An actuator that applies a generalized force to along a generalized a generalized coordinate, which is proportional to its input control.
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Public Member Functions |
| | CoordinateActuator (const std::string &coordinateName="") |
| | Default constructor leaves coordinate name unspecified, or you can provide it.
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| void | setOptimalForce (double optimalForce) |
| | Set the 'optimal_force' property.
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| double | getOptimalForce () const override |
| | Get the current setting of the 'optimal_force' property.
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| bool | isCoordinateValid () const |
| double | getSpeed (const SimTK::State &s) const |
| void | setCoordinate (Coordinate *aCoordinate) |
| | Set the reference pointer to point to the given Coordinate and set the 'coordinate' name property also.
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| Coordinate * | getCoordinate () const |
| | Get a pointer to the Coordinate to which this actuator refers.
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These are the serializable properties associated with this class.
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| | OpenSim_DECLARE_OPTIONAL_PROPERTY (coordinate, std::string,"Name of the generalized coordinate to which the actuator applies.") |
| | OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum generalized force produced by this actuator.") |
| | Actuator () |
| virtual double | getControl (const SimTK::State &s) const |
| | Convenience method to set controls given scalar (double) valued control.
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| virtual int | numControls () const |
| virtual void | setForce (const SimTK::State &s, double aForce) const |
| virtual double | getForce (const SimTK::State &s) const |
| virtual void | setSpeed (const SimTK::State &s, double aspeed) const |
| virtual double | getPower (const SimTK::State &s) const |
| virtual double | getStress (const SimTK::State &s) const |
| void | setMinControl (const double &aMinControl) |
| double | getMinControl () const |
| void | setMaxControl (const double &aMaxControl) |
| double | getMaxControl () const |
| void | overrideForce (SimTK::State &s, bool flag) const |
| | -------------------------------------------------------------------------- Overriding forces -------------------------------------------------------------------------- The force normally produced by an Actuator can be overriden and When the Actuator's force is overriden, the Actuator will by defualt produce a constant force which can be set with setOverrideForce().
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| bool | isForceOverriden (const SimTK::State &s) const |
| | return Actuator's override status
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| void | setOverrideForce (SimTK::State &s, double value) const |
| | set the force value used when the override is true
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| double | getOverrideForce (const SimTK::State &s) const |
| | return override force
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| | OpenSim_DECLARE_PROPERTY (min_control, double,"Minimum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is -Infinity (no limit).
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| | OpenSim_DECLARE_PROPERTY (max_control, double,"Maximum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is Infinity (no limit).
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| | Actuator_ () |
| virtual const SimTK::Vector | getDefaultControls () |
| | Actuator default controls are zero.
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virtual const
SimTK::VectorView_< double > | getControls (const SimTK::State &s) const |
| virtual void | getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const |
| | Convenience methods for getting, setting and adding to actuator controls from/into the model controls.
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| virtual void | setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| | set actuator controls subvector into the right slot in the system-wide model controls
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| virtual void | addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| | add actuator controls to the values already occupying the slot in the system-wide model controls
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| virtual double | computeActuation (const SimTK::State &s) const =0 |
| virtual void | computeEquilibrium (SimTK::State &s) const |
| | Force (const Force &aForce) |
| | Implements a copy constructor just so it can invalidate the SimTK::Force index after copying.
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| Force & | operator= (const Force &aForce) |
| | Implements a copy assignment operator just so it can invalidate the SimTK::Force index after the assignment.
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| bool | isDisabled (const SimTK::State &s) const |
| | Return if the Force is disabled or not.
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| void | setDisabled (SimTK::State &s, bool disabled) |
| | Set the Force as disabled (true) or not (false).
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| virtual bool | hasGeometryPath () const |
| | Return a flag indicating whether the Force is applied along a Path.
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| | OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.") |
| | A Force element is active (enabled) by default.
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| | ModelComponent () |
| | Default constructor.
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| | ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION |
| | Construct ModelComponent from an XML file.
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| | ModelComponent (SimTK::Xml::Element &aNode) |
| | Construct ModelComponent from a specific node in an XML document.
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| | ModelComponent (const ModelComponent &source) |
| | Construct ModelComponent with its contents copied from another ModelComponent; this is a deep copy so nothing is shared with the source after the copy.
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| virtual | ~ModelComponent () |
| | Destructor is virtual to allow concrete model component cleanup.
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| ModelComponent & | operator= (const ModelComponent &aModelComponent) |
| | Assignment operator to copy contents of an existing component.
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| const Model & | getModel () const |
| | Get a const reference to the Model this component is part of.
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| Model & | updModel () |
| | Get a modifiable reference to the Model this component is part of.
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| virtual void | updateDisplayer (const SimTK::State &s) const |
| | In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
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| virtual int | getNumStateVariables () const |
| | Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
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| virtual Array< std::string > | getStateVariableNames () const |
| | Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
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| virtual SimTK::SystemYIndex | getStateVariableSystemIndex (const std::string &stateVariableName) const |
| | Get the System Index of a state variable allocated by this ModelComponent.
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| int | getModelingOption (const SimTK::State &state, const std::string &name) const |
| | Get a ModelingOption flag for this ModelComponent by name.
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| void | setModelingOption (SimTK::State &state, const std::string &name, int flag) const |
| | Set the value of a ModelingOption flag for this ModelComponent.
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| double | getStateVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a state variable allocated by this ModelComponent.
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| void | setStateVariable (SimTK::State &state, const std::string &name, double value) const |
| | Set the value of a state variable allocated by this ModelComponent by name.
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| double | getDiscreteVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a discrete variable allocated by this ModelComponent by name.
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| void | setDiscreteVariable (SimTK::State &state, const std::string &name, double value) const |
| | Set the value of a discrete variable allocated by this ModelComponent by name.
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| template<typename T > |
| const T & | getCacheVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a cache variable allocated by this ModelComponent by name.
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| template<typename T > |
| T & | updCacheVariable (const SimTK::State &state, const std::string &name) const |
| | Obtain a writable cache variable value allocated by this ModelComponent by name.
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| void | markCacheVariableValid (const SimTK::State &state, const std::string &name) const |
| | After updating a cache variable value allocated by this ModelComponent, you can mark its value as valid, which will not change until the realization stage falls below the minimum set at the time the cache variable was created.
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| void | markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const |
| | Mark a cache variable value allocated by this ModelComponent as invalid.
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| bool | isCacheVariableValid (const SimTK::State &state, const std::string &name) const |
| | Enables the to monitor the validity of the cache variable value using the returned flag.
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| template<typename T > |
| void | setCacheVariable (const SimTK::State &state, const std::string &name, const T &value) const |
| | Set cache variable value allocated by this ModelComponent by name.
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| virtual | ~Object () |
| | Virtual destructor for cleanup.
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| virtual Object * | clone () const =0 |
| | Create a new heap-allocated copy of the concrete object to which this Object refers.
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| 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.
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| virtual const VisibleObject * | getDisplayer () const |
| | Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
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| virtual VisibleObject * | updDisplayer () |
| | get Non const pointer to VisibleObject
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| bool | isEqualTo (const Object &aObject) const |
| | Equality operator wrapper for use from languages not supporting operator overloading.
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| Object & | operator= (const Object &aObject) |
| | Copy assignment copies he base class fields, including the properties.
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| virtual bool | operator== (const Object &aObject) const |
| | Determine if two objects are equal.
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| virtual bool | operator< (const Object &aObject) const |
| | Provide an ordering for objects so they can be put in sorted containers.
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| void | setName (const std::string &name) |
| | Set the name of the Object.
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| const std::string & | getName () const |
| | Get the name of this Object.
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| void | setDescription (const std::string &description) |
| | Set description, a one-liner summary.
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| const std::string & | getDescription () const |
| | Get description, a one-liner summary.
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| const std::string & | getAuthors () const |
| | Get Authors of this Object.
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| void | setAuthors (const std::string &authors) |
| | Set Authors of this object, call this method in your constructor if needed.
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| const std::string & | getReferences () const |
| | Get references or publications to cite if using this object.
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| void | setReferences (const std::string &references) |
| | Set references or publications to cite if using this object.
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| int | getNumProperties () const |
| | Determine how many properties are stored with this Object.
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| const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| | Get a const reference to a property by its index number, returned as an AbstractProperty.
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| AbstractProperty & | updPropertyByIndex (int propertyIndex) |
| | Get a writable reference to a property by its index number, returned as an AbstractProperty.
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| 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.
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| const AbstractProperty & | getPropertyByName (const std::string &name) const |
| | Get a const reference to a property by its name, returned as an AbstractProperty.
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| AbstractProperty & | updPropertyByName (const std::string &name) |
| | Get a writable reference to a property by its name, returned as an AbstractProperty.
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| 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.
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| 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.
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| 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.
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| 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.
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| bool | isObjectUpToDateWithProperties () const |
| | Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called.
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| void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
| | We're given an XML element from which we are to populate this Object.
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| virtual void | updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber) |
| | Use this method to deserialize an object from a SimTK::Xml::Element.
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| virtual void | updateXMLNode (SimTK::Xml::Element &parent) |
| | Serialize this object into the XML node that represents it.
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| bool | getInlined () const |
| | Inlined means an in-memory Object that is not associated with an XMLDocument.
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| 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.
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| std::string | getDocumentFileName () const |
| | If there is a document associated with this object then return the file name maintained by the document.
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| 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".
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| std::string | dump (bool dumpName=false) |
| | dump the XML representation of this Object into an std::string and return it.
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| void | clearObjectIsUpToDateWithProperties () |
| | For testing or debugging purposes, manually clear the "object is up to
date with respect to properties" flag.
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| 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.
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| const std::string & | toString () const |
| | Wrapper to be used on Java side to display objects in tree; this returns just the object's name.
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| PropertySet & | getPropertySet () |
| | OBSOLETE: Get a reference to the PropertySet maintained by the Object.
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| const PropertySet & | getPropertySet () const |
Public Member Functions inherited from OpenSim::Actuator
1.8.1.2 
