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OpenSim::VectorFunctionForActuators Class Reference

#include <VectorFunctionForActuators.h>

Inheritance diagram for OpenSim::VectorFunctionForActuators:
OpenSim::VectorFunctionUncoupledNxN OpenSim::VectorFunction OpenSim::Object

Public Member Functions

 VectorFunctionForActuators (SimTK::System *aActuatorSystem, Model *model, CMCActuatorSubsystem *actSubsys)
 VectorFunctionForActuators (const VectorFunctionForActuators &aFunction)
 VectorFunctionForActuators ()
virtual ~VectorFunctionForActuators ()
VectorFunctionForActuatorsoperator= (const VectorFunctionForActuators &aFunction)
void setInitialTime (double aTI)
double getInitialTime () const
void setFinalTime (double aTF)
double getFinalTime () const
void setTargetForces (const double *aF)
void getTargetForces (double *rF) const
CMCActuatorSubsystem * getCMCActSubsys ()
virtual void calcValue (const double *aX, double *rF, int aSize)
virtual void calcValue (const Array< double > &aX, Array< double > &rF)
virtual void calcValue (const Array< double > &aX, Array< double > &rF, const Array< int > &aDerivWRT)
virtual void calcDerivative (const Array< double > &aX, Array< double > &rY, const Array< int > &aDerivWRT)
virtual void evaluate (const SimTK::State &s, double *aX, double *rF)
virtual void evaluate (const SimTK::State &s, const OpenSim::Array< double > &aX, Array< double > &rF)
virtual void evaluate (const SimTK::State &s, Array< double > &rF, const Array< int > &aDerivWRT)
virtual void evaluate (const double *rY)
virtual void evaluate (const Array< double > &rY)
virtual void evaluate (Array< double > &rY, const Array< int > &aDerivWRT)
- Public Member Functions inherited from OpenSim::VectorFunctionUncoupledNxN
 VectorFunctionUncoupledNxN ()
 VectorFunctionUncoupledNxN (int aN)
 VectorFunctionUncoupledNxN (const VectorFunctionUncoupledNxN &aFunction)
virtual ~VectorFunctionUncoupledNxN ()
VectorFunctionUncoupledNxNoperator= (const VectorFunctionUncoupledNxN &aFunction)
virtual void evaluate (const SimTK::State &s, const double *aX, double *rF)
virtual void evaluate (const SimTK::State &s, const Array< double > &aX, Array< double > &rF, const Array< int > &aDerivWRT)
- Public Member Functions inherited from OpenSim::VectorFunction
 VectorFunction ()
 VectorFunction (int aNX, int aNY)
 VectorFunction (const VectorFunction &aVectorFunction)
virtual ~VectorFunction ()
VectorFunctionoperator= (const VectorFunction &aVectorFunction)
int getNX () const
int getNY () const
void setMinX (const Array< double > &aMinX)
const Array< double > & getMinX () const
void setMinX (int aXIndex, double aMinX)
double getMinX (int aXIndex) const
void setMaxX (const Array< double > &aMaxX)
const Array< double > & getMaxX () const
void setMaxX (int aXIndex, double aMaxX)
double getMaxX (int aXIndex) const
virtual void updateBoundingBox ()
- 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 Attributes

double _ti
 Initial time for the integration.
double _tf
 Final time for the integration.
Array< double > _f
 Target actuator forces.
SimTK::System * _CMCActuatorSystem
 Actuator System.
CMCActuatorSubsystem * _CMCActuatorSubsystem
 Actuator SubSystem.
SimTK::Integrator * _integrator
 Integrator.
Model_model
 Model.

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::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.

Constructor & Destructor Documentation

OpenSim::VectorFunctionForActuators::VectorFunctionForActuators ( SimTK::System *  aActuatorSystem,
Model model,
CMCActuatorSubsystem *  actSubsys 
)
OpenSim::VectorFunctionForActuators::VectorFunctionForActuators ( const VectorFunctionForActuators aFunction)
OpenSim::VectorFunctionForActuators::VectorFunctionForActuators ( )
virtual OpenSim::VectorFunctionForActuators::~VectorFunctionForActuators ( )
virtual

Member Function Documentation

virtual void OpenSim::VectorFunctionForActuators::calcDerivative ( const Array< double > &  aX,
Array< double > &  rY,
const Array< int > &  aDerivWRT 
)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::calcValue ( const double *  aX,
double *  rF,
int  aSize 
)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::calcValue ( const Array< double > &  aX,
Array< double > &  rF 
)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::calcValue ( const Array< double > &  aX,
Array< double > &  rF,
const Array< int > &  aDerivWRT 
)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( const SimTK::State &  s,
double *  aX,
double *  rF 
)
virtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( const SimTK::State &  s,
const OpenSim::Array< double > &  aX,
Array< double > &  rF 
)
virtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( const SimTK::State &  s,
Array< double > &  rF,
const Array< int > &  aDerivWRT 
)
virtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( const double *  rY)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( const Array< double > &  rY)
inlinevirtual
virtual void OpenSim::VectorFunctionForActuators::evaluate ( Array< double > &  rY,
const Array< int > &  aDerivWRT 
)
inlinevirtual
CMCActuatorSubsystem* OpenSim::VectorFunctionForActuators::getCMCActSubsys ( )
double OpenSim::VectorFunctionForActuators::getFinalTime ( ) const
double OpenSim::VectorFunctionForActuators::getInitialTime ( ) const
void OpenSim::VectorFunctionForActuators::getTargetForces ( double *  rF) const
VectorFunctionForActuators& OpenSim::VectorFunctionForActuators::operator= ( const VectorFunctionForActuators aFunction)
void OpenSim::VectorFunctionForActuators::setFinalTime ( double  aTF)
void OpenSim::VectorFunctionForActuators::setInitialTime ( double  aTI)
void OpenSim::VectorFunctionForActuators::setTargetForces ( const double *  aF)

Member Data Documentation

CMCActuatorSubsystem* OpenSim::VectorFunctionForActuators::_CMCActuatorSubsystem
protected

Actuator SubSystem.

SimTK::System* OpenSim::VectorFunctionForActuators::_CMCActuatorSystem
protected

Actuator System.

Array<double> OpenSim::VectorFunctionForActuators::_f
protected

Target actuator forces.

SimTK::Integrator* OpenSim::VectorFunctionForActuators::_integrator
protected

Integrator.

Model* OpenSim::VectorFunctionForActuators::_model
protected
double OpenSim::VectorFunctionForActuators::_tf
protected

Final time for the integration.

double OpenSim::VectorFunctionForActuators::_ti
protected

Initial time for the integration.


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