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OpenSim::CMC_TaskSet Class Reference

An class for holding and managing a set of tasks. More...

#include <CMC_TaskSet.h>

Inheritance diagram for OpenSim::CMC_TaskSet:
OpenSim::Set< TrackingTask > OpenSim::Object

Public Member Functions

 CMC_TaskSet ()
 CMC_TaskSet (const std::string &aFileName)
virtual ~CMC_TaskSet ()
CMC_TaskSetoperator= (const CMC_TaskSet &)
 CMC_TaskSet (const CMC_TaskSet &aCMCTaskSet)
void setModel (Model &aModel)
ModelgetModel () const
const std::string & getDataFileName () const
void setFunctions (FunctionSet &aFuncSet)
void setFunctionsForVelocity (FunctionSet &aFuncSet)
void setFunctionsForAcceleration (FunctionSet &aFuncSet)
int getNumActiveTaskFunctions () const
Array< double > & getTaskPositions (double aT)
Array< double > & getTaskVelocities (double aT)
Array< double > & getTaskAccelerations (double aT)
Array< double > & getPositionGains ()
Array< double > & getVelocityGains ()
Array< double > & getAccelerationGains ()
Array< double > & getPositionErrorsLast ()
Array< double > & getPositionErrors ()
Array< double > & getVelocityErrorsLast ()
Array< double > & getVelocityErrors ()
Array< double > & getWeights ()
Array< double > & getDesiredAccelerations ()
Array< double > & getAccelerations ()
void recordErrorsAsLastErrors ()
void computeErrors (const SimTK::State &s, double aT)
void computeDesiredAccelerations (const SimTK::State &s, double aT)
void computeDesiredAccelerations (const SimTK::State &s, double aTCurrent, double aTFuture)
void computeAccelerations (const SimTK::State &s)
- Public Member Functions inherited from OpenSim::Set< TrackingTask >
virtual ~Set ()
 Destructor.
 Set ()
 Default constructor.
 Set (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct from file.
 Set (const Set< TrackingTask > &aSet)
 Copy constructor.
void setupGroups ()
 Setup groups (match group member names to set members).
Set< TrackingTask > & operator= (const Set< TrackingTask > &aSet)
 Assign this set to another set.
TrackingTaskoperator[] (int aIndex) const
 Get a pointer to the set object at a specified index.
void setMemoryOwner (bool aTrueFalse)
 Set whether or not this set owns the memory pointed to by the pointers it holds.
bool getMemoryOwner () const
 Get whether or not this array owns the memory pointed to by the pointers in its array.
bool computeNewCapacity (int aMinCapacity, int &rNewCapacity)
 Compute a new capacity that is at least as large as a specified minimum capacity; this method does not change the capacity, it simply computes a new recommended capacity.
bool ensureCapacity (int aCapacity)
 Ensure that the capacity of this array is at least the specified amount.
void trim ()
 Trim the capacity of this array so that it is one larger than the size of this array.
int getCapacity () const
 Get the capacity of this storage instance.
void setCapacityIncrement (int aIncrement)
 Set the amount by which the capacity is increased when the capacity of of the array in exceeded.
int getCapacityIncrement () const
 Get the amount by which the capacity is increased.
virtual bool setSize (int aSize)
 Set the size of the array.
int getSize () const
 Get the size of the array.
virtual int getIndex (const TrackingTask *aObject, int aStartIndex=0) const
 Get the index of an object.
virtual int getIndex (const std::string &aName, int aStartIndex=0) const
 Get the index of an object by specifying its name.
void getGroupNamesContaining (const std::string &aObjectName, Array< std::string > &rGroupNames) const
 Get names of groups containing a given object.
virtual bool adoptAndAppend (TrackingTask *aObject)
 Append to the array, and adopt passed in pointer.
virtual bool cloneAndAppend (const TrackingTask &aObject)
 cloneAndAppend creates a clone of the passed in object and appends the clone to the array.
virtual bool insert (int aIndex, TrackingTask *aObject)
 Insert an object into the array at a specified index.
virtual bool insert (int aIndex, const TrackingTask &aObject)
 Insert an object into the array at a specified index.
virtual bool remove (int aIndex)
 Remove an object from the array at a specified index.
virtual bool remove (const TrackingTask *aObject)
 Remove an object from the array by specifying its address.
virtual void clearAndDestroy ()
virtual bool set (int aIndex, TrackingTask *aObject, bool preserveGroups=false)
 Set the object at a specified index.
virtual bool set (int aIndex, const TrackingTask &aObject, bool preserveGroups=false)
 Set the object at a specified index.
virtual TrackingTaskget (int aIndex) const
 Get the value at a specified array index.
TrackingTaskget (const std::string &aName)
 Get the first object that has a specified name.
const TrackingTaskget (const std::string &aName) const
bool contains (const std::string &aName) const
 Get whether this Set contains any object with the specified name.
virtual void getNames (OpenSim::Array< std::string > &rNames) const
 Get names of objects in the set.
virtual TrackingTaskgetLast () const
 Get the last value in the array.
int searchBinary (const TrackingTask &aObject, bool aFindFirst=false, int aLo=-1, int aHi=-1) const
 Search for the largest value in the array that is less than or equal to a specified value.
int getNumGroups () const
 Get the number of groups.
void addGroup (const std::string &aGroupName)
 Add an empty group to the set.
void removeGroup (const std::string &aGroupName)
 Remove a group from the set.
void renameGroup (const std::string &oldGroupName, const std::string &newGroupName)
 Rename a group.
void addObjectToGroup (const std::string &aGroupName, const std::string &aObjectName)
 Add an object to a group.
void getGroupNames (Array< std::string > &rGroupNames) const
 Get names of all groups.
const ObjectGroupgetGroup (const std::string &aGroupName) const
 Get a group by name.
const ObjectGroupgetGroup (int aIndex) const
 Get a group by index.
- 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 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

