Public Member Functions |
| | Body () |
| | Body (const std::string &aName, double aMass, const SimTK::Vec3 &aMassCenter, const SimTK::Inertia &aInertia) |
| | Body (const Body &aBody) |
| virtual | ~Body () |
| Body & | operator= (const Body &aBody) |
| void | copyData (const Body &aBody) |
| virtual void | addDisplayGeometry (const std::string &aGeometryFileName) |
| virtual double | getMass () const |
| virtual bool | setMass (double aMass) |
| virtual void | getMassCenter (SimTK::Vec3 &rVec) const |
| virtual bool | setMassCenter (const SimTK::Vec3 &aVec) |
| virtual void | getInertia (SimTK::Mat33 &rInertia) const |
| virtual bool | setInertia (const SimTK::Inertia &aInertia) |
| virtual bool | hasJoint () const |
| virtual Joint & | getJoint () const |
| virtual void | setJoint (Joint &aJoint) |
| virtual void | scale (const SimTK::Vec3 &aScaleFactors, bool aScaleMass=false) |
| virtual void | scaleInertialProperties (const SimTK::Vec3 &aScaleFactors, bool aScaleMass=true) |
| virtual void | scaleMass (double aScaleFactor) |
| virtual const VisibleObject * | getDisplayer () const |
| | Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
|
| virtual VisibleObject * | updDisplayer () |
| | get Non const pointer to VisibleObject
|
virtual const
SimTK::MobilizedBodyIndex | getIndex () const |
| void | getScaleFactors (SimTK::Vec3 &aScaleFactors) const |
| WrapObject * | getWrapObject (const std::string &aName) const |
| const WrapObjectSet & | getWrapObjectSet () const |
| SimTK::MassProperties | getMassProperties () |
| | Assemble body interial properties: mass, center of mass location, moment of inertia about the origin of the body and return as a SimTK::MassProperties.
|
| virtual int | getNumStateVariables () const |
| | Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
|
| | 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.
|
| ModelComponent & | operator= (const ModelComponent &aModelComponent) |
| | Assignment operator to copy contents of an existing component.
|
| const Model & | getModel () const |
| | Get a const reference to the Model this component is part of.
|
| Model & | updModel () |
| | 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 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.
|
| virtual | ~Object () |
| | Virtual destructor for cleanup.
|
| virtual Object * | clone () 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.
|
| bool | isEqualTo (const Object &aObject) const |
| | Equality operator wrapper for use from languages not supporting operator overloading.
|
| Object & | operator= (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 AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| | Get a const reference to a property by its index number, returned as
an AbstractProperty.
|
| AbstractProperty & | updPropertyByIndex (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 AbstractProperty & | getPropertyByName (const std::string &name) const |
| | Get a const reference to a property by its name, returned as
an AbstractProperty.
|
| AbstractProperty & | updPropertyByName (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.
|
| PropertySet & | getPropertySet () |
| | OBSOLETE: Get a reference to the PropertySet maintained by the
Object.
|
| const PropertySet & | getPropertySet () const |
Protected Member Functions |
| void | connectToModel (Model &aModel) override |
| | Perform any necessary initializations required to connect the
component into the Model, and check for error conditions.
|
| void | addToSystem (SimTK::MultibodySystem &system) const override |
| | Add appropriate Simbody elements (if needed) to the System
corresponding to this component and specify needed state resources.
|
| virtual void | initStateFromProperties (SimTK::State &state) const |
| | Transfer property values or other state-independent initial values
into this component's state variables in the passed-in state argument.
|
| virtual void | setPropertiesFromState (const SimTK::State &state) |
| | Update this component's property values to match the specified State,
if the component has created any state variable that is intended to correspond to a property.
|
| 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.
|
| | 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 XMLDocument * | getDocument () const |
| | Get a const pointer to the document (if any) associated with this
object.
|
| XMLDocument * | updDocument () |
| | Get a writable pointer to the document (if any) associated with this
object.
|
Additional Inherited Members |
| 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 Object * | getDefaultInstanceOfType (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 Object * | newInstanceOfType (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 Object * | makeObjectFromFile (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 Object * | SafeCopy (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 const std::string | DEFAULT_NAME |
| | Name used for default objects when they are serialized.
|
| #define | OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass) |
| | Macro to be included as the first line of the class declaration for
any non-templatized, concrete class that derives from OpenSim::Object.
|
| #define | OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass) |
| | Macro to be included as the first line of the class declaration for
any still-abstract class that derives from OpenSim::Object.
|
| #define | OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass) |
| | Macro to be included as the first line of the class declaration for
any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
|
| #define | OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass) |
| | Macro to be included as the first line of the class declaration for
any templatized, still-abstract class that derives from OpenSim::Object.
|
A class implementing a Simbody rigid body.
- Author
- Frank C. Anderson, Ajay Seth
- Version
- 1.0
Public Member Functions inherited from OpenSim::ModelComponent
1.8.1.2 
