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OpenSim::Coordinate Class Reference

A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized). More...

#include <Coordinate.h>

Inheritance diagram for OpenSim::Coordinate:
OpenSim::ModelComponent OpenSim::Object

Public Types

enum  MotionType { Rotational, Translational, Coupled }
 Motion type that describes the motion dictated by the coordinate. More...

Public Member Functions

 Coordinate ()
 default contructor
 Coordinate (const std::string &aName, MotionType aMotionType, double defualtValue, double aRangeMin, double aRangeMax)
 Convenience constructor.
Property declarations

These are the serializable properties associated with a Coordinate.

 OpenSim_DECLARE_PROPERTY (motion_type, std::string,"Coordinate can describe rotational, translational, or coupled motion. ""Defaults to rotational.")
 OpenSim_DECLARE_PROPERTY (default_value, double,"The value of this coordinate before any value has been set. ""Rotational coordinate value is in radians and Translational in meters.")
 OpenSim_DECLARE_PROPERTY (default_speed_value, double,"The speed value of this coordinate before any value has been set. ""Rotational coordinate value is in rad/s and Translational in m/s.")
 OpenSim_DECLARE_LIST_PROPERTY_SIZE (range, double, 2,"The minimum and maximum values that the coordinate can range between. ""Rotational coordinate range in radians and Translational in meters.")
 OpenSim_DECLARE_PROPERTY (clamped, bool,"Flag indicating whether or not the values of the coordinates should ""be limited to the range, above.")
 OpenSim_DECLARE_PROPERTY (locked, bool,"Flag indicating whether or not the values of the coordinates should ""be constrained to the current (e.g. default) value, above.")
 OpenSim_DECLARE_OPTIONAL_PROPERTY (prescribed_function, Function,"If specified, the coordinate can be prescribed by a function of time. ""It can be any OpenSim Function with valid second order derivatives.")
 OpenSim_DECLARE_PROPERTY (prescribed, bool,"Flag indicating whether or not the values of the coordinates should ""be prescribed according to the function above. It is ignored if the ""no prescribed function is specified.")
 OpenSim_DECLARE_PROPERTY (is_free_to_satisfy_constraints, bool,"Flag identifies whether or not this coordinate can change freely when ""posing the model to satisfy kinematic constraints. When true, the ""coordinate's initial or specified value is ignored when considering ""constraints. This allows values for important coordinates, which have ""this flag set to false, to dictate the value of unimportant coordinates ""if they are linked via constraints.")
Public accessor methods

Get and set attributes of the Coordinate

const JointgetJoint () const
 access to the Coordinate's owning joint
MotionType getMotionType () const
 access to the generalized Coordinate's motion type This can be Rotational, Translational, or Coupled (both)
void setMotionType (MotionType aMotionType)
double getValue (const SimTK::State &s) const
 get the value of the Coordinate from the state
void setValue (SimTK::State &s, double aValue, bool aEnforceContraints=true) const
 set the value of the Coordinate on to the state.
double getSpeedValue (const SimTK::State &s) const
 get the speed value of the Coordinate from the state
void setSpeedValue (SimTK::State &s, double aValue) const
const std::string getSpeedName () const
double getDefaultValue () const
 get the default value for this coordinate.
void setDefaultValue (double aDefaultValue)
double getDefaultSpeedValue () const
 get the default speed value for this coordinate.
void setDefaultSpeedValue (double aDefaultSpeedValue)
double getAccelerationValue (const SimTK::State &s) const
 get acceleration of the coordinate is dependent on having realized the model and state to the acceleration stage
bool getClamped (const SimTK::State &s) const
 determine or set whether or not the Coordinate is "clamped" between a range of values.
void setClamped (SimTK::State &s, bool aLocked) const
bool getDefaultClamped () const
 get/set whether or not the Coordinate is clamped by default
void setDefaultClamped (bool aClamped)
double getRangeMin () const
 get the value for the Coordinate's range of motion
double getRangeMax () const
void setRange (double aRange[2])
 set the range with a double array of length 2 in order of minimum and maximum coordinate values
void setRangeMin (double aMin)
void setRangeMax (double aMax)
bool getLocked (const SimTK::State &s) const
 determine or set whether or not the Coordinate is "locked" for a given state of the Model.
void setLocked (SimTK::State &s, bool aLocked) const
bool getDefaultLocked () const
 get/set whether or not the Coordinate is locked by default
void setDefaultLocked (bool aLocked)
bool isPrescribed (const SimTK::State &s) const
 determine or set whether or not the Coordinate is "prescribed" for a given state of the Model.
void setIsPrescribed (SimTK::State &s, bool isPrescribed) const
bool getDefaultIsPrescribed () const
 get/set whether or not the Coordinate is locked by default
void setDefaultIsPrescribed (bool isPrescribed)
void setPrescribedFunction (const Function &function)
 Specify an OpenSim Function specifies the prescribed motion for this Coordinate as a function of time.
const FunctiongetPrescribedFunction () const
bool isDependent (const SimTK::State &s) const
 Return true if coordinate is dependent on other coordinates via a coupler constraint OR it has been flagged as free to change when satisfying the model's kinematic constraints in general.
bool isConstrained (const SimTK::State &s) const
 Return true if coordinate is locked, prescribed, or dependent on other coordinates.
Advanced Access to underlying Simbody system resources
int getMobilizerQIndex () const
SimTK::MobilizedBodyIndex getBodyIndex () const
Array< std::string > getStateVariableNames () const override
 Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const override
 Get the System Index of a state variable allocated by this ModelComponent.
- Public Member Functions inherited from OpenSim::ModelComponent
 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.
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component.
const ModelgetModel () const
 Get a const reference to the Model this component is part of.
ModelupdModel ()
 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.
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.
- 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

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.

void initStateFromProperties (SimTK::State &s) const override
 
Transfer property values or other state-independent initial values

into this component's state variables in the passed-in state argument.

void setPropertiesFromState (const SimTK::State &state) override
 
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.

int getNumStateVariables () const override
 Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
void setJoint (const Joint &aOwningJoint)
- Protected Member Functions inherited from OpenSim::ModelComponent
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.
- 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.

Friends

class CoordinateCouplerConstraint
class Joint

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 ObjectgetDefaultInstanceOfType (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 ObjectnewInstanceOfType (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 ObjectmakeObjectFromFile (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 ObjectSafeCopy (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 Attributes inherited from OpenSim::ModelComponent
Model_model
 The model this component belongs to.

Detailed Description

A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized).

As a ModelComponent it provides resources to enable a Coordinate to be locked, prescribed, or clamped (limited to a min-to-max range).

Authors
Ajay Seth, Ayman Habib, Michael Sherman Frank C. Anderson, Jeffrey A. Reinbolt

Member Enumeration Documentation

Motion type that describes the motion dictated by the coordinate.

Types include: Rotational, Translational and Coupled (both)

Enumerator:
Rotational 
Translational 
Coupled 

Constructor & Destructor Documentation

OpenSim::Coordinate::Coordinate ( )

default contructor

OpenSim::Coordinate::Coordinate ( const std::string &  aName,
MotionType  aMotionType,
double  defualtValue,
double  aRangeMin,
double  aRangeMax 
)

Convenience constructor.

Member Function Documentation

void OpenSim::Coordinate::addToSystem ( SimTK::MultibodySystem &  system) const
overrideprotectedvirtual

Add appropriate Simbody elements (if needed) to the System 

corresponding to this component and specify needed state resources.

addToSystem() is called when the Simbody System is being created to represent a completed Model for computation. That is, connectToModel() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within addToSystem() only.

Note that this method is const; you must not modify your model component or the containing model during this call. Any modifications you need should instead be performed in connectToModel(), which is non-const. One exception is that you may need to record access information for resources you create in the system, such as an index number. You should declare those data members mutable so that you can set them here.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::addToSystem(SimTK::MultibodySystem& system) const {
Super::addToSystem(system); // invoke parent class method
// ... your code goes here
}
Parameters
[in,out]systemThe System being created.
See Also
addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Coordinate::connectToModel ( Model model)
overrideprotectedvirtual

Perform any necessary initializations required to connect the 

component into the Model, and check for error conditions.

connectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::connectToModel(Model& model) {
Super::connectToModel(model); // invoke parent class method
// ... your code goes here
}

Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.

Parameters
[in,out]modelThe Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::ModelComponent.

double OpenSim::Coordinate::getAccelerationValue ( const SimTK::State &  s) const

get acceleration of the coordinate is dependent on having realized the model and state to the acceleration stage

SimTK::MobilizedBodyIndex OpenSim::Coordinate::getBodyIndex ( ) const
inline
bool OpenSim::Coordinate::getClamped ( const SimTK::State &  s) const

determine or set whether or not the Coordinate is "clamped" between a range of values.

bool OpenSim::Coordinate::getDefaultClamped ( ) const
inline

get/set whether or not the Coordinate is clamped by default

bool OpenSim::Coordinate::getDefaultIsPrescribed ( ) const
inline

get/set whether or not the Coordinate is locked by default

bool OpenSim::Coordinate::getDefaultLocked ( ) const
inline

get/set whether or not the Coordinate is locked by default

double OpenSim::Coordinate::getDefaultSpeedValue ( ) const
inline

get the default speed value for this coordinate.

This is the value used if no value has been set prior to a simulation.

double OpenSim::Coordinate::getDefaultValue ( ) const
inline

get the default value for this coordinate.

This is the value used if no value has been set prior to a simulation.

const Joint& OpenSim::Coordinate::getJoint ( ) const

access to the Coordinate's owning joint

bool OpenSim::Coordinate::getLocked ( const SimTK::State &  s) const

determine or set whether or not the Coordinate is "locked" for a given state of the Model.

int OpenSim::Coordinate::getMobilizerQIndex ( ) const
inline
MotionType OpenSim::Coordinate::getMotionType ( ) const
inline

access to the generalized Coordinate's motion type This can be Rotational, Translational, or Coupled (both)

int OpenSim::Coordinate::getNumStateVariables ( ) const
inlineoverrideprotectedvirtual

Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.

Reimplemented from OpenSim::ModelComponent.

const Function& OpenSim::Coordinate::getPrescribedFunction ( ) const
double OpenSim::Coordinate::getRangeMax ( ) const
inline
double OpenSim::Coordinate::getRangeMin ( ) const
inline

get the value for the Coordinate's range of motion

const std::string OpenSim::Coordinate::getSpeedName ( ) const
double OpenSim::Coordinate::getSpeedValue ( const SimTK::State &  s) const

get the speed value of the Coordinate from the state

Array<std::string> OpenSim::Coordinate::getStateVariableNames ( ) const
overridevirtual

Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.

Reimplemented from OpenSim::ModelComponent.

SimTK::SystemYIndex OpenSim::Coordinate::getStateVariableSystemIndex ( const std::string &  stateVariableName) const
overridevirtual

Get the System Index of a state variable allocated by this ModelComponent.

Returns an InvalidIndex if no state variable with the name provided is found.

Parameters
stateVariableNamethe name of the state variable

Reimplemented from OpenSim::ModelComponent.

double OpenSim::Coordinate::getValue ( const SimTK::State &  s) const

get the value of the Coordinate from the state

void OpenSim::Coordinate::initStateFromProperties ( SimTK::State &  state) const
overrideprotectedvirtual

Transfer property values or other state-independent initial values

into this component's state variables in the passed-in state argument.

This is called after a SimTK::System and State have been created for the Model (that is, after addToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::initStateFromProperties(SimTK::State& state) const {
Super::initStateFromProperties(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe state that will receive the new initial conditions.
See Also
setPropertiesFromState()

Reimplemented from OpenSim::ModelComponent.

bool OpenSim::Coordinate::isConstrained ( const SimTK::State &  s) const

Return true if coordinate is locked, prescribed, or dependent on other coordinates.

bool OpenSim::Coordinate::isDependent ( const SimTK::State &  s) const

Return true if coordinate is dependent on other coordinates via a coupler constraint OR it has been flagged as free to change when satisfying the model's kinematic constraints in general.

bool OpenSim::Coordinate::isPrescribed ( const SimTK::State &  s) const

determine or set whether or not the Coordinate is "prescribed" for a given state of the Model.

OpenSim::Coordinate::OpenSim_DECLARE_LIST_PROPERTY_SIZE ( range  ,
double  ,
,
"The minimum and maximum values that the coordinate can range between. ""Rotational coordinate range in radians and Translational in meters."   
)
OpenSim::Coordinate::OpenSim_DECLARE_OPTIONAL_PROPERTY ( prescribed_function  ,
Function  ,
"If  specified,
the coordinate can be prescribed by a function of time.""It can be any OpenSim Function with valid second order derivatives."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( motion_type  ,
std::string  ,
"Coordinate can describe  rotational,
translational  ,
or coupled motion.""Defaults to rotational."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( default_value  ,
double  ,
"The value of this coordinate before any value has been set. ""Rotational coordinate value is in radians and Translational in meters."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( default_speed_value  ,
double  ,
"The speed value of this coordinate before any value has been set. ""Rotational coordinate value is in rad/s and Translational in m/s."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( clamped  ,
bool  ,
"Flag indicating whether or not the values of the coordinates should ""be limited to the  range,
above."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( locked  ,
bool  ,
"Flag indicating whether or not the values of the coordinates should ""be constrained to the current (e.g. default)  value,
above."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( prescribed  ,
bool  ,
"Flag indicating whether or not the values of the coordinates should ""be prescribed according to the function above. It is ignored if the ""no prescribed function is specified."   
)
OpenSim::Coordinate::OpenSim_DECLARE_PROPERTY ( is_free_to_satisfy_constraints  ,
bool  ,
"Flag identifies whether or not this coordinate can change freely when ""posing the model to satisfy kinematic constraints. When  true,
the""coordinate's initial or specified value is ignored when considering""constraints.This allows values for important  coordinates,
which have""this flag set to  false,
to dictate the value of unimportant coordinates""if they are linked via constraints."   
)
void OpenSim::Coordinate::setClamped ( SimTK::State &  s,
bool  aLocked 
) const
void OpenSim::Coordinate::setDefaultClamped ( bool  aClamped)
inline
void OpenSim::Coordinate::setDefaultIsPrescribed ( bool  isPrescribed)
inline
void OpenSim::Coordinate::setDefaultLocked ( bool  aLocked)
inline
void OpenSim::Coordinate::setDefaultSpeedValue ( double  aDefaultSpeedValue)
inline
void OpenSim::Coordinate::setDefaultValue ( double  aDefaultValue)
void OpenSim::Coordinate::setIsPrescribed ( SimTK::State &  s,
bool  isPrescribed 
) const
void OpenSim::Coordinate::setJoint ( const Joint aOwningJoint)
protected
void OpenSim::Coordinate::setLocked ( SimTK::State &  s,
bool  aLocked 
) const
void OpenSim::Coordinate::setMotionType ( MotionType  aMotionType)
void OpenSim::Coordinate::setPrescribedFunction ( const Function function)

Specify an OpenSim Function specifies the prescribed motion for this Coordinate as a function of time.

Note, this function must provide valid first and second order derivatives.

void OpenSim::Coordinate::setPropertiesFromState ( const SimTK::State &  state)
overrideprotectedvirtual

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.

Thus, state variable values can persist as part of the model component and be serialized as a property.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::setPropertiesFromState(const SimTK::State& state) {
Super::setPropertiesFromState(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe State from which values may be extracted to set persistent property values.
See Also
initStateFromProperties()

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Coordinate::setRange ( double  aRange[2])

set the range with a double array of length 2 in order of minimum and maximum coordinate values

void OpenSim::Coordinate::setRangeMax ( double  aMax)
void OpenSim::Coordinate::setRangeMin ( double  aMin)
void OpenSim::Coordinate::setSpeedValue ( SimTK::State &  s,
double  aValue 
) const
void OpenSim::Coordinate::setValue ( SimTK::State &  s,
double  aValue,
bool  aEnforceContraints = true 
) const

set the value of the Coordinate on to the state.

optional flag to enforce the constraints immediatedly, which may adjust its value in the state. Use getValue(s) to see if/how the value was adjusted to satify the kinematic constraints.

Friends And Related Function Documentation

friend class CoordinateCouplerConstraint
friend
friend class Joint
friend

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