Model_model
 Model for which the tracking is conducted.
Array< double > _pTask
 Array of task positions.
Array< double > _vTask
 Array of task velocities.
Array< double > _aTask
 Array of task accelerations.
Array< double > _pErrLast
 Array of last position errors.
Array< double > _pErr
 Array of position errors.
Array< double > _vErrLast
 Array of last velocity errors.
Array< double > _vErr
 Array of velocity errors.
Array< double > _kp
 Array of gains for the position errors.
Array< double > _kv
 Array of gains for the velocity errors.
Array< double > _ka
 Array of gains for the acceleration errors.
Array< double > _w
 Array of weights of the desired acceleration.
Array< double > _aDes
 Array of desired accelerations.
Array< double > _a
 Array of accelerations.
PropertyStr _dataFileNameProp
 In case there're tracking targets loaded from file, the filename goes here and the column names go into individual targets.
std::string & _dataFileName
FunctionSet _functions
- Protected Attributes inherited from OpenSim::Set< TrackingTask >
PropertyObjArray< TrackingTask_propObjects
 Array of pointers to objects.
PropertyObjArray< ObjectGroup_propObjectGroups
 Array of pointers to object groups.
ArrayPtrs< TrackingTask > & _objects
ArrayPtrs< ObjectGroup > & _objectGroups
- 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 class for holding and managing a set of tasks.

Author
Frank C. Anderson
Version
1.0

Constructor & Destructor Documentation

OpenSim::CMC_TaskSet::CMC_TaskSet ( )
OpenSim::CMC_TaskSet::CMC_TaskSet ( const std::string &  aFileName)
explicit
virtual OpenSim::CMC_TaskSet::~CMC_TaskSet ( )
virtual
OpenSim::CMC_TaskSet::CMC_TaskSet ( const CMC_TaskSet aCMCTaskSet)
inline

Member Function Documentation

void OpenSim::CMC_TaskSet::computeAccelerations ( const SimTK::State &  s)
void OpenSim::CMC_TaskSet::computeDesiredAccelerations ( const SimTK::State &  s,
double  aT 
)
void OpenSim::CMC_TaskSet::computeDesiredAccelerations ( const SimTK::State &  s,
double  aTCurrent,
double  aTFuture 
)
void OpenSim::CMC_TaskSet::computeErrors ( const SimTK::State &  s,
double  aT 
)
Array<double>& OpenSim::CMC_TaskSet::getAccelerationGains ( )
Array<double>& OpenSim::CMC_TaskSet::getAccelerations ( )
const std::string& OpenSim::CMC_TaskSet::getDataFileName ( ) const
inline
Array<double>& OpenSim::CMC_TaskSet::getDesiredAccelerations ( )
Model* OpenSim::CMC_TaskSet::getModel ( ) const
int OpenSim::CMC_TaskSet::getNumActiveTaskFunctions ( ) const
Array<double>& OpenSim::CMC_TaskSet::getPositionErrors ( )
Array<double>& OpenSim::CMC_TaskSet::getPositionErrorsLast ( )
Array<double>& OpenSim::CMC_TaskSet::getPositionGains ( )
Array<double>& OpenSim::CMC_TaskSet::getTaskAccelerations ( double  aT)
Array<double>& OpenSim::CMC_TaskSet::getTaskPositions ( double  aT)
Array<double>& OpenSim::CMC_TaskSet::getTaskVelocities ( double  aT)
Array<double>& OpenSim::CMC_TaskSet::getVelocityErrors ( )
Array<double>& OpenSim::CMC_TaskSet::getVelocityErrorsLast ( )
Array<double>& OpenSim::CMC_TaskSet::getVelocityGains ( )
Array<double>& OpenSim::CMC_TaskSet::getWeights ( )
CMC_TaskSet& OpenSim::CMC_TaskSet::operator= ( const CMC_TaskSet )
inline
void OpenSim::CMC_TaskSet::recordErrorsAsLastErrors ( )
void OpenSim::CMC_TaskSet::setFunctions ( FunctionSet aFuncSet)
void OpenSim::CMC_TaskSet::setFunctionsForAcceleration ( FunctionSet aFuncSet)
void OpenSim::CMC_TaskSet::setFunctionsForVelocity ( FunctionSet aFuncSet)
void OpenSim::CMC_TaskSet::setModel ( Model aModel)

Member Data Documentation

Array<double> OpenSim::CMC_TaskSet::_a
protected

Array of accelerations.

Array<double> OpenSim::CMC_TaskSet::_aDes
protected

Array of desired accelerations.

Array<double> OpenSim::CMC_TaskSet::_aTask
protected

Array of task accelerations.

std::string& OpenSim::CMC_TaskSet::_dataFileName
protected
PropertyStr OpenSim::CMC_TaskSet::_dataFileNameProp
protected

In case there're tracking targets loaded from file, the filename goes here and the column names go into individual targets.

FunctionSet OpenSim::CMC_TaskSet::_functions
protected
Array<double> OpenSim::CMC_TaskSet::_ka
protected

Array of gains for the acceleration errors.

Array<double> OpenSim::CMC_TaskSet::_kp
protected

Array of gains for the position errors.

Array<double> OpenSim::CMC_TaskSet::_kv
protected

Array of gains for the velocity errors.

Model* OpenSim::CMC_TaskSet::_model
protected

Model for which the tracking is conducted.

Array<double> OpenSim::CMC_TaskSet::_pErr
protected

Array of position errors.

Array<double> OpenSim::CMC_TaskSet::_pErrLast
protected

Array of last position errors.

Array<double> OpenSim::CMC_TaskSet::_pTask
protected

Array of task positions.

Array<double> OpenSim::CMC_TaskSet::_vErr
protected

Array of velocity errors.

Array<double> OpenSim::CMC_TaskSet::_vErrLast
protected

Array of last velocity errors.

Array<double> OpenSim::CMC_TaskSet::_vTask
protected

Array of task velocities.

Array<double> OpenSim::CMC_TaskSet::_w
protected

Array of weights of the desired acceleration.


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