A class implementing a bushing force driven by expressions relating forces to deviations. More...

#include <ExpressionBasedBushingForce.h>

Inheritance diagram for OpenSim::ExpressionBasedBushingForce:

Public Member Functions
	ExpressionBasedBushingForce ()
	Default constructor leaves bodies unspecified, sets the bushing frames to be at their body origins, and sets all bushing parameters to zero.
	ExpressionBasedBushingForce (const std::string &body1Name, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const std::string &body2Name, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2)
	This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero.
	ExpressionBasedBushingForce (const std::string &body1Name, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const std::string &body2Name, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2, const SimTK::Vec3 &transStiffness, const SimTK::Vec3 &rotStiffness, const SimTK::Vec3 &transDamping, const SimTK::Vec3 &rotDamping)
	This convenience constructor defines a bushing that behaves like a primitive bushing.
void	setBody1ByName (const std::string &aBodyName)
	Set the name of the Body that will serve as body 1 for this bushing.
void	setBody1BushingLocation (const SimTK::Vec3 &location, const SimTK::Vec3 &orientation=SimTK::Vec3(0))
	Set the location and orientation (optional) for bushing frame on body 1.
void	setBody2ByName (const std::string &aBodyName)
	Set the name of the Body that will serve as body 2 for this bushing.
void	setBody2BushingLocation (const SimTK::Vec3 &location, const SimTK::Vec3 &orientation=SimTK::Vec3(0))
	Set the location and orientation (optional) for bushing frame on body 2.
void	setMomentVisualScale (double scale)
	Set the value used to scale the bushing moment on body2 when drawing it to screen.
void	setForceVisualScale (double scale)
	Set the value used to scale the bushing force on body2 when drawing it to screen.
void	setVisualAspectRatio (double ratio)
	Set the aspect ratio used to control the thickness of the bushing force and moment in drawn in the visualizer.
void	setMxExpression (std::string expression)
	Set the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
void	setMyExpression (std::string expression)
	Set the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
void	setMzExpression (std::string expression)
	Set the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
void	setFxExpression (std::string expression)
	Set the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
void	setFyExpression (std::string expression)
	Set the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
void	setFzExpression (std::string expression)
	Set the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getMxExpression ()
	Get the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getMyExpression ()
	Get the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getMzExpression ()
	Get the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getFxExpression ()
	Get the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getFyExpression ()
	Get the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
std::string	getFzExpression ()
	Get the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.
virtual SimTK::Vec6	computeDeflection (const SimTK::State &s) const
	Compute the deflection (spatial separation) of the two frames connected by the bushing force.
virtual void	computeForce (const SimTK::State &s, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const
	Compute the bushing force contribution to the system and add in to appropriate bodyForce and/or system generalizedForce.
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Potential energy calculation is not implemented.
virtual OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const
	Provide the value(s) to be reported that correspond to the labels.
Property declarations
These are the serializable properties associated with this class.
	OpenSim_DECLARE_OPTIONAL_PROPERTY (body_1, std::string,"One of the two bodies connected by the bushing.")
	OpenSim_DECLARE_OPTIONAL_PROPERTY (body_2, std::string,"The other of the two bodies connected by the bushing.")
	OpenSim_DECLARE_PROPERTY (location_body_1, SimTK::Vec3,"Location of bushing frame on body 1.")
	OpenSim_DECLARE_PROPERTY (orientation_body_1, SimTK::Vec3,"Orientation of bushing frame in body 1 as x-y-z, body fixed Euler rotations.")
	OpenSim_DECLARE_PROPERTY (location_body_2, SimTK::Vec3,"Location of bushing frame on body 2.")
	OpenSim_DECLARE_PROPERTY (orientation_body_2, SimTK::Vec3,"Orientation of bushing frame in body 2 as x-y-z, body fixed Euler rotations.")
	OpenSim_DECLARE_PROPERTY (Mx_expression, std::string,"Expression defining the contribution of theta_x deflection to the moment about body_2's x axis.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_PROPERTY (My_expression, std::string,"Expression defining the contribution of theta_y deflection to the moment about body_2's y axis.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_PROPERTY (Mz_expression, std::string,"Expression defining the contribution of theta_z deflection to the moment about body_2's z axis.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_PROPERTY (Fx_expression, std::string,"Expression defining the contribution of x deflection to the force in the x direction.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_PROPERTY (Fy_expression, std::string,"Expression defining the contribution of y deflection to the force in the y direction.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_PROPERTY (Fz_expression, std::string,"Expression defining the contribution of z deflection to the force in the z direction.""The expression is a string and can not have any whitespace separating characters.")
	OpenSim_DECLARE_OPTIONAL_PROPERTY (visual_aspect_ratio, double,"Scalar number signifying the ratio of length/diameter used to display the force and ""moment vectors.")
	OpenSim_DECLARE_OPTIONAL_PROPERTY (moment_visual_scale, double,"Value multiplying the bushing moments before displaying the moment vector")
	OpenSim_DECLARE_OPTIONAL_PROPERTY (force_visual_scale, double,"Value multiplying the bushing forces before displaying the force vector")
	OpenSim_DECLARE_PROPERTY (rotational_damping, SimTK::Vec3,"Damping parameters resisting relative angular velocity.")
	OpenSim_DECLARE_PROPERTY (translational_damping, SimTK::Vec3,"Damping parameters resisting relative translational velocity.")
Public Member Functions inherited from OpenSim::Force
	Force (const Force &aForce)
	Implements a copy constructor just so it can invalidate the SimTK::Force index after copying.
Force &	operator= (const Force &aForce)
	Implements a copy assignment operator just so it can invalidate the SimTK::Force index after the assignment.
bool	isDisabled (const SimTK::State &s) const
	Return if the Force is disabled or not.
void	setDisabled (SimTK::State &s, bool disabled)
	Set the Force as disabled (true) or not (false).
virtual bool	hasGeometryPath () const
	Return a flag indicating whether the Force is applied along a Path.
	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.
Public Member Functions inherited from OpenSim::ModelComponent
	ModelComponent ()
	Default constructor.
	ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Construct ModelComponent from an XML file.
	ModelComponent (SimTK::Xml::Element &aNode)
	Construct ModelComponent from a specific node in an XML document.
	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.
virtual	~ModelComponent ()
	Destructor is virtual to allow concrete model component cleanup.
ModelComponent &	operator= (const ModelComponent &aModelComponent)
	Assignment operator to copy contents of an existing component.
const Model &	getModel () const
	Get a const reference to the Model this component is part of.
Model &	updModel ()
	Get a modifiable reference to the Model this component is part of.
virtual void	updateDisplayer (const SimTK::State &s) const
	In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
virtual int	getNumStateVariables () const
	Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
virtual Array< std::string >	getStateVariableNames () const
	Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
virtual SimTK::SystemYIndex	getStateVariableSystemIndex (const std::string &stateVariableName) const
	Get the System Index of a state variable allocated by this ModelComponent.
int	getModelingOption (const SimTK::State &state, const std::string &name) const
	Get a ModelingOption flag for this ModelComponent by name.
void	setModelingOption (SimTK::State &state, const std::string &name, int flag) const
	Set the value of a ModelingOption flag for this ModelComponent.
double	getStateVariable (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable allocated by this ModelComponent.
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.
double	getDiscreteVariable (const SimTK::State &state, const std::string &name) const
	Get the value of a discrete variable allocated by this ModelComponent by name.
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.
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.
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.
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.
void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Mark a cache variable value allocated by this ModelComponent as invalid.
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.
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.
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

Protected Member Functions
void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &geometryArray) const
	Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state.
void	ComputeForcesAtBushing (const SimTK::State &state, SimTK::SpatialVec &forces_on_M_in_ground, SimTK::SpatialVec &forces_on_F_in_ground) const
Protected Member Functions inherited from OpenSim::Force
	Force ()
	Default constructor sets up Force-level properties; can only be called from a derived class constructor.
	Force (SimTK::Xml::Element &node)
	Deserialization from XML, necessary so that derived classes can (de)serialize.
virtual void	initStateFromProperties (SimTK::State &state) const override
	Subclass should override; be sure to invoke Force::initStateFromProperties() at the beginning of the overriding method.
virtual void	addToSystem (SimTK::MultibodySystem &system) const override
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component.
virtual void	setPropertiesFromState (const SimTK::State &state) override
	Subclass should override; be sure to invoke Force::setPropertiesFromState() at the beginning of the overriding method.
virtual double	computePotentialEnergy (const SimTK::State &state) const
	Subclasses may optionally override this method to compute a contribution to the potential energy of the system.
void	applyForceToPoint (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
	Apply a force at a particular point (a "station") on a given body.
void	applyTorque (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
	Apply a torque to a particular body.
void	applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
	Apply a generalized force.
Protected Member Functions inherited from OpenSim::ModelComponent
virtual void	connectToModel (Model &model)
	Perform any necessary initializations required to connect the component into the Model, and check for error conditions.
virtual SimTK::Vector	computeStateVariableDerivatives (const SimTK::State &s) const
	If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.
virtual void	realizeTopology (SimTK::State &state) const
	Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology.
virtual void	realizeModel (SimTK::State &state) const
	Obtain state resources that may be needed, depending on modeling options, and perform computations that depend only on topology and selected modeling options.
virtual void	realizeInstance (const SimTK::State &state) const
	Perform computations that depend only on instance variables, like lengths and masses.
virtual void	realizeTime (const SimTK::State &state) const
	Perform computations that depend only on time and earlier stages.
virtual void	realizePosition (const SimTK::State &state) const
	Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time).
virtual void	realizeVelocity (const SimTK::State &state) const
	Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time).
virtual void	realizeDynamics (const SimTK::State &state) const
	Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces.
virtual void	realizeAcceleration (const SimTK::State &state) const
	Perform computations that may depend on applied forces.
virtual void	realizeReport (const SimTK::State &state) const
	Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior.
void	includeAsSubComponent (ModelComponent *aComponent)
	Include another ModelComponent as a Subcomponent of this ModelComponent.
void	addModelingOption (const std::string &optionName, int maxFlagValue) const
	Add a modeling option (integer flag stored in the State) for use by this ModelComponent.
void	addStateVariable (const std::string &stateVariableName, SimTK::Stage invalidatesStage=SimTK::Stage::Dynamics) const
	Add a continuous system state variable belonging to this ModelComponent, and assign a name by which to refer to it.
void	addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
	Add a system discrete variable belonging to this ModelComponent, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed.
template<class T >
void	addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const
	Add a state cache entry belonging to this ModelComponent to hold calculated values that must be automatically invalidated when certain state values change.
const int	getStateIndex (const std::string &name) const
	Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations.
const SimTK::DiscreteVariableIndex	getDiscreteVariableIndex (const std::string &name) const
	Get the index of a ModelComponent's discrete variable in the Subsystem for allocations.
const SimTK::CacheEntryIndex	getCacheVariableIndex (const std::string &name) const
	Get the index of a ModelComponent's cache variable in the Subsystem for allocations.
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
VisibleObject	_displayer
	how to display the bushing
Protected Attributes inherited from OpenSim::Force
SimTK::ForceIndex	_index
	ID for the force in Simbody.
Protected Attributes inherited from OpenSim::ModelComponent
Model *	_model
	The model this component belongs to.
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 Object *	getDefaultInstanceOfType (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 Object *	newInstanceOfType (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 Object *	makeObjectFromFile (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 Object *	SafeCopy (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.
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.

Detailed Description

A class implementing a bushing force driven by expressions relating forces to deviations.

These expressions are user defined expressions provided as strings that are parsed and evaluated during a simulation. Each expression can be a function of the bushing's rotational deflections (theta_x, theta_y, theta_z) and translational deflections, (delta_x, delta_y, delta_z). These user defined expressions can capture nonlinearities and coupling common in biologic structures.

A bushing force is the force increasing due to deviation between two frames. One can think of the Bushing as being composed of 3 translational and 3 torsional spring-dampers, which act along or about the bushing frames. Orientations are measured as x-y-z body-fixed Euler rotations. The underlying Force in Simbody is a SimtK::Force::LinearBushing.

Author: Matt DeMers

Constructor & Destructor Documentation

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce ( )

Default constructor leaves bodies unspecified, sets the bushing frames to be at their body origins, and sets all bushing parameters to zero.

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	body1Name,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const std::string &	body2Name,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2
	)

This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero.

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	body1Name,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const std::string &	body2Name,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2,
		const SimTK::Vec3 &	transStiffness,
		const SimTK::Vec3 &	rotStiffness,
		const SimTK::Vec3 &	transDamping,
		const SimTK::Vec3 &	rotDamping
	)

This convenience constructor defines a bushing that behaves like a primitive bushing.

Stiffnesses are used to define linear functions for force deflection profiles.

Member Function Documentation

virtual SimTK::Vec6 OpenSim::ExpressionBasedBushingForce::computeDeflection ( const SimTK::State & s ) const

virtual

Compute the deflection (spatial separation) of the two frames connected by the bushing force.

Angualar displacement expressed in Euler angles. The force and potential energy are determined by the deflection.

virtual void OpenSim::ExpressionBasedBushingForce::computeForce	(	const SimTK::State &	s,
		SimTK::Vector_< SimTK::SpatialVec > &	bodyForces,
		SimTK::Vector &	generalizedForces
	)		const

virtual

Compute the bushing force contribution to the system and add in to appropriate bodyForce and/or system generalizedForce.

Reimplemented from OpenSim::Force.

void OpenSim::ExpressionBasedBushingForce::ComputeForcesAtBushing	(	const SimTK::State &	state,
		SimTK::SpatialVec &	forces_on_M_in_ground,
		SimTK::SpatialVec &	forces_on_F_in_ground
	)		const

protected

void OpenSim::ExpressionBasedBushingForce::generateDecorations	(	bool	fixed,
		const ModelDisplayHints &	hints,
		const SimTK::State &	state,
		SimTK::Array_< SimTK::DecorativeGeometry > &	appendToThis
	)		const

protectedvirtual

Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state.

This will be called once to obtain ground- and body-fixed geometry (with fixed=true), and then once per frame (with fixed=false) to generate on-the-fly geometry such as rubber band lines, force arrows, labels, or debugging aids.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::generateDecorations
   (bool                                        fixed, 
    const ModelDisplayHints&                    hints,
    const SimTK::State&                         state,
    SimTK::Array_<SimTK::DecorativeGeometry>&   appendToThis) const
{
    // invoke parent class method
    Super::generateDecorations(fixed,hints,state,appendToThis); 
    // ... your code goes here
}

Parameters

[in]	fixed	If `true`, generate only geometry that is independent of time, configuration, and velocity. Otherwise generate only such dependent geometry.
[in]	hints	See documentation for ModelDisplayHints; you may want to alter the geometry you generate depending on what you find there. For example, you can determine whether the user wants to see debug geometry.
[in]	state	The State for which geometry should be produced. See below for more information.
[in,out]	appendToThis	Array to which generated geometry should be appended via the `push_back()` method.

When called with fixed=true only modeling options and parameters (Instance variables) should affect geometry; time, position, and velocity should not. In that case OpenSim will already have realized the state through Instance stage. When called with fixed=false, you may consult any relevant value in state. However, to avoid unnecessary computation, OpenSim guarantees only that state will have been realized through Position stage; if you need anything higher than that (reaction forces, for example) you should make sure the state is realized through Acceleration stage.

Reimplemented from OpenSim::ModelComponent.

std::string OpenSim::ExpressionBasedBushingForce::getFxExpression ( )

inline

Get the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

std::string OpenSim::ExpressionBasedBushingForce::getFyExpression ( )

inline

Get the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

std::string OpenSim::ExpressionBasedBushingForce::getFzExpression ( )

inline

Get the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

std::string OpenSim::ExpressionBasedBushingForce::getMxExpression ( )

inline

Get the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

std::string OpenSim::ExpressionBasedBushingForce::getMyExpression ( )

inline

Get the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

std::string OpenSim::ExpressionBasedBushingForce::getMzExpression ( )

inline

Get the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

virtual OpenSim::Array<std::string> OpenSim::ExpressionBasedBushingForce::getRecordLabels ( ) const

virtual

Potential energy calculation is not implemented.

Provide name(s) of the quantities (column labels) of the force value(s) to be reported.

Reimplemented from OpenSim::Force.

virtual OpenSim::Array<double> OpenSim::ExpressionBasedBushingForce::getRecordValues ( const SimTK::State & state ) const

virtual

Provide the value(s) to be reported that correspond to the labels.

Reimplemented from OpenSim::Force.

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	body_1	,
		std::string	,
		"One of the two bodies connected by the bushing."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	body_2	,
		std::string	,
		"The other of the two bodies connected by the bushing."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	visual_aspect_ratio	,
		double	,
		"Scalar number signifying the ratio of length/diameter used to display the force and ""moment vectors."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	moment_visual_scale	,
		double	,
		"Value multiplying the bushing moments before displaying the moment vector"
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	force_visual_scale	,
		double	,
		"Value multiplying the bushing forces before displaying the force vector"
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	location_body_1	,
		SimTK::Vec3	,
		"Location of bushing frame on body 1."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	orientation_body_1	,
		SimTK::Vec3	,
		"Orientation of bushing frame in body 1 as x-y-	z,
		body fixed Euler rotations."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	location_body_2	,
		SimTK::Vec3	,
		"Location of bushing frame on body 2."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	orientation_body_2	,
		SimTK::Vec3	,
		"Orientation of bushing frame in body 2 as x-y-	z,
		body fixed Euler rotations."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	Mx_expression	,
		std::string	,
		"Expression defining the contribution of theta_x deflection to the moment about body_2's x axis.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	My_expression	,
		std::string	,
		"Expression defining the contribution of theta_y deflection to the moment about body_2's y axis.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	Mz_expression	,
		std::string	,
		"Expression defining the contribution of theta_z deflection to the moment about body_2's z axis.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	Fx_expression	,
		std::string	,
		"Expression defining the contribution of x deflection to the force in the x direction.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	Fy_expression	,
		std::string	,
		"Expression defining the contribution of y deflection to the force in the y direction.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	Fz_expression	,
		std::string	,
		"Expression defining the contribution of z deflection to the force in the z direction.""The expression is a string and can not have any whitespace separating characters."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	rotational_damping	,
		SimTK::Vec3	,
		"Damping parameters resisting relative angular velocity."
	)

OpenSim::ExpressionBasedBushingForce::OpenSim_DECLARE_PROPERTY	(	translational_damping	,
		SimTK::Vec3	,
		"Damping parameters resisting relative translational velocity."
	)

void OpenSim::ExpressionBasedBushingForce::setBody1BushingLocation	(	const SimTK::Vec3 &	location,
		const SimTK::Vec3 &	orientation = `SimTK::Vec3(0)`
	)

Set the location and orientation (optional) for bushing frame on body 1.

void OpenSim::ExpressionBasedBushingForce::setBody1ByName ( const std::string & aBodyName )

Set the name of the Body that will serve as body 1 for this bushing.

void OpenSim::ExpressionBasedBushingForce::setBody2BushingLocation	(	const SimTK::Vec3 &	location,
		const SimTK::Vec3 &	orientation = `SimTK::Vec3(0)`
	)

Set the location and orientation (optional) for bushing frame on body 2.

void OpenSim::ExpressionBasedBushingForce::setBody2ByName ( const std::string & aBodyName )

Set the name of the Body that will serve as body 2 for this bushing.

void OpenSim::ExpressionBasedBushingForce::setForceVisualScale ( double scale )

inline

Set the value used to scale the bushing force on body2 when drawing it to screen.

A force of magnitude |F| will be drawn on screen with a length of (|F|*scale).

void OpenSim::ExpressionBasedBushingForce::setFxExpression ( std::string expression )

Set the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setFyExpression ( std::string expression )

Set the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setFzExpression ( std::string expression )

Set the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setMomentVisualScale ( double scale )

inline

Set the value used to scale the bushing moment on body2 when drawing it to screen.

A moment of magnitude |M| will be drawn on screen with a length of (|M|*scale).

void OpenSim::ExpressionBasedBushingForce::setMxExpression ( std::string expression )

Set the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setMyExpression ( std::string expression )

Set the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setMzExpression ( std::string expression )

Set the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

void OpenSim::ExpressionBasedBushingForce::setVisualAspectRatio ( double ratio )

inline

Set the aspect ratio used to control the thickness of the bushing force and moment in drawn in the visualizer.

ratio = length/diameter.

Member Data Documentation

VisibleObject OpenSim::ExpressionBasedBushingForce::_displayer

protected

how to display the bushing

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

E:/Projects/OpenSimTrunk/OpenSim/Simulation/Model/ExpressionBasedBushingForce.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation