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OpenSim::TorqueActuator Class Reference

A class that implements a torque actuator acting on a body. More...

#include <TorqueActuator.h>

Inheritance diagram for OpenSim::TorqueActuator:
OpenSim::Actuator OpenSim::Actuator_ OpenSim::Force OpenSim::ModelComponent OpenSim::Object

Public Member Functions

 TorqueActuator ()
 Default constructor leaves body names unspecified.
 TorqueActuator (const std::string &bodyNameA, const std::string &bodyNameB)
 Construct with body names given.
void setAxis (const SimTK::Vec3 &axis)
 
Set the 'axis' property to the supplied value; frame is interpreted

according to the 'torque_is_global' property.

const SimTK::Vec3 & getAxis () const
 Return the current value of the 'axis' property.
void setTorqueIsGlobal (bool isGlobal)
 
Set the 'torque_is_global' property that determines how to interpret

the 'axis' vector; if not global (Ground frame) it is in body A's frame.

bool getTorqueIsGlobal () const
 Return the current value of the 'torque_is_global' property.
void setOptimalForce (double optimalForce)
 Set the 'optimal_force' property.
double getOptimalForce () const override
 Get the current value of the 'optimal_force' property.
Property declarations

These are the serializable properties associated with this class.

 OpenSim_DECLARE_OPTIONAL_PROPERTY (bodyA, std::string,"Name of Body to which the torque actuator is applied.")
 OpenSim_DECLARE_OPTIONAL_PROPERTY (bodyB, std::string,"Name of Body to which the equal and opposite torque is applied.")
 OpenSim_DECLARE_PROPERTY (torque_is_global, bool,"Interpret axis in Ground frame if true; otherwise, body A's frame.")
 The default is torque_is_global=true.
 OpenSim_DECLARE_PROPERTY (axis, SimTK::Vec3,"Fixed direction about which torque is applied, in Ground or body A ""frame depending on 'torque_is_global' property.")
 The default direction for the axis is z (0,0,1).
 OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum torque produced by this actuator when fully activated.")
 The default for optimal force is 1.
- 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 getSpeed (const SimTK::State &s) 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.

Forceoperator= (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.
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.
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 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

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 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

Detailed Description

A class that implements a torque actuator acting on a body.

This actuator has no states; the control is simply the force to be applied to the model.

Author
Ajay Seth, Matt DeMers

Constructor & Destructor Documentation

OpenSim::TorqueActuator::TorqueActuator ( )

Default constructor leaves body names unspecified.

OpenSim::TorqueActuator::TorqueActuator ( const std::string &  bodyNameA,
const std::string &  bodyNameB 
)

Construct with body names given.

An empty name ("") is treated as though it were unspecified.

Member Function Documentation

const SimTK::Vec3& OpenSim::TorqueActuator::getAxis ( ) const
inline

Return the current value of the 'axis' property.

double OpenSim::TorqueActuator::getOptimalForce ( ) const
inlineoverridevirtual

Get the current value of the 'optimal_force' property.

Reimplemented from OpenSim::Actuator.

bool OpenSim::TorqueActuator::getTorqueIsGlobal ( ) const
inline

Return the current value of the 'torque_is_global' property.

OpenSim::TorqueActuator::OpenSim_DECLARE_OPTIONAL_PROPERTY ( bodyA  ,
std::string  ,
"Name of Body to which the torque actuator is applied."   
)
OpenSim::TorqueActuator::OpenSim_DECLARE_OPTIONAL_PROPERTY ( bodyB  ,
std::string  ,
"Name of Body to which the equal and opposite torque is applied."   
)
OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY ( torque_is_global  ,
bool  ,
"Interpret axis in Ground frame if true;  otherwise,
body A's frame."   
)

The default is torque_is_global=true.

OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY ( axis  ,
SimTK::Vec3  ,
"Fixed direction about which torque is  applied,
in Ground or body A""frame depending on 'torque_is_global'property."   
)

The default direction for the axis is z (0,0,1).

OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY ( optimal_force  ,
double  ,
"The maximum torque produced by this actuator when fully activated."   
)

The default for optimal force is 1.

void OpenSim::TorqueActuator::setAxis ( const SimTK::Vec3 &  axis)
inline

Set the 'axis' property to the supplied value; frame is interpreted

according to the 'torque_is_global' property.

void OpenSim::TorqueActuator::setOptimalForce ( double  optimalForce)
inline

Set the 'optimal_force' property.

void OpenSim::TorqueActuator::setTorqueIsGlobal ( bool  isGlobal)
inline

Set the 'torque_is_global' property that determines how to interpret

the 'axis' vector; if not global (Ground frame) it is in body A's frame.


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