A class implementing an Ellipsoid joint. More...

#include <EllipsoidJoint.h>

Inheritance diagram for OpenSim::EllipsoidJoint:

Property declarations
These are the serializable properties associated with an EllipsoidJoint.
	OpenSim_DECLARE_PROPERTY (radii_x_y_z, SimTK::Vec3,"Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ).")
	EllipsoidJoint ()
	EllipsoidJoint (const std::string &name, OpenSim::Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, OpenSim::Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SimTK::Vec3 ellipsoidRadii, bool reverse=false)
virtual	~EllipsoidJoint ()
virtual int	numCoordinates () const
void	setEllipsoidRadii (SimTK::Vec3 radii)
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
void	connectToModel (Model &aModel) override
	Perform some set up functions that happen after the object has been deserialized or copied.
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.

Additional Inherited Members
Public Member Functions inherited from OpenSim::Joint
	Joint ()
	DEFAULT CONSTRUCTION.
	Joint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
	Convenience Constructor.
virtual	~Joint ()
virtual void	setBody (OpenSim::Body &aBody)
	Set the body to which this joint belongs.
const OpenSim::Body &	getBody () const
	Get the body to which this joint belongs.
OpenSim::Body &	updBody ()
virtual void	setLocation (const SimTK::Vec3 &aLocation)
virtual void	getLocation (SimTK::Vec3 &rLocation) const
virtual void	setOrientation (const SimTK::Vec3 &aOrientation)
virtual void	getOrientation (SimTK::Vec3 &rOrientation) const
void	setParentName (const std::string &aName)
std::string	getParentName () const
void	setParentBody (OpenSim::Body &aBody)
const OpenSim::Body &	getParentBody () const
	Get the parent body to which this joint attaches.
OpenSim::Body &	updParentBody ()
virtual void	setLocationInParent (const SimTK::Vec3 &aLocation)
virtual void	getLocationInParent (SimTK::Vec3 &rLocation) const
virtual void	setOrientationInParent (const SimTK::Vec3 &aOrientation)
virtual void	getOrientationInParent (SimTK::Vec3 &rOrientation) const
virtual void	getOrientationInChild (double rOrientation[]) const
virtual void	getOrientationInParent (double rOrientation[]) const
virtual void	getLocationInChild (double rLocation[]) const
virtual void	getLocationInParent (double rLocation[]) const
virtual void	setLocationInChild (const SimTK::Vec3 &aLocation)
virtual const SimTK::Vec3 &	getLocationInChild () const
const CoordinateSet &	getCoordinateSet () const
virtual bool	getReverse () const
virtual void	checkParentBody ()
	Verify that the parent specified by this joint is in the underlying Simbody model/system.
virtual bool	isCoordinateUsed (Coordinate &aCoordinate) const
virtual SimTK::SpatialVec	calcEquivalentSpatialForce (const SimTK::State &s, const SimTK::Vector &mobilityForces) const
	Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint.
virtual double	calcPower (const SimTK::State &s) const
	Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space.
	OpenSim_DECLARE_PROPERTY (parent_body, std::string,"Name of the parent body to which this joint connects its owner body.")
	OpenSim_DECLARE_PROPERTY (location_in_parent, SimTK::Vec3,"Location of the joint in the parent body specified in the parent ""reference frame. Default is (0,0,0).")
	OpenSim_DECLARE_PROPERTY (orientation_in_parent, SimTK::Vec3,"Orientation of the joint in the parent body specified in the parent ""reference frame. Euler XYZ body-fixed rotation angles are used to ""express the orientation. Default is (0,0,0).")
	OpenSim_DECLARE_PROPERTY (location, SimTK::Vec3,"Location of the joint in the child body specified in the child ""reference frame. For SIMM models, this vector is always the zero ""vector (i.e., the body reference frame coincides with the joint). ")
	OpenSim_DECLARE_PROPERTY (orientation, SimTK::Vec3,"Orientation of the joint in the owing body specified in the owning body ""reference frame. Euler XYZ body-fixed rotation angles are used to ""express the orientation. ")
	OpenSim_DECLARE_UNNAMED_PROPERTY (CoordinateSet,"Set holding the generalized coordinates (q's) that parmeterize this joint.")
	OpenSim_DECLARE_PROPERTY (reverse, bool,"Whether the joint transform defines parent->child or child->parent.")
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::Joint
void	constructCoordinates ()
	Construct coordinates according to the mobilities of the Joint.
SimTK::MobilizedBodyIndex	getMobilizedBodyIndex (Body *aBody) const
void	setMobilizedBodyIndex (Body *aBody, SimTK::MobilizedBodyIndex index) const
void	setCoordinateMobilizedBodyIndex (Coordinate *aCoord, SimTK::MobilizedBodyIndex index) const
void	setCoordinateMobilizerQIndex (Coordinate *aCoord, int index) const
void	setCoordinateModel (Coordinate aCoord, Model aModel) const
SimTK::SpatialVec	calcEquivalentSpatialForceForMobilizedBody (const SimTK::State &s, const SimTK::MobilizedBodyIndex mbx, const SimTK::Vector &mobilityForces) const
Protected Attributes inherited from OpenSim::ModelComponent
Model *	_model
	The model this component belongs to.
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Detailed Description

A class implementing an Ellipsoid joint.

The underlying implementation in Simbody is a MobilizedBody::Ellipsoid.

Author: Ajay Seth

Version: 1.0

Constructor & Destructor Documentation

OpenSim::EllipsoidJoint::EllipsoidJoint ( )

OpenSim::EllipsoidJoint::EllipsoidJoint	(	const std::string &	name,
		OpenSim::Body &	parent,
		SimTK::Vec3	locationInParent,
		SimTK::Vec3	orientationInParent,
		OpenSim::Body &	body,
		SimTK::Vec3	locationInBody,
		SimTK::Vec3	orientationInBody,
		SimTK::Vec3	ellipsoidRadii,
		bool	reverse = `false`
	)

virtual OpenSim::EllipsoidJoint::~EllipsoidJoint ( )

virtual

Member Function Documentation

void OpenSim::EllipsoidJoint::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] system The System being created.

See Also: addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::Joint.

void OpenSim::EllipsoidJoint::connectToModel ( Model & aModel )

overrideprotectedvirtual

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters

aModel OpenSim model containing this Joint.

Reimplemented from OpenSim::Joint.

void OpenSim::EllipsoidJoint::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

state The state that will receive the new initial conditions.

See Also: setPropertiesFromState()

Reimplemented from OpenSim::Joint.

virtual int OpenSim::EllipsoidJoint::numCoordinates ( ) const

inlinevirtual

Implements OpenSim::Joint.

OpenSim::EllipsoidJoint::OpenSim_DECLARE_PROPERTY	(	radii_x_y_z	,
		SimTK::Vec3	,
		"Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ)."
	)

virtual void OpenSim::EllipsoidJoint::scale ( const ScaleSet & aScaleSet )

virtual

Scale a joint based on XYZ scale factors for the bodies.

Generic behavior is to scale the locations on parent and on the body according to scale factors of the bodies upon which they are located.

Joint subclasses should invoke this method before scaling joint specific properties

Parameters

aScaleSet Set of XYZ scale factors for the bodies.

Reimplemented from OpenSim::Joint.

void OpenSim::EllipsoidJoint::setEllipsoidRadii ( SimTK::Vec3 radii )

void OpenSim::EllipsoidJoint::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

state The State from which values may be extracted to set persistent property values.

See Also: initStateFromProperties()

Reimplemented from OpenSim::Joint.

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

E:/Projects/OpenSim30Br/OpenSim30/OpenSim/Simulation/SimbodyEngine/EllipsoidJoint.h

Property declarations

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation