An class for holding and managing a set of tasks. More...

#include <CMC_TaskSet.h>

Inheritance diagram for OpenSim::CMC_TaskSet:

Public Member Functions
	CMC_TaskSet ()
	CMC_TaskSet (const std::string &aFileName)
virtual	~CMC_TaskSet ()
CMC_TaskSet &	operator= (const CMC_TaskSet &)
void	setModel (Model &aModel)
Model *	getModel () const
const std::string &	getDataFileName () const
void	setFunctions (FunctionSet &aFuncSet)
void	setFunctionsForVelocity (FunctionSet &aFuncSet)
void	setFunctionsForAcceleration (FunctionSet &aFuncSet)
int	getNumActiveTaskFunctions () const
Array< double > &	getTaskPositions (double aT)
Array< double > &	getTaskVelocities (double aT)
Array< double > &	getTaskAccelerations (double aT)
Array< double > &	getPositionGains ()
Array< double > &	getVelocityGains ()
Array< double > &	getAccelerationGains ()
Array< double > &	getPositionErrorsLast ()
Array< double > &	getPositionErrors ()
Array< double > &	getVelocityErrorsLast ()
Array< double > &	getVelocityErrors ()
Array< double > &	getWeights ()
Array< double > &	getDesiredAccelerations ()
Array< double > &	getAccelerations ()
void	recordErrorsAsLastErrors ()
void	computeErrors (const SimTK::State &s, double aT)
void	computeDesiredAccelerations (const SimTK::State &s, double aT)
void	computeDesiredAccelerations (const SimTK::State &s, double aTCurrent, double aTFuture)
void	computeAccelerations (const SimTK::State &s)
Public Member Functions inherited from OpenSim::Set< TrackingTask >
virtual	~Set ()
	Destructor.
	Set ()
	Default constructor.
	Set (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct from file.
	Set (const Set< TrackingTask > &aSet)
	Copy constructor.
void	setupGroups ()
	Setup groups (match group member names to set members).
Set< TrackingTask > &	operator= (const Set< TrackingTask > &aSet)
	Assign this set to another set.
TrackingTask &	operator[] (int aIndex) const
	Get a pointer to the set object at a specified index.
void	setMemoryOwner (bool aTrueFalse)
	Set whether or not this set owns the memory pointed to by the pointers it holds.
bool	getMemoryOwner () const
	Get whether or not this array owns the memory pointed to by the pointers in its array.
bool	computeNewCapacity (int aMinCapacity, int &rNewCapacity)
	Compute a new capacity that is at least as large as a specified minimum capacity; this method does not change the capacity, it simply computes a new recommended capacity.
bool	ensureCapacity (int aCapacity)
	Ensure that the capacity of this array is at least the specified amount.
void	trim ()
	Trim the capacity of this array so that it is one larger than the size of this array.
int	getCapacity () const
	Get the capacity of this storage instance.
void	setCapacityIncrement (int aIncrement)
	Set the amount by which the capacity is increased when the capacity of of the array in exceeded.
int	getCapacityIncrement () const
	Get the amount by which the capacity is increased.
virtual bool	setSize (int aSize)
	Set the size of the array.
int	getSize () const
	Get the size of the array.
virtual int	getIndex (const TrackingTask *aObject, int aStartIndex=0) const
	Get the index of an object.
virtual int	getIndex (const std::string &aName, int aStartIndex=0) const
	Get the index of an object by specifying its name.
void	getGroupNamesContaining (const std::string &aObjectName, Array< std::string > &rGroupNames) const
	Get names of groups containing a given object.
virtual bool	adoptAndAppend (TrackingTask *aObject)
	Append to the array, and adopt passed in pointer.
virtual bool	cloneAndAppend (const TrackingTask &aObject)
	cloneAndAppend creates a clone of the passed in object and appends the clone to the array.
virtual bool	insert (int aIndex, TrackingTask *aObject)
	Insert an object into the array at a specified index.
virtual bool	insert (int aIndex, const TrackingTask &aObject)
	Insert an object into the array at a specified index.
virtual bool	remove (int aIndex)
	Remove an object from the array at a specified index.
virtual bool	remove (const TrackingTask *aObject)
	Remove an object from the array by specifying its address.
virtual void	clearAndDestroy ()
virtual bool	set (int aIndex, TrackingTask *aObject, bool preserveGroups=false)
	Set the object at a specified index.
virtual bool	set (int aIndex, const TrackingTask &aObject, bool preserveGroups=false)
	Set the object at a specified index.
virtual TrackingTask &	get (int aIndex) const
	Get the value at a specified array index.
TrackingTask &	get (const std::string &aName)
	Get the first object that has a specified name.
const TrackingTask &	get (const std::string &aName) const
bool	contains (const std::string &aName) const
	Get whether this Set contains any object with the specified name.
virtual void	getNames (OpenSim::Array< std::string > &rNames) const
	Get names of objects in the set.
virtual TrackingTask *	getLast () const
	Get the last value in the array.
int	searchBinary (const TrackingTask &aObject, bool aFindFirst=false, int aLo=-1, int aHi=-1) const
	Search for the largest value in the array that is less than or equal to a specified value.
int	getNumGroups () const
	Get the number of groups.
void	addGroup (const std::string &aGroupName)
	Add an empty group to the set.
void	removeGroup (const std::string &aGroupName)
	Remove a group from the set.
void	renameGroup (const std::string &oldGroupName, const std::string &newGroupName)
	Rename a group.
void	addObjectToGroup (const std::string &aGroupName, const std::string &aObjectName)
	Add an object to a group.
void	getGroupNames (Array< std::string > &rGroupNames) const
	Get names of all groups.
const ObjectGroup *	getGroup (const std::string &aGroupName) const
	Get a group by name.
const ObjectGroup *	getGroup (int aIndex) const
	Get a group by index.
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	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 Attributes
Model *	_model
	Model for which the tracking is conducted.
Array< double >	_pTask
	Array of task positions.
Array< double >	_vTask
	Array of task velocities.
Array< double >	_aTask
	Array of task accelerations.
Array< double >	_pErrLast
	Array of last position errors.
Array< double >	_pErr
	Array of position errors.
Array< double >	_vErrLast
	Array of last velocity errors.
Array< double >	_vErr
	Array of velocity errors.
Array< double >	_kp
	Array of gains for the position errors.
Array< double >	_kv
	Array of gains for the velocity errors.
Array< double >	_ka
	Array of gains for the acceleration errors.
Array< double >	_w
	Array of weights of the desired acceleration.
Array< double >	_aDes
	Array of desired accelerations.
Array< double >	_a
	Array of accelerations.
PropertyStr	_dataFileNameProp
	In case there're tracking targets loaded from file, the filename goes here and the column names go into individual targets.
std::string &	_dataFileName
FunctionSet	_functions
Protected Attributes inherited from OpenSim::Set< TrackingTask >
PropertyObjArray< TrackingTask >	_propObjects
	Array of pointers to objects.
PropertyObjArray< ObjectGroup >	_propObjectGroups
	Array of pointers to object groups.
ArrayPtrs< TrackingTask > &	_objects
ArrayPtrs< ObjectGroup > &	_objectGroups
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

