OpenSim::ControlLinear Class Reference

#include <ControlLinear.h>

Inheritance diagram for OpenSim::ControlLinear:

Public Member Functions
	ControlLinear ()
	ControlLinear (const ControlLinear &aControl)
virtual	~ControlLinear ()
void	copyData (const ControlLinear &aControl)
ControlLinear &	operator= (const ControlLinear &aControl)
void	setUseSteps (bool aTrueFalse)
bool	getUseSteps () const
void	setKp (double aKp)
double	getKp () const
void	setKv (double aKv)
double	getKv () const
virtual int	getNumParameters () const
virtual void	setParameterMin (int aI, double aMin)
virtual double	getParameterMin (int aI) const
virtual void	setParameterMax (int aI, double aMax)
virtual double	getParameterMax (int aI) const
virtual double	getParameterTime (int aI) const
virtual void	getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const
virtual int	getParameterList (double aT, Array< int > &rList)
virtual int	getParameterList (double aT1, double aT2, Array< int > &rList)
virtual void	setParameterValue (int aI, double aP)
virtual double	getParameterValue (int aI) const
virtual void	setControlValue (double aT, double aX)
virtual double	getControlValue (double aT)
virtual double	getControlValueMin (double aT=0.0)
virtual void	setControlValueMin (double aT, double aX)
virtual double	getControlValueMax (double aT=0.0)
virtual void	setControlValueMax (double aT, double aX)
void	clearControlNodes ()
ArrayPtrs< ControlLinearNode > &	getControlValues ()
ArrayPtrs< ControlLinearNode > &	getControlMinValues ()
ArrayPtrs< ControlLinearNode > &	getControlMaxValues ()
void	insertNewValueNode (int index, const ControlLinearNode &newNode)
void	insertNewMinNode (int index, const ControlLinearNode &newNode)
void	insertNewMaxNode (int index, const ControlLinearNode &newNode)
virtual const double	getFirstTime () const
virtual const double	getLastTime () const
virtual void	simplify (const PropertySet &aProperties)
bool	simplify (const double &cutoffFrequency, const double &distance)
virtual void	filter (double aT)
Public Member Functions inherited from OpenSim::Control
	Control (const char *aName="UNKNOWN")
	Control (const Control &aControl)
virtual	~Control ()
Control &	operator= (const Control &aControl)
void	setIsModelControl (bool aTrueFalse)
bool	getIsModelControl () const
void	setExtrapolate (bool aTrueFalse)
bool	getExtrapolate () const
void	setFilterOn (bool aTrueFalse)
bool	getFilterOn () const
void	setDefaultParameterMin (double aMin)
double	getDefaultParameterMin () const
void	setDefaultParameterMax (double aMin)
double	getDefaultParameterMax () const
Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup.
virtual Object *	clone () 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 VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject
bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading.
Object &	operator= (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 AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty.
AbstractProperty &	updPropertyByIndex (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 AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty.
AbstractProperty &	updPropertyByName (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.
PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object.
const PropertySet &	getPropertySet () const

Static Public Member Functions
static double	Interpolate (double aX1, double aY1, double aX2, double aY2, double aX)

Protected Member Functions
virtual void	setupProperties ()
Protected Member Functions inherited from OpenSim::Control
void	copyData (const Control &aControl)
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 XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object.
XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object.

Protected Attributes
PropertyBool	_propUseSteps
	Flag that indicates whether or not to linearly interpolate between nodes or use step functions.
PropertyObjArray < ControlLinearNode >	_propXNodes
	Array of control nodes.
PropertyObjArray < ControlLinearNode >	_propMinNodes
PropertyObjArray < ControlLinearNode >	_propMaxNodes
PropertyDbl	_propKp
	Position gain for PD follower filter.
PropertyDbl	_propKv
	Velocity gain for PD follower filter.
bool &	_useSteps
ArrayPtrs< ControlLinearNode > &	_xNodes
ArrayPtrs< ControlLinearNode > &	_minNodes
ArrayPtrs< ControlLinearNode > &	_maxNodes
double &	_kp
double &	_kv
ControlLinearNode	_searchNode
	Utility node for speeding up searches for control values in getControlValue() and elsewhere.
Protected Attributes inherited from OpenSim::Control
PropertyBool	_propIsModelControl
	Flag that specifies whether or not this control is a model control.
PropertyBool	_propExtrapolate
	Flag that specifies whether or not this control should use extrapolation for times outside the time range of the control parameters.
PropertyDbl	_propDefaultMin
	Default parameter minimum.
PropertyDbl	_propDefaultMax
	Default parameter maximum.
PropertyBool	_propFilterOn
	Flat that indicates whether PD follower filter is on.
bool &	_isModelControl
	Reference to the value of the IsModelControl property.
bool &	_extrapolate
	Reference to the value of the Extrapolate flag.
double &	_defaultMin
	Reference to the value of the DefaultMin property.
double &	_defaultMax
	Reference to the value of the DefaultMax property.
bool &	_filterOn
	Reference to the value of the PropFilterOn property.
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 Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Constructor & Destructor Documentation

OpenSim::ControlLinear::ControlLinear

(

)

OpenSim::ControlLinear::ControlLinear

(

const ControlLinear &

aControl

)

virtual OpenSim::ControlLinear::~ControlLinear ( )

virtual

Member Function Documentation

void OpenSim::ControlLinear::clearControlNodes

(

)

void OpenSim::ControlLinear::copyData

(

const ControlLinear &

aControl

)

virtual void OpenSim::ControlLinear::filter ( double  aT )

virtual

Reimplemented from OpenSim::Control.

