An actuator that applies a generalized force to along a generalized a generalized coordinate, which is proportional to its input control. More...

#include <CoordinateActuator.h>

Inheritance diagram for OpenSim::CoordinateActuator:

Public Member Functions
	CoordinateActuator (const std::string &coordinateName="")
	Default constructor leaves coordinate name unspecified, or you can provide it.
void	setOptimalForce (double optimalForce)
	Set the 'optimal_force' property.
double	getOptimalForce () const override
	Get the current setting of the 'optimal_force' property.
bool	isCoordinateValid () const
double	getSpeed (const SimTK::State &s) const
void	setCoordinate (Coordinate *aCoordinate)
	Set the reference pointer to point to the given Coordinate and set the 'coordinate' name property also.
Coordinate *	getCoordinate () const
	Get a pointer to the Coordinate to which this actuator refers.
Property declarations
These are the serializable properties associated with this class.
	OpenSim_DECLARE_OPTIONAL_PROPERTY (coordinate, std::string,"Name of the generalized coordinate to which the actuator applies.")
	OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum generalized force produced by this actuator.")
Public Member Functions inherited from OpenSim::Actuator
	Actuator ()
virtual double	getControl (const SimTK::State &s) const
	Convenience method to set controls given scalar (double) valued control.
virtual int	numControls () const
virtual void	setForce (const SimTK::State &s, double aForce) const
virtual double	getForce (const SimTK::State &s) const
virtual void	setSpeed (const SimTK::State &s, double aspeed) const
virtual double	getPower (const SimTK::State &s) const
virtual double	getStress (const SimTK::State &s) const
void	setMinControl (const double &aMinControl)
double	getMinControl () const
void	setMaxControl (const double &aMaxControl)
double	getMaxControl () const
void	overrideForce (SimTK::State &s, bool flag) const
	Overriding forces The force normally produced by an Actuator can be overriden and When the Actuator's force is overriden, the Actuator will by defualt produce a constant force which can be set with setOverrideForce().
bool	isForceOverriden (const SimTK::State &s) const
	return Actuator's override status
void	setOverrideForce (SimTK::State &s, double value) const
	set the force value used when the override is true
double	getOverrideForce (const SimTK::State &s) const
	return override force
	OpenSim_DECLARE_PROPERTY (min_control, double,"Minimum allowed value for control signal. Used primarily when solving ""for control values.")
	Default is -Infinity (no limit).
	OpenSim_DECLARE_PROPERTY (max_control, double,"Maximum allowed value for control signal. Used primarily when solving ""for control values.")
	Default is Infinity (no limit).
Public Member Functions inherited from OpenSim::Actuator_
	Actuator_ ()
virtual const SimTK::Vector	getDefaultControls ()
	Actuator default controls are zero.
virtual const SimTK::VectorView_< double >	getControls (const SimTK::State &s) const
virtual void	getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const
	Convenience methods for getting, setting and adding to actuator controls from/into the model controls.
virtual void	setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	set actuator controls subvector into the right slot in the system-wide model controls
virtual void	addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	add actuator controls to the values already occupying the slot in the system-wide model controls
virtual double	computeActuation (const SimTK::State &s) const =0
virtual void	computeEquilibrium (SimTK::State &s) const
Public Member Functions inherited from OpenSim::Force
	Force (const Force &aForce)
	Implements a copy constructor just so it can invalidate the SimTK::Force index after copying.
Force &	operator= (const Force &aForce)
	Implements a copy assignment operator just so it can invalidate the SimTK::Force index after the assignment.
bool	isDisabled (const SimTK::State &s) const
	Return if the Force is disabled or not.
void	setDisabled (SimTK::State &s, bool disabled)
	Set the Force as disabled (true) or not (false).
virtual bool	hasGeometryPath () const
	Return a flag indicating whether the Force is applied along a Path.
	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.")
	A Force element is active (enabled) by default.
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.
ModelComponent &	operator= (const ModelComponent &aModelComponent)
	Assignment operator to copy contents of an existing component.
const Model &	getModel () const
	Get a const reference to the Model this component is part of.
Model &	updModel ()
	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.
virtual int	getNumStateVariables () const
	Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
virtual Array< std::string >	getStateVariableNames () const
	Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
virtual SimTK::SystemYIndex	getStateVariableSystemIndex (const std::string &stateVariableName) const
	Get the System Index of a state variable allocated by this ModelComponent.
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 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

Static Public Member Functions
static ForceSet *	CreateForceSetOfCoordinateActuatorsForModel (const SimTK::State &s, Model &aModel, double aOptimalForce=1, bool aIncludeLockedAndConstrainedCoordinates=true)

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.
Protected Member Functions inherited from OpenSim::Actuator
virtual void	addToSystem (SimTK::MultibodySystem &system) const
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component.
double	computeOverrideForce (const SimTK::State &s) const
OpenSim::Array< std::string >	getRecordLabels () const
	Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels()
OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const
	Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.
Protected Attributes inherited from OpenSim::Actuator_
int	_controlIndex
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 actuator that applies a generalized force to along a generalized a generalized coordinate, which is proportional to its input control.

It replaces the GeneralizeForce class implemented by Frank C. Anderson

Author: Ajay Seth Frank C. Anderson

Constructor & Destructor Documentation

OpenSim::CoordinateActuator::CoordinateActuator ( const std::string & coordinateName = "" )

explicit

 Default constructor leaves coordinate name unspecified, or you can

provide it.

Member Function Documentation

static ForceSet* OpenSim::CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel	(	const SimTK::State &	s,
		Model &	aModel,
		double	aOptimalForce = `1`,
		bool	aIncludeLockedAndConstrainedCoordinates = `true`
	)

static

Coordinate* OpenSim::CoordinateActuator::getCoordinate ( ) const

Get a pointer to the Coordinate to which this actuator refers.

double OpenSim::CoordinateActuator::getOptimalForce ( ) const

overridevirtual

Get the current setting of the 'optimal_force' property.

Reimplemented from OpenSim::Actuator.

double OpenSim::CoordinateActuator::getSpeed ( const SimTK::State & s ) const

virtual

Reimplemented from OpenSim::Actuator.

bool OpenSim::CoordinateActuator::isCoordinateValid ( ) const

OpenSim::CoordinateActuator::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	coordinate	,
		std::string	,
		"Name of the generalized coordinate to which the actuator applies."
	)

OpenSim::CoordinateActuator::OpenSim_DECLARE_PROPERTY	(	optimal_force	,
		double	,
		"The maximum generalized force produced by this actuator."
	)

void OpenSim::CoordinateActuator::setCoordinate ( Coordinate * aCoordinate )

Set the reference pointer to point to the given Coordinate and set

the 'coordinate' name property also.

void OpenSim::CoordinateActuator::setOptimalForce ( double optimalForce )

Set the 'optimal_force' property.

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

E:/Projects/OpenSim30Br/OpenSim30/OpenSim/Actuators/CoordinateActuator.h

Public Member Functions

Overriding forces

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation