OpenSim  OpenSim 3.0
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Pages
Public Member Functions | List of all members
OpenSim::SpatialTransform Class Reference

A class encapsulating the spatial transformation bewteen two bodies that defines the behaviour of a custom joint. More...

#include <SpatialTransform.h>

Inheritance diagram for OpenSim::SpatialTransform:
OpenSim::Object

Public Member Functions

 SpatialTransform ()
void connectToJoint (CustomJoint &owningJoint)
 
This tells the SpatialTransform the CustomJoint to which it belongs;

this is not copied on copy construction or assignment.

void constructIndependentAxes (int nAxes, int startIndex)
 Make sure axes are not parallel.
OpenSim::Array< std::string > getCoordinateNames () const
 
Construct a list of all unique coordinate names used by any of the

contained TransformAxis objects.

std::vector< std::vector< int > > getCoordinateIndices () const
 
For each axis, construct a list of the coordinate indices that dictate

motion along that axis.

std::vector< const
SimTK::Function * > 		getFunctions () const
 
Create a new SimTK::Function corresponding to each axis; these are

heap allocated and it is up to the caller to delete them.

std::vector< SimTK::Vec3 > getAxes () const
 Get the axis direction associated with each TransformAxis.
void scale (const SimTK::Vec3 scaleFactors)
const TransformAxis & getTransformAxis (int whichAxis) const
 
Select one of the 6 axis, numbered 0-5 with rotation first, then

translation.

TransformAxis & updTransformAxis (int whichAxis)
 Same, but returns a writable reference to the TransformAxis.
const TransformAxis & operator[] (int whichAxis) const
 Same as getTransformAxis().
TransformAxis & operator[] (int whichAxis)
 Same as updTransformAxis().
Property declarations

These are the serializable properties associated with this class.

 OpenSim_DECLARE_PROPERTY (rotation1, TransformAxis,"3 Axes for rotations are listed first.")
 
Define the individual transform axes (6) that specify the spatial

transform; each is a TransformAxis object.

 OpenSim_DECLARE_PROPERTY (rotation2, TransformAxis,"")
 OpenSim_DECLARE_PROPERTY (rotation3, TransformAxis,"")
 OpenSim_DECLARE_PROPERTY (translation1, TransformAxis,"3 Axes for translations are listed next.")
 OpenSim_DECLARE_PROPERTY (translation2, TransformAxis,"")
 OpenSim_DECLARE_PROPERTY (translation3, TransformAxis,"")
- 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

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.

- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 
OBSOLETE: Property_Deprecated set for serializable member variables of

this and derived classes.

- 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 encapsulating the spatial transformation bewteen two bodies that defines the behaviour of a custom joint.

Authors
Ajay Seth

Constructor & Destructor Documentation

OpenSim::SpatialTransform::SpatialTransform ( )

Member Function Documentation

void OpenSim::SpatialTransform::connectToJoint ( CustomJoint &  owningJoint) 

This tells the SpatialTransform the CustomJoint to which it belongs;

this is not copied on copy construction or assignment.

void OpenSim::SpatialTransform::constructIndependentAxes ( int  nAxes,
int  startIndex 
)

Make sure axes are not parallel.

std::vector<SimTK::Vec3> OpenSim::SpatialTransform::getAxes ( ) const

Get the axis direction associated with each TransformAxis.

std::vector<std::vector<int> > OpenSim::SpatialTransform::getCoordinateIndices ( ) const 

For each axis, construct a list of the coordinate indices that dictate

motion along that axis.

OpenSim::Array<std::string> OpenSim::SpatialTransform::getCoordinateNames ( ) const 

Construct a list of all unique coordinate names used by any of the

contained TransformAxis objects.

std::vector<const SimTK::Function*> OpenSim::SpatialTransform::getFunctions ( ) const 

Create a new SimTK::Function corresponding to each axis; these are

heap allocated and it is up to the caller to delete them.

const TransformAxis& OpenSim::SpatialTransform::getTransformAxis ( int  whichAxis) const 

Select one of the 6 axis, numbered 0-5 with rotation first, then

translation.

OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( rotation1  ,
TransformAxis  ,
"3 Axes for rotations are listed first."   
) 

Define the individual transform axes (6) that specify the spatial

transform; each is a TransformAxis object.

OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( rotation2  ,
TransformAxis  ,
""   
)
OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( rotation3  ,
TransformAxis  ,
""   
)
OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( translation1  ,
TransformAxis  ,
"3 Axes for translations are listed next."   
)
OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( translation2  ,
TransformAxis  ,
""   
)
OpenSim::SpatialTransform::OpenSim_DECLARE_PROPERTY ( translation3  ,
TransformAxis  ,
""   
)
const TransformAxis& OpenSim::SpatialTransform::operator[] ( int  whichAxis) const
inline

Same as getTransformAxis().

TransformAxis& OpenSim::SpatialTransform::operator[] ( int  whichAxis)
inline

Same as updTransformAxis().

void OpenSim::SpatialTransform::scale ( const SimTK::Vec3  scaleFactors)
TransformAxis& OpenSim::SpatialTransform::updTransformAxis ( int  whichAxis)

Same, but returns a writable reference to the TransformAxis.

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