An class for holding and managing a set of tasks.

Author: Frank C. Anderson

Version: 1.0

Constructor & Destructor Documentation

OpenSim::CMC_TaskSet::CMC_TaskSet ( )

OpenSim::CMC_TaskSet::CMC_TaskSet ( const std::string & aFileName )

explicit

virtual OpenSim::CMC_TaskSet::~CMC_TaskSet ( )

virtual

Member Function Documentation

void OpenSim::CMC_TaskSet::computeAccelerations ( const SimTK::State & s )

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

void OpenSim::CMC_TaskSet::computeDesiredAccelerations	(	const SimTK::State &	s,
		double	aTCurrent,
		double	aTFuture
	)

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

Array<double>& OpenSim::CMC_TaskSet::getAccelerationGains ( )

Array<double>& OpenSim::CMC_TaskSet::getAccelerations ( )

const std::string& OpenSim::CMC_TaskSet::getDataFileName ( ) const

inline

Array<double>& OpenSim::CMC_TaskSet::getDesiredAccelerations ( )

Model* OpenSim::CMC_TaskSet::getModel ( ) const

int OpenSim::CMC_TaskSet::getNumActiveTaskFunctions ( ) const

Array<double>& OpenSim::CMC_TaskSet::getPositionErrors ( )

Array<double>& OpenSim::CMC_TaskSet::getPositionErrorsLast ( )

Array<double>& OpenSim::CMC_TaskSet::getPositionGains ( )

Array<double>& OpenSim::CMC_TaskSet::getTaskAccelerations ( double aT )

Array<double>& OpenSim::CMC_TaskSet::getTaskPositions ( double aT )

Array<double>& OpenSim::CMC_TaskSet::getTaskVelocities ( double aT )

Array<double>& OpenSim::CMC_TaskSet::getVelocityErrors ( )

Array<double>& OpenSim::CMC_TaskSet::getVelocityErrorsLast ( )

Array<double>& OpenSim::CMC_TaskSet::getVelocityGains ( )

Array<double>& OpenSim::CMC_TaskSet::getWeights ( )

CMC_TaskSet& OpenSim::CMC_TaskSet::operator= ( const CMC_TaskSet & )

inline

void OpenSim::CMC_TaskSet::recordErrorsAsLastErrors ( )

void OpenSim::CMC_TaskSet::setFunctions ( FunctionSet & aFuncSet )

void OpenSim::CMC_TaskSet::setFunctionsForAcceleration ( FunctionSet & aFuncSet )

void OpenSim::CMC_TaskSet::setFunctionsForVelocity ( FunctionSet & aFuncSet )

void OpenSim::CMC_TaskSet::setModel ( Model & aModel )

Member Data Documentation

Array<double> OpenSim::CMC_TaskSet::_a

protected

Array of accelerations.

Array<double> OpenSim::CMC_TaskSet::_aDes

protected

Array of desired accelerations.

Array<double> OpenSim::CMC_TaskSet::_aTask

protected

Array of task accelerations.

std::string& OpenSim::CMC_TaskSet::_dataFileName

protected

PropertyStr OpenSim::CMC_TaskSet::_dataFileNameProp

protected

In case there're tracking targets loaded from file, the filename goes here and the column names go into individual targets.

FunctionSet OpenSim::CMC_TaskSet::_functions

protected

Array<double> OpenSim::CMC_TaskSet::_ka

protected

Array of gains for the acceleration errors.

Array<double> OpenSim::CMC_TaskSet::_kp

protected

Array of gains for the position errors.

Array<double> OpenSim::CMC_TaskSet::_kv

protected

Array of gains for the velocity errors.

Model* OpenSim::CMC_TaskSet::_model

protected

Model for which the tracking is conducted.

Array<double> OpenSim::CMC_TaskSet::_pErr

protected

Array of position errors.

Array<double> OpenSim::CMC_TaskSet::_pErrLast

protected

Array of last position errors.

Array<double> OpenSim::CMC_TaskSet::_pTask

protected

Array of task positions.

Array<double> OpenSim::CMC_TaskSet::_vErr

protected

Array of velocity errors.

Array<double> OpenSim::CMC_TaskSet::_vErrLast

protected

Array of last velocity errors.

Array<double> OpenSim::CMC_TaskSet::_vTask

protected

Array of task velocities.

Array<double> OpenSim::CMC_TaskSet::_w

protected

Array of weights of the desired acceleration.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation