim::Model &

aModel

)

[virtual]

Set the model to which this track object applies.

Parameters:

aModel

Model.

Reimplemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

void TrackingTask::setOn

(

bool

aTrueFalse

)

Turn this track object on or off.

Parameters:

aTureFalse

Turns analysis on if "true" and off if "false".

void TrackingTask::setTaskFunctions	(	Function *	aF0,
		Function *	aF1 = NULL,
		Function *	aF2 = NULL
	)			[virtual]

Set the track functions.

Note that this method makes copies of the specified track functions, so the caller may use the specified functions for whatever purposes.

Parameters:

	aF0	Function for track goal 0.
	aF1	Function for track goal 1.
	aF2	Function for track goal 2.

void TrackingTask::setWeight	(	double	aW0,
		double	aW1 = 0.0,
		double	aW2 = 0.0
	)

Set the weight of each track goal.

Parameters:

	aW0	Weight for track goal 0.
	aW1	Weight for track goal 1.
	aW2	Weight for track goal 2.

Reimplemented in OpenSim::CMC_Task.

void OpenSim::TrackingTask::setWeights

(

const Array< double > &

aWeights

)

[inline]

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Member Data Documentation

Function* OpenSim::TrackingTask::_aTrk[3] [protected]

Acceleration task functions.

If acceleration task functions are not specified, derivatives of the position task function are used.

Model* OpenSim::TrackingTask::_model [protected]

Model.

int OpenSim::TrackingTask::_nTrk [protected]

Number of functions for this target.

bool& OpenSim::TrackingTask::_on [protected]

Reference to the value of the on property.

PropertyBool OpenSim::TrackingTask::_propOn [protected]

Property to indicate on or off state.

PropertyDblArray OpenSim::TrackingTask::_propW [protected]

Weights of the task goals.

Function* OpenSim::TrackingTask::_pTrk[3] [protected]

Position task functions.

Different types of tasks can require different numbers of task functions. For example, to track a joint angle, only one task function is needed. However, to track a position, up to three task functions may be needed.

Function* OpenSim::TrackingTask::_vTrk[3] [protected]

Velocity task functions.

If velocity task functions are not specified, derivatives of the position task function are used.

Array<double>& OpenSim::TrackingTask::_w [protected]

Reference to the value of the Weight property.

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

• OpenSim/Tools/TrackingTask.h
• OpenSim/Tools/TrackingTask.cpp