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OpenSim::ControlLinear Class Reference

#include <ControlLinear.h>

Inheritance diagram for OpenSim::ControlLinear:
OpenSim::Control OpenSim::Object

Public Member Functions

 ControlLinear ()
 ControlLinear (const ControlLinear &aControl)
virtual ~ControlLinear ()
void copyData (const ControlLinear &aControl)
ControlLinearoperator= (const ControlLinear &aControl)
void setUseSteps (bool aTrueFalse)
bool getUseSteps () const
void setKp (double aKp)
double getKp () const
void setKv (double aKv)
double getKv () const
virtual int getNumParameters () const
virtual void setParameterMin (int aI, double aMin)
virtual double getParameterMin (int aI) const
virtual void setParameterMax (int aI, double aMax)
virtual double getParameterMax (int aI) const
virtual double getParameterTime (int aI) const
virtual void getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const
virtual int getParameterList (double aT, Array< int > &rList)
virtual int getParameterList (double aT1, double aT2, Array< int > &rList)
virtual void setParameterValue (int aI, double aP)
virtual double getParameterValue (int aI) const
virtual void setControlValue (double aT, double aX)
virtual double getControlValue (double aT)
virtual double getControlValueMin (double aT=0.0)
virtual void setControlValueMin (double aT, double aX)
virtual double getControlValueMax (double aT=0.0)
virtual void setControlValueMax (double aT, double aX)
void clearControlNodes ()
ArrayPtrs< ControlLinearNode > & getControlValues ()
ArrayPtrs< ControlLinearNode > & getControlMinValues ()
ArrayPtrs< ControlLinearNode > & getControlMaxValues ()
void insertNewValueNode (int index, const ControlLinearNode &newNode)
void insertNewMinNode (int index, const ControlLinearNode &newNode)
void insertNewMaxNode (int index, const ControlLinearNode &newNode)
virtual const double getFirstTime () const
virtual const double getLastTime () const
virtual void simplify (const PropertySet &aProperties)
bool simplify (const double &cutoffFrequency, const double &distance)
virtual void filter (double aT)
- Public Member Functions inherited from OpenSim::Control
 Control (const char *aName="UNKNOWN")
 Control (const Control &aControl)
virtual ~Control ()
Controloperator= (const Control &aControl)
void setIsModelControl (bool aTrueFalse)
bool getIsModelControl () const
void setExtrapolate (bool aTrueFalse)
bool getExtrapolate () const
void setFilterOn (bool aTrueFalse)
bool getFilterOn () const
void setDefaultParameterMin (double aMin)
double getDefaultParameterMin () const
void setDefaultParameterMax (double aMin)
double getDefaultParameterMax () const
- 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

Static Public Member Functions

static double Interpolate (double aX1, double aY1, double aX2, double aY2, double aX)

Protected Member Functions

virtual void setupProperties ()
- Protected Member Functions inherited from OpenSim::Control
void copyData (const Control &aControl)
- 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

PropertyBool _propUseSteps
 
Flag that indicates whether or not to linearly interpolate between

nodes or use step functions.

PropertyObjArray
< ControlLinearNode
_propXNodes
 Array of control nodes.
PropertyObjArray
< ControlLinearNode
_propMinNodes
PropertyObjArray
< ControlLinearNode
_propMaxNodes
PropertyDbl _propKp
 Position gain for PD follower filter.
PropertyDbl _propKv
 Velocity gain for PD follower filter.
bool & _useSteps
ArrayPtrs< ControlLinearNode > & _xNodes
ArrayPtrs< ControlLinearNode > & _minNodes
ArrayPtrs< ControlLinearNode > & _maxNodes
double & _kp
double & _kv
ControlLinearNode _searchNode
 
Utility node for speeding up searches for control values in

getControlValue() and elsewhere.

- Protected Attributes inherited from OpenSim::Control
PropertyBool _propIsModelControl
 Flag that specifies whether or not this control is a model control.
PropertyBool _propExtrapolate
 
Flag that specifies whether or not this control should use

extrapolation for times outside the time range of the control parameters.

PropertyDbl _propDefaultMin
 Default parameter minimum.
PropertyDbl _propDefaultMax
 Default parameter maximum.
PropertyBool _propFilterOn
 Flat that indicates whether PD follower filter is on.
bool & _isModelControl
 Reference to the value of the IsModelControl property.
bool & _extrapolate
 Reference to the value of the Extrapolate flag.
double & _defaultMin
 Reference to the value of the DefaultMin property.
double & _defaultMax
 Reference to the value of the DefaultMax property.
bool & _filterOn
 Reference to the value of the PropFilterOn property.
- 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 Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized.

Constructor & Destructor Documentation

OpenSim::ControlLinear::ControlLinear ( )
OpenSim::ControlLinear::ControlLinear ( const ControlLinear aControl)
virtual OpenSim::ControlLinear::~ControlLinear ( )
virtual

Member Function Documentation

void OpenSim::ControlLinear::clearControlNodes ( )
void OpenSim::ControlLinear::copyData ( const ControlLinear aControl)
virtual void OpenSim::ControlLinear::filter ( double  aT)
virtual

Reimplemented from OpenSim::Control.

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMaxValues ( )
inline
ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMinValues ( )
inline
virtual double OpenSim::ControlLinear::getControlValue ( double  aT)
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getControlValueMax ( double  aT = 0.0)
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getControlValueMin ( double  aT = 0.0)
virtual

Implements OpenSim::Control.

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlValues ( )
inline
virtual const double OpenSim::ControlLinear::getFirstTime ( ) const
virtual

Reimplemented from OpenSim::Control.

double OpenSim::ControlLinear::getKp ( ) const
double OpenSim::ControlLinear::getKv ( ) const
virtual const double OpenSim::ControlLinear::getLastTime ( ) const
virtual

Reimplemented from OpenSim::Control.

virtual int OpenSim::ControlLinear::getNumParameters ( ) const
virtual

Implements OpenSim::Control.

virtual int OpenSim::ControlLinear::getParameterList ( double  aT,
Array< int > &  rList 
)
virtual

Implements OpenSim::Control.

virtual int OpenSim::ControlLinear::getParameterList ( double  aT1,
double  aT2,
Array< int > &  rList 
)
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterMax ( int  aI) const
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterMin ( int  aI) const
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::getParameterNeighborhood ( int  aI,
double &  rTLower,
double &  rTUpper 
) const
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterTime ( int  aI) const
virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterValue ( int  aI) const
virtual

Implements OpenSim::Control.

bool OpenSim::ControlLinear::getUseSteps ( ) const
void OpenSim::ControlLinear::insertNewMaxNode ( int  index,
const ControlLinearNode newNode 
)
inline
void OpenSim::ControlLinear::insertNewMinNode ( int  index,
const ControlLinearNode newNode 
)
inline
void OpenSim::ControlLinear::insertNewValueNode ( int  index,
const ControlLinearNode newNode 
)
inline
static double OpenSim::ControlLinear::Interpolate ( double  aX1,
double  aY1,
double  aX2,
double  aY2,
double  aX 
)
static
ControlLinear& OpenSim::ControlLinear::operator= ( const ControlLinear aControl)
virtual void OpenSim::ControlLinear::setControlValue ( double  aT,
double  aX 
)
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setControlValueMax ( double  aT,
double  aX 
)
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setControlValueMin ( double  aT,
double  aX 
)
virtual

Implements OpenSim::Control.

void OpenSim::ControlLinear::setKp ( double  aKp)
void OpenSim::ControlLinear::setKv ( double  aKv)
virtual void OpenSim::ControlLinear::setParameterMax ( int  aI,
double  aMax 
)
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setParameterMin ( int  aI,
double  aMin 
)
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setParameterValue ( int  aI,
double  aP 
)
virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setupProperties ( )
protectedvirtual

Reimplemented from OpenSim::Control.

void OpenSim::ControlLinear::setUseSteps ( bool  aTrueFalse)
virtual void OpenSim::ControlLinear::simplify ( const PropertySet aProperties)
virtual

Reimplemented from OpenSim::Control.

bool OpenSim::ControlLinear::simplify ( const double &  cutoffFrequency,
const double &  distance 
)

Member Data Documentation

double& OpenSim::ControlLinear::_kp
protected
double& OpenSim::ControlLinear::_kv
protected
ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_maxNodes
protected
ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_minNodes
protected
PropertyDbl OpenSim::ControlLinear::_propKp
protected

Position gain for PD follower filter.

PropertyDbl OpenSim::ControlLinear::_propKv
protected

Velocity gain for PD follower filter.

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMaxNodes
protected
PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMinNodes
protected
PropertyBool OpenSim::ControlLinear::_propUseSteps
protected

Flag that indicates whether or not to linearly interpolate between

nodes or use step functions.

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propXNodes
protected

Array of control nodes.

ControlLinearNode OpenSim::ControlLinear::_searchNode
protected

Utility node for speeding up searches for control values in

getControlValue() and elsewhere.

Without this node, a control node would need to be contructed, but this is too expensive. It is better to contruct a node up front, and then just alter the time.

bool& OpenSim::ControlLinear::_useSteps
protected
ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_xNodes
protected

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