  OpenSim | An force that exerts a generalized force based on spring-like characteristics (stiffness and viscosity) |
  DebugUtilities | |
 ActiveForceLengthCurve | This class serves as a serializable ActiveForceLengthCurve, commonly used to model the active element in muscle models |
| ClutchedPathSpring | The ClutchedPathSpring is an actuator that has passive path spring behavior only when the clutch is engaged |
| ContDerivMuscle_Deprecated | A class implementing a SIMM muscle |
| CoordinateActuator | An actuator that applies a generalized force to along a generalized a generalized coordinate, which is proportional to its input control |
| Delp1990Muscle_Deprecated | A class implementing a SIMM muscle |
| FiberCompressiveForceCosPennationCurve | This class serves as a serializable FiberCompressiveForceCosPennationCurve, which is used to ensure that the pennation angle approaches but never reaches an angle of 90 degrees |
| FiberCompressiveForceLengthCurve | This class serves as a serializable FiberCompressiveForceLengthCurve, which is used to ensure that the fiber cannot generate force at, nor shorten beyond a minimum normalized length |
| FiberForceLengthCurve | This class serves as a serializable FiberForceLengthCurve, commonly used to model the parallel elastic element in muscle models |
| ForceVelocityCurve | This class serves as a serializable ForceVelocityCurve for use in muscle models |
| ForceVelocityInverseCurve | This class serves as a serializable ForceVelocityInverseCurve for use in equilibrium muscle models |
| Millard2012AccelerationMuscle | This class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocites) curves can be employed |
| Millard2012EquilibriumMuscle | This class implements a configurable equilibrium muscle model, as described in Millard et al. (2013) |
| MuscleFirstOrderActivationDynamicModel | This is a muscle modeling utility class that computes the time derivative of activation using a first-order dynamic model |
| MuscleFixedWidthPennationModel | This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model |
| MuscleSecondOrderActivationDynamicModel | This function is a muscle modeling utility class that simulates dynamics of muscle force development as a function of input excitation |
| PointActuator | A class that implements a point actuator acting on the model |
| PointToPointActuator | A class that implements a force actuator acting between two points on two bodies |
| RigidTendonMuscle | A class implementing a RigidTendonMuscle actuator with no states |
| Schutte1993Muscle_Deprecated | A class implementing a SIMM muscle |
| SpringGeneralizedForce | |
| TendonForceLengthCurve | This class serves as a serializable TendonForceLengthCurve for use in muscle models |
| Thelen2003Muscle | Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors |
| Thelen2003Muscle_Deprecated | A class implementing a SIMM muscle |
| TorqueActuator | A class that implements a torque actuator acting on a body |
| Actuation | A class for recording the basic actuator information for a model during a simulation |
| BodyKinematics | A class for recording the kinematics of the bodies of a model during a simulation |
| ForceReporter | A class for recording the Forces applied to a model during a simulation |
| InducedAccelerations | A class to perform an Induced Accelerations analysis using a constraint- method of replacing external (contact) forces in order to determine the contributions of actuators to external reaction forces and thus model accelerations including that of the center-of-mass |
| JointReaction | An analysis for reporting the joint reaction loads from a model |
| Kinematics | A class for recording the kinematics of the generalized coordinates of a model during a simulation |
| MuscleAnalysis | A class for recording and computting basic quantities (length, shortening velocity, tendon length, ...) for muscles during a simulation |
 private | |
| PointKinematics | A class for recording the kinematics of a point on a body of a model during a simulation |
| ProbeReporter | A class for reporting the outputs of all model-connected Probes to file during a simulation |
| StatesReporter | A class for recording the states of a model during a simulation |
| StaticOptimization | This class implements static optimization to compute Muscle Forces and activations |
| StaticOptimizationTarget | This class provides an interface specification for static optimization Objective Function |
| AbstractProperty | An abstract property is a serializable (name,value) pair, for which we do not know the type of the value |
| Array | |
| Constant | A class for representing a constant value |
| DisplayGeometry | A class for representing the DisplayGeometry properties of an object |
| Exception | |
| Function | |
| FunctionScaler | This is a SimTK::Function that multiplies the value of another function by a constant |
| FunctionSet | |
| GCVSpline | |
| GCVSplineSet | |
| Geometry | Class Geometry is intended to be used as the base class for all geometry that needs to be represented in the system, both as vtk files, or analytic |
| LineGeometry | |
| ArrowGeometry | |
| AnalyticGeometry | Utility class used to abstract anayltic geometry |
| AnalyticSphere | |
| AnalyticEllipsoid | |
| AnalyticCylinder | |
| AnalyticTorus | |
| PolyhedralGeometry | |
| GeometrySet | |
| InterruptedException | |
| IO | A class for performing input and output with OpenSim API |
| LinearFunction | A class for representing a LinearFunction |
| MarkerData | A class implementing a sequence of marker frames from a TRC/TRB file |
| MarkerFrame | A class implementing a frame of marker data from a TRC/TRB file |
| MultiplierFunction | |
| Object | This is the base class for all OpenSim objects that are serializable (meaning they can be written to and read back from files) |
| ObjectGroup | A class implementing an object group |
| OptimizationTarget | This class provides an interface specification for optimizing redundant systems |
| PiecewiseConstantFunction | |
| PiecewiseLinearFunction | |
| Property | A Property<T> is a serializable (name, list-of-values) pair, where each value is of type T |
| TypeHelper | This is the generic definition of Property::TypeHelper to be used whenever T does not have a specialization, meaning that T must be a type derived from class Object |
| Property_Deprecated | |
| PropertyBool | |
| PropertyBoolArray | Class PropertyBoolArray extends class Property |
| PropertyDbl | |
| PropertyDblArray | |
| PropertyDblVec_ | |
| PropertyGroup | A class implementing a property group |
| PropertyInt | |
| PropertyIntArray | |
| PropertyObj | |
| PropertyObjArray | |
| PropertyObjPtr | |
| PropertySet | A property set is simply a set of properties |
| PropertyStr | |
| PropertyStrArray | |
| PropertyTable | A property table is the container that an OpenSim Object uses to hold its properties (each derived from base class AbstractProperty) |
| PropertyTransform | |
| RootSolver | A class for finding the N roots of N one-dimensional non-linear equations |
| Scale | |
| ScaleSet | |
| SegmentedQuinticBezierToolkit | This is a low level Quintic Bezier curve class that contains functions to design continuous sets of 'C' shaped Bezier curves, and to evaluate their values and derivatives |
| Set | A class for holding a set of pointers to objects |
| Signal | A class for signal processing |
| SimmSpline | |
| Sine | A class for representing a Sine function |
| SmoothSegmentedFunction | This class contains the quintic Bezier curves, x(u) and y(u), that have been created by SmoothSegmentedFunctionFactory to follow a physiologically meaningful muscle characteristic |
| SmoothSegmentedFunctionFactory | This is a class that acts as a user friendly wrapper to QuinticBezerCurveSet to build specific kinds of physiologically plausible muscle curves using C2 continuous sets of quintic Bezier curves |
| StateVector | A class which stores a vector of states or data at a specified time |
| StepFunction | A class for representing a StepFunction |
| Storage | |
| StorageCreator | |
| StorageFactory | |
| StorageInterface | |
| Units | A class implementing various units for measuring quantities |
| VectorFunction | |
| VectorFunctionUncoupledNxN | |
| VisibleObject | Class VisibleObject is intended to be used as the base class for all Visible objects that subclass Object |
| XMLDocument | |
| AssemblySolver | Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values |
| Control | |
| ControlConstant | |
| Controller | Controller is an abstract ModelComponent that defines the interface for an OpenSim Controller |
| ControlLinear | |
| ControlLinearNode | |
| ControlSet | |
| ControlSetController | |
| PrescribedController | PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time |
| ToyReflexController | ToyReflexController is a concrete controller that excites muscles in response to muscle lengthening to simulate a simple stretch reflex |
| TrackingController | |
| CoordinateReference | Reference value to be achieved for a specified coordinate that will be used via optimization and/or tracking |
| InverseDynamicsSolver | Solve for the generalized coordinate coordinate forces (1 per degree-of-freedom) that satisfy the unconstrained equations of motion given kinemtics: q, u, u_dot |
| InverseKinematicsSolver | Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values |
| Manager | A class that manages the execution of a simulation |
| MarkerWeight | |
| MarkersReference | |
| AbstractTool | An abstract class for specifying the interface for an investigation |
| ActivationFiberLengthMuscle | A base class representing a two-state muscle-tendon actuator |
| ActivationFiberLengthMuscle_Deprecated | A base class representing a muscle-tendon actuator |
| Actuator_ | Base class for an actuator (e.g., a torque motor, muscle, ...) that requires external input (controls) to generate force |
| Actuator | Derived class for an actuator (e.g., a torque motor, muscle, ...) that requires exactly one external input (control) to generate a scalar value force, such as a torque/force magnitude or a tension |
| ActuatorForceProbe | ActuatorForceProbe is a ModelComponent Probe for computing an operation on a force or sum of forces in the model during a simulation |
| ActuatorPowerProbe | ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation |
| Analysis | An abstract class for specifying the interface for an analysis plugin |
| AnalysisSet | |
| Bhargava2004MuscleMetabolicsProbe | Bhargava2004MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation |
| Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameter | |
| Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameterSet | MetabolicMuscleParameterSet is a class that holds the set of MetabolicMuscleParameters for each muscle |
| BodyScale | A class implementing a set of parameters describing how to scale a body segment |
| BodyScaleSet | A class for holding a set of body scales |
| BodySet | A class for holding a set of bodies |
| BushingForce | A class implementing a Bushing Force |
| ComponentSet | A class for holding a set of miscellaneous model components |
| Condition | A parent class for implementing an OpenSim Condition |
| ConditionalPathPoint | A class implementing a conditional path point, which is a point that is active only for a specified range of a coordinate |
| ConstraintSet | A class for holding a set of constraints |
| ContactGeometry | This class represents the physical shape of an object for use in contact modeling |
| ContactGeometrySet | A class for holding a set of ContactGeometry objects |
| ContactHalfSpace | This class represents a half space (that is, everything to one side of an infinite plane) for use in contact modeling |
| ContactMesh | This class represents a polygonal mesh for use in contact modeling |
| ContactSphere | This class represents a spherical object for use in contact modeling |
| ControllerSet | A class for holding and managing a set of controllers for a model |
| CoordinateLimitForce | |
| CoordinateSet | A class for holding a set of coordinates |
| ElasticFoundationForce | This Force subclass implements an elastic foundation contact model |
| ExpressionBasedBushingForce | A class implementing a bushing force driven by expressions relating forces to deviations |
| ExpressionBasedPointToPointForce | |
| ExternalForce | This applies a force and/or torque to a body according describe by arrays contained in a Storage The source of the Storage may be experimental sensor recording or user generated data |
| ExternalLoads | A convenience class for managing ExternaForce(s) to be applied to a model |
| Force | This abstract class represents a force applied to bodies or generalized coordinates during a simulation |
| ForceAdapter | This acts as an adapter to allow a Force or Actuator to be used as a SimTK::Force |
| ForceSet | A class for holding and managing a set of forces for a model |
| FunctionBasedBushingForce | A class implementing a bushing force driven by functions relating forces to deviations |
| FunctionThresholdCondition | FunctionThresholdCondition is a concrete implementation of a Condition |
| GeometryPath | A base class representing a path (muscle, ligament, etc.) |
| HuntCrossleyForce | This force subclass implements a Hunt-Crossley contact model |
| JointInternalPowerProbe | JointInternalPowerProbe is a ModelComponent Probe for computing an operation on internal joint power or sum of joint powers in the model during a simulation |
| JointSet | A class for holding a set of joints |
| Ligament | A class implementing a ligament |
| Marker | A class implementing a SIMM [mocap] marker |
| MarkerSet | A class for holding a set of markers for inverse kinematics |
| Model | A concrete class that specifies the interface to a musculoskeletal model |
| ModelComponent | This defines the abstract ModelComponent class, which is used to add computational components to the underlying SimTK::System (MultibodySystem) |
| ModelComponentSet | This is the base class for sets of ModelComponent subclasses |
| ModelDisplayHints | This class captures information indicating user or programmer preferences to guide automatic display geometry generation by a Model |
| ModelVisualizer | This class manages runtime visualization of a Model that is being manipulated through the OpenSim API |
| MovingPathPoint | A class implementing a moving muscle point, which is a muscle point that moves in a body's reference frame as a function of a coordinate |
| Muscle | A base class for modeling a muscle-tendon actuator |
| FiberVelocityInfo | FiberVelocityInfo contains velocity quantities related to the velocity of the muscle (fiber + tendon) complex |
| MuscleDynamicsInfo | MuscleDynamicsInfo contains quantities that are related to the forces that the muscle generates |
| MuscleLengthInfo | The MuscleLengthInfo struct contains information about the muscle that is strictly a function of the length of the fiber and the tendon, and the orientation of the muscle fiber |
| MusclePotentialEnergyInfo | MusclePotentialEnergyInfo contains quantities related to the potential energy of the muscle (fiber + tendon) complex |
| MuscleActiveFiberPowerProbe | MuscleActiveFiberPowerProbe is a ModelComponent probe for computing an operation on the active fiber power of a muscle |
| PathActuator | This is the base class for actuators that apply controllable tension along a geometry path |
| PathPoint | A class implementing a path point |
| PathPointSet | A class for holding a set of muscle points |
| PathSpring | A class implementing a PathSpring |
| PointForceDirection | Convenience class for a generic representation of geometery of a complex Force (or any other object) with multiple points of contact through which forces are applied to bodies |
| PointToPointSpring | |
| PrescribedForce | This applies to a body a force and/or torque that is fully specified as a function of time |
| Probe | This class represents a Probe which is designed to query a Vector of model values given system state |
| ProbeSet | A class for holding a set of probes |
| SystemEnergyProbe | SystemEnergyProbe is a ModelComponent Probe for computing an operation on a total system energy during a simulation |
| Umberger2010MuscleMetabolicsProbe | Umberger2010MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation |
| Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameter | |
| Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameterSet | MetabolicMuscleParameterSet is an internal container class containing the set of MetabolicMuscleParameters for each muscle that is probed |
| MomentArmSolver | Solve for the effective moment arms at all degrees-of-freedom due to one or more point forces |
| Reference_ | This base (abstract) class defines the interface for objects repsonsible in identifying a model output and its Reference value to be achieved via optimization and/or tracking |
| BallJoint | A class implementing an Ball joint |
| Body | A class implementing a Simbody rigid body |
| ConstantDistanceConstraint | A class implementing a constraint that maintains a constant distance between between two points |
| Constraint | A parent class for implementing a Simbody Constraint |
| Coordinate | A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized) |
| CoordinateCouplerConstraint | |
| CustomJoint | A class implementing a custom joint |
| EllipsoidJoint | A class implementing an Ellipsoid joint |
| FreeJoint | A class implementing a Free joint |
| GimbalJoint | A class implementing an Gimbal joint |
| Joint | A class implementing an OpenSim Joint |
| PinJoint | A class implementing an Pin joint |
| PlanarJoint | A PlanarJoint provides three DoFs: rotation about the the common Z of the parent and child joint frames, X and Y translation in the parent body's joint frame |
| PointConstraint | A class implementing a Point Constraint |
| PointOnLineConstraint | A class implementing a Point On Line Constraint |
| RollingOnSurfaceConstraint | A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface |
| SimbodyEngine | A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim |
| SliderJoint | A class implementing an Slider joint |
| SpatialTransform | A class encapsulating the spatial transformation bewteen two bodies that defines the behaviour of a custom joint |
| TransformAxis | A class expressing a transformation of a child body in relation to a parent body along either a translation or rotation axis |
| UnilateralConstraint | An abstract class defining an OpenSim UnilateralConstraint |
| UniversalJoint | A class implementing a Universal joint |
| WeldConstraint | A class implementing a Weld Constraint |
| WeldJoint | A class implementing an Weld joint |
| Solver | The base (abstract) class for a family of objects repsonsible for solving system equations (statics, dynamic, kinematics, muscle, etc...) given by a model for values of interest |
| ActuatorForceTarget | A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production |
| ActuatorForceTargetFast | A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production |
| AnalyzeTool | An abstract class for specifying the interface for an investigation |
| CMC | Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and goverened by differential equaitions (as so have delays in force production) |
| CMC_Joint | A class for specifying the tracking task for a joint |
| CMC_Orientation | A class for tracking the orientation of a body |
| CMC_Point | A class for specifying and computing parameters for tracking a point |
| CMC_Task | An abstract base class for specifying a task objective for a dynamic simulation |
| CMC_TaskSet | An class for holding and managing a set of tasks |
| CMCTool | An abstract class for specifying the interface for an investigation |
| CorrectionController | This is a simple feedback controller to be used in generating a forward dynamic simulation |
| DynamicsTool | An abstract Tool for defining tools for perfroming a dynamics analysis with a given model |
| ForwardTool | A concrete tool for perfroming forward dynamics simulations |
| GenericModelMaker | A class implementing a set of parameters describing a generic musculoskeletal model |
| IKCoordinateTask | |
| IKMarkerTask | |
| IKTask | |
| IKTaskSet | |
| InverseDynamicsTool | A Tool that performs an Inverse Dynamics analysis with a given model |
| InverseKinematicsTool | A Tool that performs an Inverse Kinematics analysis with a given model |
| MarkerPair | |
| MarkerPairSet | A class for holding a set of SimmMarkerPairs |
| MarkerPlacer | A class implementing a set of parameters describing how to place markers on a model (presumably after it has been scaled to fit a subject) |
| Measurement | A class implementing a measurement (the distance between one or more pairs of markers, used to scale a model) |
| MeasurementSet | A class for holding a set of measurements |
| ModelScaler | A class for scaling a model |
| MuscleStateTrackingTask | A TrackingTask for that corresponds to a muscle state variable |
| RRATool | An abstract class for specifying the interface for an investigation |
| ScaleTool | A class implementing a set of parameters describing how to scale a model to fit a subject, place markers on it, and do IK on one or more motion trials |
| SMC_Joint | A class for specifying the tracking task for a joint |
| StateTrackingTask | A target for a tracking problem that corresponds to a state variable |
| Tool | A Tool is an OpenSim abstraction that encapsulates an analysis or series of modeling and analysis steps |
| TrackingTask | An abstract base class for specifying a target for a tracking problem |
| VectorFunctionForActuators | |
| SimTK | |
| DefaultGeometry | |
| osimInstantiator | |
1.8.1.2 
