A class for specifying the tracking task for a joint. More...

#include <CMC_Joint.h>

Inheritance diagram for OpenSim::CMC_Joint:

Public Member Functions
	CMC_Joint (const std::string &aCoordinateName="")
	CMC_Joint (const CMC_Joint &aTask)
virtual	~CMC_Joint ()
CMC_Joint &	operator= (const CMC_Joint &aTask)
virtual void	setModel (Model &aModel)
void	setCoordinateName (const std::string &aName)
std::string	getCoordinateName () const
double	getLimit () const
virtual void	computeErrors (const SimTK::State &s, double aT)
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aT)
virtual void	computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)
virtual void	computeAccelerations (const SimTK::State &s)
virtual void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
	Use this method to deserialize an object from a SimTK::Xml::Element.
Public Member Functions inherited from OpenSim::CMC_Task
	CMC_Task ()
	CMC_Task (const CMC_Task &aTaskObject)
virtual	~CMC_Task ()
CMC_Task &	operator= (const CMC_Task &aTaskObject)
void	setWRTBodyName (std::string aBodyName)
std::string	getWRTBodyName () const
void	setExpressBodyName (std::string aBodyName)
std::string	getExpressBodyName () const
void	setActive (bool a0, bool a1=false, bool a2=false)
bool	getActive (int aWhich) const
void	setWeight (double aW0, double aW1=0.0, double aW2=0.0)
double	getWeight (int aWhich) const
void	setKP (double aK0, double aK1=0.0, double aK2=0.0)
double	getKP (int aWhich) const
void	setKV (double aK0, double aK1=0.0, double aK2=0.0)
double	getKV (int aWhich) const
void	setKA (double aK0, double aK1=0.0, double aK2=0.0)
double	getKA (int aWhich) const
void	setDirection_0 (const SimTK::Vec3 &aR)
void	getDirection_0 (SimTK::Vec3 &rR) const
void	setDirection_1 (const SimTK::Vec3 &aR)
void	getDirection_1 (SimTK::Vec3 &rR) const
void	setDirection_2 (const SimTK::Vec3 &aR)
void	getDirection_2 (SimTK::Vec3 &rR) const
Function *	getTaskFunction (int aWhich) const
void	setTaskFunctionsForVelocity (Function aF0, Function aF1=NULL, Function *aF2=NULL)
Function *	getTaskFunctionForVelocity (int aWhich) const
void	setTaskFunctionsForAcceleration (Function aF0, Function aF1=NULL, Function *aF2=NULL)
Function *	getTaskFunctionForAcceleration (int aWhich) const
double	getTaskPosition (int aWhich, double aT) const
double	getTaskVelocity (int aWhich, double aT) const
double	getTaskAcceleration (int aWhich, double aT) const
void	setPositionErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
double	getPositionErrorLast (int aWhich) const
void	setVelocityErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
double	getVelocityErrorLast (int aWhich) const
double	getPositionError (int aWhich) const
double	getVelocityError (int aWhich) const
double	getDesiredAcceleration (int aWhich) const
double	getAcceleration (int aWhich) const
virtual void	computeJacobian ()
virtual void	computeEffectiveMassMatrix ()
Public Member Functions inherited from OpenSim::TrackingTask
	TrackingTask ()
	TrackingTask (const TrackingTask &aTaskObject)
virtual	~TrackingTask ()
TrackingTask &	operator= (const TrackingTask &aTaskObject)
Model *	getModel () const
void	setOn (bool aTrueFalse)
bool	getOn () const
void	setWeights (const Array< double > &aWeights)
const Array< double > &	getWeights () const
int	getNumTaskFunctions () const
virtual void	setTaskFunctions (Function aF0, Function aF1=NULL, Function *aF2=NULL)
Public Member Functions inherited from OpenSim::Object
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.
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
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	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 Attributes
PropertyStr	_propCoordinateName
	Name of the generalized coordinate to be tracked.
PropertyDbl	_propLimit
	Error limit on the coordinate.
std::string &	_coordinateName
double &	_limit
Coordinate *	_q
Protected Attributes inherited from OpenSim::CMC_Task
PropertyStr	_propWRTBodyName
	Body with respect to which the task goals are specified.
PropertyStr	_propExpressBodyName
	Body frame in which the task goals are expressed.
PropertyBoolArray	_propActive
	Property to specify the active task goals.
PropertyDblArray	_propKP
	Position error feedback gain.
PropertyDblArray	_propKV
	Velocity error feedback gain.
PropertyDblArray	_propKA
	Feedforward acceleration gain.
PropertyDblVec3	_propR0
	Directions of the task goal 0.
PropertyDblVec3	_propR1
	Directions of the task goal 1.
PropertyDblVec3	_propR2
	Directions of the task goal 2.
std::string &	_wrtBodyName
	Reference to the value of the on property.
std::string &	_expressBodyName
	Reference to the value of the ExpressBody property.
Array< bool > &	_active
	Reference to the value of the Active property.
Array< double > &	_kp
	Reference to the value of the KP property.
Array< double > &	_kv
	Reference to the value of the KV property.
Array< double > &	_ka
	Reference to the value of the KA property.
SimTK::Vec3 &	_r0
	Reference to the value of the R0 property.
SimTK::Vec3 &	_r1
	Reference to the value of the R1 property.
SimTK::Vec3 &	_r2
	Reference to the value of the R2 property.
SimTK::Vec3	_pErrLast
	Last position error.
SimTK::Vec3	_pErr
	Position error.
SimTK::Vec3	_vErrLast
	Last velocity error.
SimTK::Vec3	_vErr
	Velocity error.
SimTK::Vec3	_aDes
	Desired accelerations.
SimTK::Vec3	_a
	Accelerations.
double *	_j
	Jacobian.
double *	_m
	Effective mass matrix.
Protected Attributes inherited from OpenSim::TrackingTask
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.
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 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 Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
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 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.
Related Functions inherited from OpenSim::Object
#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.

