A concrete tool for perfroming forward dynamics simulations. More...

#include <ForwardTool.h>

Inheritance diagram for OpenSim::ForwardTool:

Public Member Functions
virtual	~ForwardTool ()
	ForwardTool ()
	ForwardTool (const std::string &aFileName, bool aUpdateFromXMLNode=true, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
	ForwardTool (const ForwardTool &aObject)
ForwardTool &	operator= (const ForwardTool &aForwardTool)
virtual void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
	Use this method to deserialize an object from a SimTK::Xml::Element.
void	setManager (Manager &m)
const Manager &	getManager () const
const std::string &	getStatesFileName () const
void	setStatesFileName (const std::string &aFileName)
bool	getUseSpecifiedDt () const
void	setUseSpecifiedDt (bool aUseSpecifiedDt)
void	setPrintResultFiles (bool aToWrite)
virtual bool	run () SWIG_DECLARE_EXCEPTION
void	printResults ()
void	loadStatesStorage (std::string &statesFileName, Storage *&rYStore) const
const std::string &	getParsingLog ()
Public Member Functions inherited from OpenSim::AbstractTool
virtual	~AbstractTool ()
	Destructor.
	AbstractTool ()
	Default constructor.
	AbstractTool (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct from file, and an optional GuiModel.
	AbstractTool (const AbstractTool &aObject)
	Copy constructor.
AbstractTool &	operator= (const AbstractTool &aTool)
	Assignment operator.
virtual void	setModel (Model &aModel) SWIG_DECLARE_EXCEPTION
	Set the model to be investigated.
virtual Model &	getModel () const
	Get the model to be investigated.
bool	getReplaceForceSet () const
void	setReplaceForceSet (bool aReplace)
std::string	getNextAvailableForceName (const std::string prefix="Force") const
const ExternalLoads &	getExternalLoads () const
ExternalLoads &	updExternalLoads ()
void	setExternalLoads (ExternalLoads &el)
const std::string &	getExternalLoadsFileName () const
void	setExternalLoadsFileName (const std::string &aFileName)
Array< std::string > &	getForceSetFiles ()
void	setForceSetFiles (const Array< std::string > &aForceSetFiles)
int	getOutputPrecision () const
void	setOutputPrecision (int aPrecision)
AnalysisSet &	getAnalysisSet () const
const std::string &	getResultsDir () const
	Get Results Directory.
void	setResultsDir (const std::string &aString)
double	getInitialTime () const
double	getFinalTime () const
void	setInitialTime (const double aInitialTime)
void	setFinalTime (const double aFinalTime)
double	getStartTime () const
void	setStartTime (const double aStartTime)
int	getMaximumNumberOfSteps () const
void	setMaximumNumberOfSteps (int aMaxSteps)
double	getMaxDT () const
void	setMaxDT (double aMaxDT)
double	getMinDT () const
void	setMinDT (double aMinDT)
double	getErrorTolerance () const
void	setErrorTolerance (double aErrorTolerance)
const std::string &	getModelFilename () const
void	setModelFilename (const std::string &aModelFile)
bool	getSolveForEquilibrium () const
void	setSolveForEquilibrium (bool aSolve)
void	loadModel (const std::string &aToolSetupFileName, ForceSet *rOriginalForceSet=0)
	Load and construct a model based on the property settings of this investigation.
void	updateModelForces (Model &model, const std::string &aToolSetupFileName, ForceSet *rOriginalForceSet=0) SWIG_DECLARE_EXCEPTION
	Update the forces applied to a model.
void	addAnalysisSetToModel ()
	Adds Analysis objects from analysis set to model.
void	addControllerSetToModel ()
void	removeControllerSetFromModel ()
	Remove Analysis objects that were added earlier from analysis set to model.
void	removeAnalysisSetFromModel ()
void	setToolOwnsModel (const bool trueFalse)
const bool	getToolOwnsModel () const
std::string	getControlsFileName () const
void	setControlsFileName (const std::string &controlsFilename)
virtual void	printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
	Print the results of the analysis.
bool	createExternalLoads (const std::string &aExternalLoadsFileName, Model &aModel, const Storage *loadKinematics=NULL)
virtual void	loadQStorage (const std::string &statesFileName, Storage &rQStore) 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	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	Step (double t, double t0, double t1)
static double	SigmaUp (double tau, double to, double t)
static double	SigmaDn (double tau, double to, double t)

Protected Member Functions
void	setDesiredStatesForControllers (Storage &rYStore)
int	determineInitialTimeFromStatesStorage (double &rTI)
void	InitializeSpecifiedTimeStepping (Storage *aYStore, Manager &aManager)

