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OpenSim::Actuator_ Class Reference

Base class for an actuator (e.g., a torque motor, muscle, ...) that requires external input (controls) to generate force. More...

#include <Actuator.h>

Inheritance diagram for OpenSim::Actuator_:
OpenSim::Force OpenSim::ModelComponent OpenSim::Object OpenSim::Actuator OpenSim::CoordinateActuator OpenSim::PathActuator OpenSim::PointActuator OpenSim::PointToPointActuator OpenSim::TorqueActuator OpenSim::Muscle OpenSim::ActivationFiberLengthMuscle OpenSim::ActivationFiberLengthMuscle_Deprecated OpenSim::Millard2012AccelerationMuscle OpenSim::Millard2012EquilibriumMuscle OpenSim::RigidTendonMuscle OpenSim::Thelen2003Muscle OpenSim::ContDerivMuscle_Deprecated OpenSim::Delp1990Muscle_Deprecated OpenSim::Schutte1993Muscle_Deprecated OpenSim::Thelen2003Muscle_Deprecated

Public Member Functions

 Actuator_ ()
virtual int numControls () const =0
virtual const SimTK::Vector getDefaultControls ()
 Actuator default controls are zero.
virtual const
SimTK::VectorView_< double > 
getControls (const SimTK::State &s) const
virtual void getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const
 Convenience methods for getting, setting and adding to actuator controls from/into the model controls.
virtual void setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
 set actuator controls subvector into the right slot in the system-wide model controls
virtual void addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
 add actuator controls to the values already occupying the slot in the system-wide model controls
virtual double computeActuation (const SimTK::State &s) const =0
virtual void computeEquilibrium (SimTK::State &s) const
- Public Member Functions inherited from OpenSim::Force
 Force (const Force &aForce)
 
 Implements a copy constructor just so it can invalidate the 

SimTK::Force index after copying.

Forceoperator= (const Force &aForce)
 
Implements a copy assignment operator just so it can invalidate the 

SimTK::Force index after the assignment.

bool isDisabled (const SimTK::State &s) const
 Return if the Force is disabled or not.
void setDisabled (SimTK::State &s, bool disabled)
 Set the Force as disabled (true) or not (false).
virtual OpenSim::Array
< std::string > 
getRecordLabels () const
 Methods to query a Force for the value actually applied during simulation.
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 bool hasGeometryPath () const
 Return a flag indicating whether the Force is applied along a Path.
 OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.")
 A Force element is active (enabled) by default.
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor.
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 Construct ModelComponent from an XML file.
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document.
 ModelComponent (const ModelComponent &source)
 
Construct ModelComponent with its contents copied from another 

ModelComponent; this is a deep copy so nothing is shared with the source after the copy.

virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup.
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component.
const ModelgetModel () const
 Get a const reference to the Model this component is part of.
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of.
virtual void updateDisplayer (const SimTK::State &s)
 In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
virtual int getNumStateVariables () const
 Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
virtual Array< std::string > getStateVariableNames () const
 Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
virtual SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
 Get the System Index of a state variable allocated by this ModelComponent.
int getModelingOption (const SimTK::State &state, const std::string &name) const
 Get a ModelingOption flag for this ModelComponent by name.
void setModelingOption (SimTK::State &state, const std::string &name, int flag) const
 Set the value of a ModelingOption flag for this ModelComponent.
double getStateVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable allocated by this ModelComponent.
void setStateVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a state variable allocated by this ModelComponent by name.
double getDiscreteVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a discrete variable allocated by this ModelComponent by name.
void setDiscreteVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a discrete variable allocated by this ModelComponent by name.
template<typename T >
const T & getCacheVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a cache variable allocated by this ModelComponent by name.
template<typename T >
T & updCacheVariable (const SimTK::State &state, const std::string &name) const
 Obtain a writable cache variable value allocated by this ModelComponent by name.
void markCacheVariableValid (const SimTK::State &state, const std::string &name) const
 After updating a cache variable value allocated by this ModelComponent, you can mark its value as valid, which will not change until the realization stage falls below the minimum set at the time the cache variable was created.
void markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
 Mark a cache variable value allocated by this ModelComponent as invalid.
bool isCacheVariableValid (const SimTK::State &state, const std::string &name) const
 Enables the to monitor the validity of the cache variable value using the returned flag.
template<typename T >
void setCacheVariable (const SimTK::State &state, const std::string &name, T &value) const
 Set cache variable value allocated by this ModelComponent by name.
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup.
virtual Objectclone () const =0
 