Detailed Description

A class for specifying the tracking task for a joint.

Author: Frank C. Anderson

Version: 1.0

Constructor & Destructor Documentation

OpenSim::CMC_Joint::CMC_Joint ( const std::string & aCoordinateName = "" )

OpenSim::CMC_Joint::CMC_Joint ( const CMC_Joint & aTask )

virtual OpenSim::CMC_Joint::~CMC_Joint ( )

virtual

Member Function Documentation

virtual void OpenSim::CMC_Joint::computeAccelerations ( const SimTK::State & s )

virtual

Implements OpenSim::CMC_Task.

virtual void OpenSim::CMC_Joint::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aT
	)

virtual

Implements OpenSim::CMC_Task.

Reimplemented in OpenSim::SMC_Joint.

virtual void OpenSim::CMC_Joint::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aTI,
		double	aTF
	)

virtual

Implements OpenSim::CMC_Task.

virtual void OpenSim::CMC_Joint::computeErrors	(	const SimTK::State &	s,
		double	aT
	)

virtual

Implements OpenSim::CMC_Task.

std::string OpenSim::CMC_Joint::getCoordinateName ( ) const

double OpenSim::CMC_Joint::getLimit ( ) const

CMC_Joint& OpenSim::CMC_Joint::operator= ( const CMC_Joint & aTask )

void OpenSim::CMC_Joint::setCoordinateName ( const std::string & aName )

virtual void OpenSim::CMC_Joint::setModel ( Model & aModel )

virtual

Reimplemented from OpenSim::TrackingTask.

virtual void OpenSim::CMC_Joint::updateFromXMLNode	(	SimTK::Xml::Element &	objectElement,
		int	versionNumber = `-1`
	)

virtual

Use this method to deserialize an object from a SimTK::Xml::Element.

The element is assumed to be in the format consistent with the passed-in versionNumber. If there is a file attribute in objectElement it will be ignored; if you want it processed you should call readObjectFromXMLNodeOrFile() instead.

Reimplemented from OpenSim::CMC_Task.

Member Data Documentation

std::string& OpenSim::CMC_Joint::_coordinateName

protected

double& OpenSim::CMC_Joint::_limit

protected

PropertyStr OpenSim::CMC_Joint::_propCoordinateName

protected

Name of the generalized coordinate to be tracked.

PropertyDbl OpenSim::CMC_Joint::_propLimit

protected

Error limit on the coordinate.

Coordinate* OpenSim::CMC_Joint::_q

protected

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

E:/Projects/OpenSim30Br/OpenSim30/OpenSim/Tools/CMC_Joint.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation