OpenSim  OpenSim 3.0
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Pages
Public Member Functions | List of all members
OpenSim::CMC_Orientation Class Reference

A class for tracking the orientation of a body. More...

#include <CMC_Orientation.h>

Inheritance diagram for OpenSim::CMC_Orientation:
OpenSim::CMC_Task OpenSim::TrackingTask OpenSim::Object

Public Member Functions

 CMC_Orientation ()
virtual ~CMC_Orientation ()
void setNull ()
virtual void computeDesiredAccelerations ()
virtual void computeJacobian ()
virtual void computeEffectiveMassMatrix ()
- 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 computeErrors (const SimTK::State &s, double aT)=0
virtual void computeDesiredAccelerations (const SimTK::State &s, double aT)=0
virtual void computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)=0
virtual void computeAccelerations (const SimTK::State &s)=0
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::TrackingTask
 TrackingTask ()
 TrackingTask (const TrackingTask &aTaskObject)
virtual ~TrackingTask ()
TrackingTask & operator= (const TrackingTask &aTaskObject)
virtual void setModel (OpenSim::Model &aModel)
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

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.

- 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.
- 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 tracking the orientation of a body.

This class, although roughed out, is not yet fully implemented.

Author
Frank C. Anderson
Version
1.0

Constructor & Destructor Documentation

OpenSim::CMC_Orientation::CMC_Orientation ( )
virtual OpenSim::CMC_Orientation::~CMC_Orientation ( )
virtual

Member Function Documentation

virtual void OpenSim::CMC_Orientation::computeDesiredAccelerations ( )
virtual
virtual void OpenSim::CMC_Orientation::computeEffectiveMassMatrix ( )
virtual

Reimplemented from OpenSim::CMC_Task.

virtual void OpenSim::CMC_Orientation::computeJacobian ( )
virtual

Reimplemented from OpenSim::CMC_Task.

void OpenSim::CMC_Orientation::setNull ( )

Reimplemented from OpenSim::CMC_Task.

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