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMaxValues ( )

inline

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMinValues ( )

inline

virtual double OpenSim::ControlLinear::getControlValue ( double  aT )

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getControlValueMax ( double  aT = 0.0 )

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getControlValueMin ( double  aT = 0.0 )

virtual

Implements OpenSim::Control.

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlValues ( )

inline

virtual const double OpenSim::ControlLinear::getFirstTime ( ) const

virtual

Reimplemented from OpenSim::Control.

double OpenSim::ControlLinear::getKp

(

)

const

double OpenSim::ControlLinear::getKv

(

)

const

virtual const double OpenSim::ControlLinear::getLastTime ( ) const

virtual

Reimplemented from OpenSim::Control.

virtual int OpenSim::ControlLinear::getNumParameters ( ) const

virtual

Implements OpenSim::Control.

virtual int OpenSim::ControlLinear::getParameterList ( double  aT, Array< int > &  rList  )

virtual

Implements OpenSim::Control.

virtual int OpenSim::ControlLinear::getParameterList ( double  aT1, double  aT2, Array< int > &  rList  )

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterMax ( int  aI ) const

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterMin ( int  aI ) const

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::getParameterNeighborhood ( int  aI, double &  rTLower, double &  rTUpper  ) const

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterTime ( int  aI ) const

virtual

Implements OpenSim::Control.

virtual double OpenSim::ControlLinear::getParameterValue ( int  aI ) const

virtual

Implements OpenSim::Control.

bool OpenSim::ControlLinear::getUseSteps

(

)

const

void OpenSim::ControlLinear::insertNewMaxNode ( int  index, const ControlLinearNode &  newNode  )

inline

void OpenSim::ControlLinear::insertNewMinNode ( int  index, const ControlLinearNode &  newNode  )

inline

void OpenSim::ControlLinear::insertNewValueNode ( int  index, const ControlLinearNode &  newNode  )

inline

static double OpenSim::ControlLinear::Interpolate ( double  aX1, double  aY1, double  aX2, double  aY2, double  aX  )

static

ControlLinear& OpenSim::ControlLinear::operator=

(

const ControlLinear &

aControl

)

virtual void OpenSim::ControlLinear::setControlValue ( double  aT, double  aX  )

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setControlValueMax ( double  aT, double  aX  )

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setControlValueMin ( double  aT, double  aX  )

virtual

Implements OpenSim::Control.

void OpenSim::ControlLinear::setKp

(

double

aKp

)

void OpenSim::ControlLinear::setKv

(

double

aKv

)

virtual void OpenSim::ControlLinear::setParameterMax ( int  aI, double  aMax  )

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setParameterMin ( int  aI, double  aMin  )

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setParameterValue ( int  aI, double  aP  )

virtual

Implements OpenSim::Control.

virtual void OpenSim::ControlLinear::setupProperties ( )

protectedvirtual

Reimplemented from OpenSim::Control.

void OpenSim::ControlLinear::setUseSteps

(

bool

aTrueFalse

)

virtual void OpenSim::ControlLinear::simplify ( const PropertySet &  aProperties )

virtual

Reimplemented from OpenSim::Control.

bool OpenSim::ControlLinear::simplify	(	const double &	cutoffFrequency,
		const double &	distance
	)

Member Data Documentation

double& OpenSim::ControlLinear::_kp

protected

double& OpenSim::ControlLinear::_kv

protected

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_maxNodes

protected

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_minNodes

protected

PropertyDbl OpenSim::ControlLinear::_propKp

protected

Position gain for PD follower filter.

PropertyDbl OpenSim::ControlLinear::_propKv

protected

Velocity gain for PD follower filter.

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMaxNodes

protected

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMinNodes

protected

PropertyBool OpenSim::ControlLinear::_propUseSteps

protected

Flag that indicates whether or not to linearly interpolate between nodes or use step functions.

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propXNodes

protected

Array of control nodes.

ControlLinearNode OpenSim::ControlLinear::_searchNode

protected

Utility node for speeding up searches for control values in getControlValue() and elsewhere.

Without this node, a control node would need to be contructed, but this is too expensive. It is better to contruct a node up front, and then just alter the time.

bool& OpenSim::ControlLinear::_useSteps

protected

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_xNodes

protected

---

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

• E:/Projects/OpenSimTrunk/OpenSim/Simulation/Control/ControlLinear.h