Create a new heap-allocated copy of the concrete object to which this 

Object refers.

virtual const std::string & getConcreteClassName () const =0
 
Returns the class name of the concrete %Object-derived class of the

actual object referenced by this Object, as a string.

virtual const VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObjectupdDisplayer ()
 get Non const pointer to VisibleObject
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading.
Objectoperator= (const Object &aObject)
 
Copy assignment copies he base class fields, including the 

properties.

virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal.
virtual bool operator< (const Object &aObject) const
 
Provide an ordering for objects so they can be put in sorted

containers.

void setName (const std::string &name)
 Set the name of the Object.
const std::string & getName () const
 Get the name of this Object.
void setDescription (const std::string &description)
 Set description, a one-liner summary.
const std::string & getDescription () const
 Get description, a one-liner summary.
const std::string & getAuthors () const
 Get Authors of this Object.
void setAuthors (const std::string &authors)
 Set Authors of this object, call this method in your constructor if needed.
const std::string & getReferences () const
 Get references or publications to cite if using this object.
void setReferences (const std::string &references)
 Set references or publications to cite if using this object.
int getNumProperties () const
 Determine how many properties are stored with this Object.
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 
Get a const reference to a property by its index number, returned as

an AbstractProperty.

AbstractPropertyupdPropertyByIndex (int propertyIndex)
 
Get a writable reference to a property by its index number, returned as

an AbstractProperty.

bool hasProperty (const std::string &name) const
 
Return true if this %Object has a property of any type with the 

given name, which must not be empty.

const AbstractPropertygetPropertyByName (const std::string &name) const
 
Get a const reference to a property by its name, returned as

an AbstractProperty.

AbstractPropertyupdPropertyByName (const std::string &name)
 
Get a writable reference to a property by its name, returned as

an AbstractProperty.

template<class T >
bool hasProperty () const
 
Return true if this %Object contains an unnamed, one-object property

that contains objects of the given template type T.

template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 
Get property of known type Property\<T> as a const reference; 

the property must be present and have the right type.

template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 
Get property of known type Property\<T> as a writable reference;

the property must be present and have the right type.

void setObjectIsUpToDateWithProperties ()
 
When an object is initialized using the current values of its 

properties, it can set a flag indicating that it is up to date.

bool isObjectUpToDateWithProperties () const
 
Returns \c true if any property's value has changed since the last time

setObjectIsUpToDateWithProperties() was called.

void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object.
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element.
virtual void updateXMLNode (SimTK::Xml::Element &parent)
 Serialize this object into the XML node that represents it.
bool getInlined () const
 
Inlined means an in-memory Object that is not associated with

an XMLDocument.

void setInlined (bool aInlined, const std::string &aFileName="")
 
Mark this as inlined or not and optionally provide a file name

to associate with the new XMLDocument for the non-inline case.

std::string getDocumentFileName () const
 
If there is a document associated with this object then return the

file name maintained by the document.

void setAllPropertiesUseDefault (bool aUseDefault)
bool print (const std::string &fileName)
 
Write this %Object into an XML file of the given name; conventionally

the suffix to use is ".osim".

std::string dump (bool dumpName=false)
 dump the XML representation of this Object into an std::string and return it.
void clearObjectIsUpToDateWithProperties ()
 
For testing or debugging purposes, manually clear the "object is up to 

date with respect to properties" flag.

virtual bool isA (const char *type) const
 
The default implementation returns true only if the supplied string

is "Object"; each Object-derived class overrides this to match its own class name.

const std::string & toString () const
 
Wrapper to be used on Java side to display objects in tree; this returns

just the object's name.

PropertySetgetPropertySet ()
 
OBSOLETE: Get a reference to the PropertySet maintained by the 

Object.

const PropertySetgetPropertySet () const

Protected Member Functions

virtual void addToSystem (SimTK::MultibodySystem &system) const
 
Default is to create a ForceAdapter which is a SimTK::Force::Custom

as the underlying computational component.

virtual void updateGeometry ()
- Protected Member Functions inherited from OpenSim::Force
 Force ()
 
Default constructor sets up Force-level properties; can only be

called from a derived class constructor.

 Force (SimTK::Xml::Element &node)
 
Deserialization from XML, necessary so that derived classes can 

(de)serialize.

virtual void initStateFromProperties (SimTK::State &state) const override
 
Subclass should override; be sure to invoke Force::initStateFromProperties() at the

beginning of the overriding method.

virtual void setPropertiesFromState (const SimTK::State &state) override
 
Subclass should override; be sure to invoke 

Force::setPropertiesFromState() at the beginning of the overriding method.

virtual void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const
 Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds.
virtual double computePotentialEnergy (const SimTK::State &state) const
 Subclasses may optionally override this method to compute a contribution to the potential energy of the system.
void applyForceToPoint (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a force at a particular point (a "station") on a given body.
void applyTorque (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a torque to a particular body.
void applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
 Apply a generalized force.
- Protected Member Functions inherited from OpenSim::ModelComponent
virtual void connectToModel (Model &model)
 
Perform any necessary initializations required to connect the 

component into the Model, and check for error conditions.

virtual SimTK::Vector computeStateVariableDerivatives (const SimTK::State &s) const
 
If a model component has allocated any continuous state variables

using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.

virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 
Optional method for generating arbitrary display geometry that reflects

this ModelComponent at the specified state.

void includeAsSubComponent (ModelComponent *aComponent)
 Include another ModelComponent as a Subcomponent of this ModelComponent.
void addModelingOption (const std::string &optionName, int maxFlagValue) const
 
Add a modeling option (integer flag stored in the State) for use by 

this ModelComponent.

void addStateVariable (const std::string &stateVariableName, SimTK::Stage invalidatesStage=SimTK::Stage::Dynamics) const
 
Add a continuous system state variable belonging to this ModelComponent,

and assign a name by which to refer to it.

void addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
 
Add a system discrete variable belonging to this ModelComponent, give

it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed.

template<class T >
void addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const
 
Add a state cache entry belonging to this ModelComponent to hold

calculated values that must be automatically invalidated when certain state values change.

const int getStateIndex (const std::string &name) const
 Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations.
const SimTK::DiscreteVariableIndex getDiscreteVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's discrete variable in the Subsystem for allocations.
const SimTK::CacheEntryIndex getCacheVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's cache variable in the Subsystem for allocations.
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 
 The default constructor is only for use by constructors of 

derived types.

 Object (const std::string &fileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 
Constructor from a file, to be called from other constructors that 

take a file as input.

 Object (const Object &source)
 
Copy constructor is invoked automatically by derived classes with

default copy constructors; otherwise it must be invoked explicitly.

 Object (SimTK::Xml::Element &aElement)
 
Construct the base class portion of an %Object from a given Xml 

element that describes this Object.

template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 
Define a new single-value property of known type T, with the given 

name, associated comment, and initial value.

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 
Add an optional property, meaning it can contain either no value or

a single value.

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 
Add an optional property, meaning it can contain either no value or

a single value.

template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 
Define a new list-valued property of known type T, with the given 

name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value.

template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 
Define a new list-valued property as above, but assigning an initial

value via some templatized container class that supports size() and indexing.

PropertyIndex getPropertyIndex (const std::string &name) const
 
Look up a property by name and return its PropertyIndex if it is

found.

template<class T >
PropertyIndex getPropertyIndex () const
 
Look up an unnamed property by the type of object it contains,

and return its PropertyIndex if it is found.

void updateFromXMLDocument ()
 
Use this method only if you're deserializing from a file and the object

is at the top level; that is, primarily in constructors that take a file name as input.

void setDocument (XMLDocument *doc)
 Unconditionally set the XMLDocument associated with this object.
const XMLDocumentgetDocument () const
 
Get a const pointer to the document (if any) associated with this

object.

XMLDocumentupdDocument ()
 
Get a writable pointer to the document (if any) associated with this

object.

Protected Attributes

int _controlIndex
- Protected Attributes inherited from OpenSim::Force
SimTK::ForceIndex _index
 ID for the force in Simbody.
- Protected Attributes inherited from OpenSim::ModelComponent
Model_model
 The model this component belongs to.
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 
OBSOLETE: Property_Deprecated set for serializable member variables of 

this and derived classes.

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 
Register an instance of a class; if the class is already registered it

will be replaced.

static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 
Support versioning by associating the current %Object type with an 

old name.

static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 
Return a pointer to the default instance of the registered (concrete)

Object whose class name is given, or NULL if the type is not registered.

template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 
Return true if the given concrete object type represents a subclass of 

the template object type T, and thus could be referenced with a T*.

static ObjectnewInstanceOfType (const std::string &concreteClassName)
 
Create a new instance of the concrete %Object type whose class name is 

given as concreteClassName.

static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far.
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 
Return an array of pointers to the default instances of all registered

(concrete) Object types that derive from a given Object-derived type that does not have to be concrete.

static void PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
 
Dump formatted property information to a given output stream, useful

for creating a "help" facility for registered objects.

static void PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
 
Same as the other signature but the class name and property name are

provided as two separate strings.

static ObjectmakeObjectFromFile (const std::string &fileName)
 
Create an %OpenSim object whose type is based on the tag at the root 

node of the XML file passed in.

static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object".
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 
Static function to control whether all registered objects and

their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.

static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag.
static bool isKindOf (const char *type)
 
Returns true if the passed-in string is "Object"; each %Object-derived

class defines a method of this name for its own class name.

static void setDebugLevel (int newLevel)
 Set the debug level to get verbose output.
static int getDebugLevel ()
 Get current setting of debug level.
static ObjectSafeCopy (const Object *aObject)
 
Use the clone() method to duplicate the given object unless the pointer

is null in which case null is returned.

static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType().
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType().
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized.

Detailed Description

Base class for an actuator (e.g., a torque motor, muscle, ...) that requires external input (controls) to generate force.

Author
Ajay Seth

Constructor & Destructor Documentation

OpenSim::Actuator_::Actuator_ ( )

Member Function Documentation

virtual void OpenSim::Actuator_::addInControls ( const SimTK::Vector &  actuatorControls,
SimTK::Vector &  modelControls 
) const
virtual

add actuator controls to the values already occupying the slot in the system-wide model controls

virtual void OpenSim::Actuator_::addToSystem ( SimTK::MultibodySystem &  system) const
protectedvirtual

Default is to create a ForceAdapter which is a SimTK::Force::Custom

as the underlying computational component.

Subclasses override to employ other SimTK::Forces; be sure to invoke Force::addToSystem() at the beginning of the overriding method.

Reimplemented from OpenSim::Force.

Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Muscle, OpenSim::Thelen2003Muscle, OpenSim::Actuator, OpenSim::ContDerivMuscle_Deprecated, OpenSim::Delp1990Muscle_Deprecated, OpenSim::ActivationFiberLengthMuscle_Deprecated, and OpenSim::ActivationFiberLengthMuscle.

virtual void OpenSim::Actuator_::computeEquilibrium ( SimTK::State &  s) const
inlinevirtual
virtual const SimTK::VectorView_<double> OpenSim::Actuator_::getControls ( const SimTK::State &  s) const
virtual
virtual void OpenSim::Actuator_::getControls ( const SimTK::Vector &  modelControls,
SimTK::Vector &  actuatorControls 
) const
virtual

Convenience methods for getting, setting and adding to actuator controls from/into the model controls.

These methods have no effect on the realization stage.

virtual const SimTK::Vector OpenSim::Actuator_::getDefaultControls ( )
inlinevirtual

Actuator default controls are zero.

virtual int OpenSim::Actuator_::numControls ( ) const
pure virtual

Implemented in OpenSim::Actuator.

virtual void OpenSim::Actuator_::setControls ( const SimTK::Vector &  actuatorControls,
SimTK::Vector &  modelControls 
) const
virtual

set actuator controls subvector into the right slot in the system-wide model controls

virtual void OpenSim::Actuator_::updateGeometry ( )
protectedvirtual

Member Data Documentation

int OpenSim::Actuator_::_controlIndex
protected

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