Protected Attributes
PropertyStr	_statesFileNameProp
	Name of the states file.
std::string &	_statesFileName
OpenSim::PropertyBool	_useSpecifiedDtProp
	If true, the time steps from the states file are used during current integration.
bool &	_useSpecifiedDt
Storage *	_yStore
	Storage for the input states.
bool	_printResultFiles
	Flag indicating whether or not to write to the results (GUI will set this to false).
Manager *	_manager
	pointer to the simulation Manager
std::string	_parsingLog
Protected Attributes inherited from OpenSim::AbstractTool
Model *	_model
	Pointer to the model being investigated.
PropertyStr	_modelFileProp
	Name of the xml file used to deserialize or construct a model.
std::string &	_modelFile
PropertyBool	_replaceForceSetProp
	Whether the force set included in the model file is replaced (if true) or appended to (if false) with force sets read in from file.
bool &	_replaceForceSet
PropertyStrArray	_forceSetFilesProp
	Names of the xml files used to construct an force set for the model.
Array< std::string > &	_forceSetFiles
PropertyStr	_resultsDirProp
	Directory used for writing results.
std::string &	_resultsDir
PropertyInt	_outputPrecisionProp
	Output precision.
int &	_outputPrecision
PropertyDbl	_tiProp
	Initial time for the investigation.
double &	_ti
PropertyDbl	_tfProp
	Final time for the investigation.
double &	_tf
OpenSim::PropertyBool	_solveForEquilibriumForAuxiliaryStatesProp
	A flag used to specify whether or not equilibrium is solved for for the auxiliary states.
bool &	_solveForEquilibriumForAuxiliaryStates
PropertyInt	_maxStepsProp
	Maximum number of steps for the integrator.
int &	_maxSteps
PropertyDbl	_maxDTProp
	Maximum integration step size.
double &	_maxDT
PropertyDbl	_minDTProp
	Minimum integration step size.
double &	_minDT
PropertyDbl	_errorToleranceProp
	Integrator error tolerance.
double &	_errorTolerance
PropertyObj	_analysisSetProp
	Set of analyses to be run during the study.
AnalysisSet &	_analysisSet
PropertyObj	_controllerSetProp
ControllerSet &	_controllerSet
bool	_toolOwnsModel
	Whether the tool owns the model it operates on.
OpenSim::PropertyStr	_externalLoadsFileNameProp
	Name of the file containing the external loads applied to the model.
std::string &	_externalLoadsFileName
ExternalLoads	_externalLoads
	Actual external forces being applied.
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.

Detailed Description

A concrete tool for perfroming forward dynamics simulations.

Author: Frank C. Anderson

Version: 1.0

Constructor & Destructor Documentation

virtual OpenSim::ForwardTool::~ForwardTool ( )

virtual

OpenSim::ForwardTool::ForwardTool ( )

OpenSim::ForwardTool::ForwardTool	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`,
		bool	aLoadModel = `true`
	)

OpenSim::ForwardTool::ForwardTool ( const ForwardTool & aObject )

Member Function Documentation

int OpenSim::ForwardTool::determineInitialTimeFromStatesStorage ( double & rTI )

protected

const Manager& OpenSim::ForwardTool::getManager ( ) const

const std::string& OpenSim::ForwardTool::getParsingLog ( )

inline

const std::string& OpenSim::ForwardTool::getStatesFileName ( ) const

inline

bool OpenSim::ForwardTool::getUseSpecifiedDt ( ) const

inline

void OpenSim::ForwardTool::InitializeSpecifiedTimeStepping	(	Storage *	aYStore,
		Manager &	aManager
	)

protected

void OpenSim::ForwardTool::loadStatesStorage	(	std::string &	statesFileName,
		Storage *&	rYStore
	)		const

ForwardTool& OpenSim::ForwardTool::operator= ( const ForwardTool & aForwardTool )

void OpenSim::ForwardTool::printResults ( )

virtual bool OpenSim::ForwardTool::run ( )

virtual

Implements OpenSim::AbstractTool.

void OpenSim::ForwardTool::setDesiredStatesForControllers ( Storage & rYStore )

protected

void OpenSim::ForwardTool::setManager ( Manager & m )

void OpenSim::ForwardTool::setPrintResultFiles ( bool aToWrite )

inline

void OpenSim::ForwardTool::setStatesFileName ( const std::string & aFileName )

inline

void OpenSim::ForwardTool::setUseSpecifiedDt ( bool aUseSpecifiedDt )

inline

static double OpenSim::ForwardTool::SigmaDn	(	double	tau,
		double	to,
		double	t
	)

static

static double OpenSim::ForwardTool::SigmaUp	(	double	tau,
		double	to,
		double	t
	)

static

static double OpenSim::ForwardTool::Step	(	double	t,
		double	t0,
		double	t1
	)

static

virtual void OpenSim::ForwardTool::updateFromXMLNode	(	SimTK::Xml::Element &	objectElement,
		int	versionNumber = `-1`
	)

virtual

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

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

Reimplemented from OpenSim::AbstractTool.

Member Data Documentation

Manager* OpenSim::ForwardTool::_manager

protected

pointer to the simulation Manager

std::string OpenSim::ForwardTool::_parsingLog

protected

bool OpenSim::ForwardTool::_printResultFiles

protected

Flag indicating whether or not to write to the results (GUI will set this to false).

std::string& OpenSim::ForwardTool::_statesFileName

protected

PropertyStr OpenSim::ForwardTool::_statesFileNameProp

protected

Name of the states file.

The states file must at a minimum contain the initial states for a simulation. If a complete set of states is available, the time stamps can be used to specify the integration steps and corrective springs, which allow perturbations, can be added to the simulation.

bool& OpenSim::ForwardTool::_useSpecifiedDt

protected

OpenSim::PropertyBool OpenSim::ForwardTool::_useSpecifiedDtProp

protected

If true, the time steps from the states file are used during current integration.

Storage* OpenSim::ForwardTool::_yStore

protected

Storage for the input states.

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

E:/Projects/OpenSimTrunk/OpenSim/Tools/ForwardTool.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation