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OpenSim::CMC_Task Class Reference

An abstract base class for specifying a task objective for a dynamic simulation. More...

#include <CMC_Task.h>

Inheritance diagram for OpenSim::CMC_Task:
OpenSim::TrackingTask OpenSim::Object OpenSim::CMC_Joint OpenSim::CMC_Orientation OpenSim::CMC_Point OpenSim::SMC_Joint

Public Member Functions

 CMC_Task ()
 CMC_Task (const CMC_Task &aTaskObject)
virtual ~CMC_Task ()
CMC_Taskoperator= (const CMC_Task &aTaskObject)
void setWRTBodyName (std::string aBodyName)
std::string getWRTBodyName () const
void setExpressBodyName (std::string aBodyName)
std::string getExpressBodyName () const
void setActive (bool a0, bool a1=false, bool a2=false)
bool getActive (int aWhich) const
void setWeight (double aW0, double aW1=0.0, double aW2=0.0)
double getWeight (int aWhich) const
void setKP (double aK0, double aK1=0.0, double aK2=0.0)
double getKP (int aWhich) const
void setKV (double aK0, double aK1=0.0, double aK2=0.0)
double getKV (int aWhich) const
void setKA (double aK0, double aK1=0.0, double aK2=0.0)
double getKA (int aWhich) const
void setDirection_0 (const SimTK::Vec3 &aR)
void getDirection_0 (SimTK::Vec3 &rR) const
void setDirection_1 (const SimTK::Vec3 &aR)
void getDirection_1 (SimTK::Vec3 &rR) const
void setDirection_2 (const SimTK::Vec3 &aR)
void getDirection_2 (SimTK::Vec3 &rR) const
FunctiongetTaskFunction (int aWhich) const
void setTaskFunctionsForVelocity (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
FunctiongetTaskFunctionForVelocity (int aWhich) const
void setTaskFunctionsForAcceleration (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
FunctiongetTaskFunctionForAcceleration (int aWhich) const
double getTaskPosition (int aWhich, double aT) const
double getTaskVelocity (int aWhich, double aT) const
double getTaskAcceleration (int aWhich, double aT) const
void setPositionErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
double getPositionErrorLast (int aWhich) const
void setVelocityErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
double getVelocityErrorLast (int aWhich) const
double getPositionError (int aWhich) const
double getVelocityError (int aWhich) const
double getDesiredAcceleration (int aWhich) const
double getAcceleration (int aWhich) const
virtual void computeErrors (const SimTK::State &s, double aT)=0
virtual void computeDesiredAccelerations (const SimTK::State &s, double aT)=0
virtual void computeDesiredAccelerations (const SimTK::State &s, double aTI, double aTF)=0
virtual void computeAccelerations (const SimTK::State &s)=0
virtual void computeJacobian ()
virtual void computeEffectiveMassMatrix ()
virtual void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
 Use this method to deserialize an object from a SimTK::Xml::Element.
- Public Member Functions inherited from OpenSim::TrackingTask
 TrackingTask ()
 TrackingTask (const TrackingTask &aTaskObject)
virtual ~TrackingTask ()
TrackingTaskoperator= (const TrackingTask &aTaskObject)
virtual void setModel (OpenSim::Model &aModel)
ModelgetModel () const
void setOn (bool aTrueFalse)
bool getOn () const
void setWeights (const Array< double > &aWeights)
const Array< double > & getWeights () const
int getNumTaskFunctions () const
virtual void setTaskFunctions (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
- 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 true if no 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 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

PropertyStr _propWRTBodyName
 Body with respect to which the task goals are specified.
PropertyStr _propExpressBodyName
 Body frame in which the task goals are expressed.
PropertyBoolArray _propActive
 Property to specify the active task goals.
PropertyDblArray _propKP
 Position error feedback gain.
PropertyDblArray _propKV
 Velocity error feedback gain.
PropertyDblArray _propKA
 Feedforward acceleration gain.
PropertyDblVec3 _propR0
 Directions of the task goal 0.
PropertyDblVec3 _propR1
 Directions of the task goal 1.
PropertyDblVec3 _propR2
 Directions of the task goal 2.
std::string & _wrtBodyName
 Reference to the value of the on property.
std::string & _expressBodyName
 Reference to the value of the ExpressBody property.
Array< bool > & _active
 Reference to the value of the Active property.
Array< double > & _kp
 Reference to the value of the KP property.
Array< double > & _kv
 Reference to the value of the KV property.
Array< double > & _ka
 Reference to the value of the KA property.
SimTK::Vec3 & _r0
 Reference to the value of the R0 property.
SimTK::Vec3 & _r1
 Reference to the value of the R1 property.
SimTK::Vec3 & _r2
 Reference to the value of the R2 property.
SimTK::Vec3 _pErrLast
 Last position error.
SimTK::Vec3 _pErr
 Position error.
SimTK::Vec3 _vErrLast
 Last velocity error.
SimTK::Vec3 _vErr
 Velocity error.
SimTK::Vec3 _aDes
 Desired accelerations.
SimTK::Vec3 _a
 Accelerations.
double * _j
 Jacobian.
double * _m
 Effective mass matrix.
- Protected Attributes inherited from OpenSim::TrackingTask
PropertyBool _propOn
 Property to indicate on or off state.
PropertyDblArray _propW
 Weights of the task goals.
bool & _on
 Reference to the value of the on property.
Array< double > & _w
 Reference to the value of the Weight property.
Model_model
 Model.
int _nTrk
 Number of functions for this target.
Function_pTrk [3]
 Position task functions.
Function_vTrk [3]
 Velocity task functions.
Function_aTrk [3]
 Acceleration task functions.
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes.

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.

Detailed Description

An abstract base class for specifying a task objective for a dynamic simulation.

This class supports joint, point, and orientation task objectives. Specfic implementations for these kinds of control tasks should inherit from this class.

Author
Frank C. Anderson
Version
1.0

Constructor & Destructor Documentation

OpenSim::CMC_Task::CMC_Task ( )
OpenSim::CMC_Task::CMC_Task ( const CMC_Task aTaskObject)
virtual OpenSim::CMC_Task::~CMC_Task ( )
virtual

Member Function Documentation

virtual void OpenSim::CMC_Task::computeAccelerations ( const SimTK::State &  s)
pure virtual

Implemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

virtual void OpenSim::CMC_Task::computeDesiredAccelerations ( const SimTK::State &  s,
double  aT 
)
pure virtual
virtual void OpenSim::CMC_Task::computeDesiredAccelerations ( const SimTK::State &  s,
double  aTI,
double  aTF 
)
pure virtual

Implemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

virtual void OpenSim::CMC_Task::computeEffectiveMassMatrix ( )
virtual

Reimplemented in OpenSim::CMC_Orientation.

virtual void OpenSim::CMC_Task::computeErrors ( const SimTK::State &  s,
double  aT 
)
pure virtual

Implemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

virtual void OpenSim::CMC_Task::computeJacobian ( )
virtual

Reimplemented in OpenSim::CMC_Orientation.

double OpenSim::CMC_Task::getAcceleration ( int  aWhich) const
bool OpenSim::CMC_Task::getActive ( int  aWhich) const
double OpenSim::CMC_Task::getDesiredAcceleration ( int  aWhich) const
void OpenSim::CMC_Task::getDirection_0 ( SimTK::Vec3 &  rR) const
void OpenSim::CMC_Task::getDirection_1 ( SimTK::Vec3 &  rR) const
void OpenSim::CMC_Task::getDirection_2 ( SimTK::Vec3 &  rR) const
std::string OpenSim::CMC_Task::getExpressBodyName ( ) const
double OpenSim::CMC_Task::getKA ( int  aWhich) const
double OpenSim::CMC_Task::getKP ( int  aWhich) const
double OpenSim::CMC_Task::getKV ( int  aWhich) const
double OpenSim::CMC_Task::getPositionError ( int  aWhich) const
double OpenSim::CMC_Task::getPositionErrorLast ( int  aWhich) const
double OpenSim::CMC_Task::getTaskAcceleration ( int  aWhich,
double  aT 
) const
Function* OpenSim::CMC_Task::getTaskFunction ( int  aWhich) const
Function* OpenSim::CMC_Task::getTaskFunctionForAcceleration ( int  aWhich) const
Function* OpenSim::CMC_Task::getTaskFunctionForVelocity ( int  aWhich) const
double OpenSim::CMC_Task::getTaskPosition ( int  aWhich,
double  aT 
) const
double OpenSim::CMC_Task::getTaskVelocity ( int  aWhich,
double  aT 
) const
double OpenSim::CMC_Task::getVelocityError ( int  aWhich) const
double OpenSim::CMC_Task::getVelocityErrorLast ( int  aWhich) const
double OpenSim::CMC_Task::getWeight ( int  aWhich) const

Reimplemented from OpenSim::TrackingTask.

std::string OpenSim::CMC_Task::getWRTBodyName ( ) const
CMC_Task& OpenSim::CMC_Task::operator= ( const CMC_Task aTaskObject)
void OpenSim::CMC_Task::setActive ( bool  a0,
bool  a1 = false,
bool  a2 = false 
)
void OpenSim::CMC_Task::setDirection_0 ( const SimTK::Vec3 &  aR)
void OpenSim::CMC_Task::setDirection_1 ( const SimTK::Vec3 &  aR)
void OpenSim::CMC_Task::setDirection_2 ( const SimTK::Vec3 &  aR)
void OpenSim::CMC_Task::setExpressBodyName ( std::string  aBodyName)
void OpenSim::CMC_Task::setKA ( double  aK0,
double  aK1 = 0.0,
double  aK2 = 0.0 
)
void OpenSim::CMC_Task::setKP ( double  aK0,
double  aK1 = 0.0,
double  aK2 = 0.0 
)
void OpenSim::CMC_Task::setKV ( double  aK0,
double  aK1 = 0.0,
double  aK2 = 0.0 
)
void OpenSim::CMC_Task::setPositionErrorLast ( double  aE0,
double  aE1 = 0.0,
double  aE2 = 0.0 
)
void OpenSim::CMC_Task::setTaskFunctionsForAcceleration ( Function aF0,
Function aF1 = NULL,
Function aF2 = NULL 
)
void OpenSim::CMC_Task::setTaskFunctionsForVelocity ( Function aF0,
Function aF1 = NULL,
Function aF2 = NULL 
)
void OpenSim::CMC_Task::setVelocityErrorLast ( double  aE0,
double  aE1 = 0.0,
double  aE2 = 0.0 
)
void OpenSim::CMC_Task::setWeight ( double  aW0,
double  aW1 = 0.0,
double  aW2 = 0.0 
)

Reimplemented from OpenSim::TrackingTask.

void OpenSim::CMC_Task::setWRTBodyName ( std::string  aBodyName)
virtual void OpenSim::CMC_Task::updateFromXMLNode ( SimTK::Xml::Element &  objectElement,
int  versionNumber = -1 
)
virtual

Use this method to deserialize an object from a SimTK::Xml::Element.

The element is assumed to be in the format consistent with the passed-in versionNumber. If there is a file attribute in objectElement it will be ignored; if you want it processed you should call readObjectFromXMLNodeOrFile() instead.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

Member Data Documentation

SimTK::Vec3 OpenSim::CMC_Task::_a
protected

Accelerations.

Array<bool>& OpenSim::CMC_Task::_active
protected

Reference to the value of the Active property.

SimTK::Vec3 OpenSim::CMC_Task::_aDes
protected

Desired accelerations.

std::string& OpenSim::CMC_Task::_expressBodyName
protected

Reference to the value of the ExpressBody property.

double* OpenSim::CMC_Task::_j
protected

Jacobian.

Array<double>& OpenSim::CMC_Task::_ka
protected

Reference to the value of the KA property.

Array<double>& OpenSim::CMC_Task::_kp
protected

Reference to the value of the KP property.

Array<double>& OpenSim::CMC_Task::_kv
protected

Reference to the value of the KV property.

double* OpenSim::CMC_Task::_m
protected

Effective mass matrix.

SimTK::Vec3 OpenSim::CMC_Task::_pErr
protected

Position error.

SimTK::Vec3 OpenSim::CMC_Task::_pErrLast
protected

Last position error.

PropertyBoolArray OpenSim::CMC_Task::_propActive
protected

Property to specify the active task goals.

PropertyStr OpenSim::CMC_Task::_propExpressBodyName
protected

Body frame in which the task goals are expressed.

PropertyDblArray OpenSim::CMC_Task::_propKA
protected

Feedforward acceleration gain.

PropertyDblArray OpenSim::CMC_Task::_propKP
protected

Position error feedback gain.

PropertyDblArray OpenSim::CMC_Task::_propKV
protected

Velocity error feedback gain.

PropertyDblVec3 OpenSim::CMC_Task::_propR0
protected

Directions of the task goal 0.

PropertyDblVec3 OpenSim::CMC_Task::_propR1
protected

Directions of the task goal 1.

PropertyDblVec3 OpenSim::CMC_Task::_propR2
protected

Directions of the task goal 2.

PropertyStr OpenSim::CMC_Task::_propWRTBodyName
protected

Body with respect to which the task goals are specified.

SimTK::Vec3& OpenSim::CMC_Task::_r0
protected

Reference to the value of the R0 property.

SimTK::Vec3& OpenSim::CMC_Task::_r1
protected

Reference to the value of the R1 property.

SimTK::Vec3& OpenSim::CMC_Task::_r2
protected

Reference to the value of the R2 property.

SimTK::Vec3 OpenSim::CMC_Task::_vErr
protected

Velocity error.

SimTK::Vec3 OpenSim::CMC_Task::_vErrLast
protected

Last velocity error.

std::string& OpenSim::CMC_Task::_wrtBodyName
protected

Reference to the value of the on property.

Reference to the value of the WRTBody property.


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