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OpenSim::JointReaction Class Reference

An analysis for reporting the joint reaction loads from a model. More...

#include <JointReaction.h>

Inheritance diagram for OpenSim::JointReaction:
OpenSim::Analysis OpenSim::Object

Classes

struct  JointReactionKey

Public Member Functions

 JointReaction (Model *aModel=0)
 JointReaction (const std::string &aFileName)
 JointReaction (const JointReaction &aObject)
virtual ~JointReaction ()
JointReactionoperator= (const JointReaction &aJointReaction)
virtual void setModel (Model &aModel)
 set pointer to model to be analyzed.
virtual int begin (SimTK::State &s)
virtual int step (const SimTK::State &s, int setNumber)
virtual int end (SimTK::State &s)
virtual int printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
 Print the results of the analysis.
- Public Member Functions inherited from OpenSim::Analysis
 Analysis (Model *aModel=0)
 Default constructor.
 Analysis (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct an object from file.
 Analysis (const Analysis &aAnalysis)
 Copy constructor.
virtual ~Analysis ()
Analysisoperator= (const Analysis &aAnalysis)
 Assignment operator.
virtual void setStatesStore (const Storage &aStatesStore)
 set states storage for analysis.
void setOn (bool aTrueFalse)
bool getOn () const
void setStartTime (double aStartTime)
double getStartTime () const
void setEndTime (double aEndTime)
double getEndTime () const
void setInDegrees (bool aTrueFalse)
 Set whether or not to write the output of angles in degrees.
bool getInDegrees () const
virtual bool proceed (int aStep=0)
void setStepInterval (int aStepInterval)
int getStepInterval () const
void setColumnLabels (const Array< std::string > &aLabels)
 Set the column labels for this analysis.
const Array< std::string > & getColumnLabels () const
void setStorageInterval (int aInterval)
int getStorageInterval () const
virtual ArrayPtrs< Storage > & getStorageList ()
void setPrintResultFiles (bool aToWrite)
bool getPrintResultFiles () const
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup.
virtual Objectclone () const =0
 Create a new heap-allocated copy of the concrete object to which this Object refers.
virtual const std::string & getConcreteClassName () const =0
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.
virtual const VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObjectupdDisplayer ()
 get Non const pointer to VisibleObject
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading.
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties.
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal.
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers.
void setName (const std::string &name)
 Set the name of the Object.
const std::string & getName () const
 Get the name of this Object.
void setDescription (const std::string &description)
 Set description, a one-liner summary.
const std::string & getDescription () const
 Get description, a one-liner summary.
const std::string & getAuthors () const
 Get Authors of this Object.
void setAuthors (const std::string &authors)
 Set Authors of this object, call this method in your constructor if needed.
const std::string & getReferences () const
 Get references or publications to cite if using this object.
void setReferences (const std::string &references)
 Set references or publications to cite if using this object.
int getNumProperties () const
 Determine how many properties are stored with this Object.
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty.
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty.
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty.
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty.
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty.
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T.
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type.
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type.
void setObjectIsUpToDateWithProperties ()
 When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date.
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called.
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object.
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element.
virtual void updateXMLNode (SimTK::Xml::Element &parent)
 Serialize this object into the XML node that represents it.
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument.
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case.
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document.
void setAllPropertiesUseDefault (bool aUseDefault)
bool print (const std::string &fileName)
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim".
std::string dump (bool dumpName=false)
 dump the XML representation of this Object into an std::string and return it.
void clearObjectIsUpToDateWithProperties ()
 For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag.
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name.
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name.
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object.
const PropertySetgetPropertySet () const

Protected Member Functions

int record (const SimTK::State &s)
void setupReactionList ()
void constructDescription ()
void constructColumnLabels ()
void setupStorage ()
void loadForcesFromFile ()

Protected Attributes

PropertyStr _forcesFileNameProp
 String containing the name of the optional forces storage file.
std::string & _forcesFileName
PropertyStrArray _jointNamesProp
 String Array containting the names of the joints to be analysed.
Array< std::string > & _jointNames
PropertyStrArray _onBodyProp
 String Array indicating which body of a joint (parent or child) the reaction load is applied to.
Array< std::string > & _onBody
PropertyStrArray _inFrameProp
 String Array indicating which frame (ground, parent child) the reaction load is expressed in.
Array< std::string > & _inFrame
Storage_storeActuation
 Storage for holding actuator forces IF SPECIFIED by user.
Storage _storeReactionLoads
 Storage for recording joint Reaction loads.
Array< double > _dydt
 Internal work array for holding the computed accelerations.
Array< double > _allLoads
 Internal work array for holding the computed joint loads for all joints in the model.
Array< double > _Loads
 Internal work array for holding the computed joint loads of all joints specified in _jointNames.
Array< JointReactionKey > _reactionList
 Internal work array for holding the JointReactionKeys to identify the desired joints, onBody, and inFrame to be output.
bool _useForceStorage
- Protected Attributes inherited from OpenSim::Analysis
PropertyInt _stepIntervalProp
 Step interval.
int & _stepInterval
PropertyBool _onProp
 On, off flag.
bool & _on
PropertyDbl _startTimeProp
 Start time for the callback in normalized time.
double & _startTime
PropertyDbl _endTimeProp
 End time for the callback in normalized time.
double & _endTime
ArrayPtrs< Storage_storageList
bool _printResultFiles
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes.

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced.
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name.
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered.
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*.
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName.
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far.
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete.
static void PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects.
static void PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
 Same as the other signature but the class name and property name are provided as two separate strings.
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in.
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object".
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag.
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name.
static void setDebugLevel (int newLevel)
 Set the debug level to get verbose output.
static int getDebugLevel ()
 Get current setting of debug level.
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned.
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType().
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType().
- Public Attributes inherited from OpenSim::Analysis
Model_model
const Storage_statesStore
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized.

Detailed Description

An analysis for reporting the joint reaction loads from a model.

For a given joint, the reaction load is calculated as the forces and moments required to constrain the body motions to satisfy the joint as if the joint did not exist. The reaction load acts at the joint center (mobilizer frame) of both the parent and child bodies and either force can be reported and expressed in the either the child, parent or ground frames. The default behavior is the the force on the child expressed in the ground frame.

Author
Matt DeMers, Ajay Seth
Version
1.0

Constructor & Destructor Documentation

OpenSim::JointReaction::JointReaction ( Model aModel = 0)
OpenSim::JointReaction::JointReaction ( const std::string &  aFileName)
OpenSim::JointReaction::JointReaction ( const JointReaction aObject)
virtual OpenSim::JointReaction::~JointReaction ( )
virtual

Member Function Documentation

virtual int OpenSim::JointReaction::begin ( SimTK::State &  s)
virtual

Reimplemented from OpenSim::Analysis.

void OpenSim::JointReaction::constructColumnLabels ( )
protected
void OpenSim::JointReaction::constructDescription ( )
protected
virtual int OpenSim::JointReaction::end ( SimTK::State &  s)
virtual

Reimplemented from OpenSim::Analysis.

void OpenSim::JointReaction::loadForcesFromFile ( )
protected
JointReaction& OpenSim::JointReaction::operator= ( const JointReaction aJointReaction)
virtual int OpenSim::JointReaction::printResults ( const std::string &  aBaseName,
const std::string &  aDir = "",
double  aDT = -1.0,
const std::string &  aExtension = ".sto" 
)
virtual

Print the results of the analysis.

Parameters
aBaseNameBase name of file to which to print the data.
aDirDirectory name.
aDTTime interval between results (linear interpolation is used). If not supplied as an argument or negative, all time steps are printed without interpolation.
aExtensionFile extension if not the default ".sto".
Returns
-1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int OpenSim::JointReaction::record ( const SimTK::State &  s)
protected
virtual void OpenSim::JointReaction::setModel ( Model aModel)
virtual

set pointer to model to be analyzed.

Parameters
aModel

Reimplemented from OpenSim::Analysis.

void OpenSim::JointReaction::setupReactionList ( )
protected
void OpenSim::JointReaction::setupStorage ( )
protected
virtual int OpenSim::JointReaction::step ( const SimTK::State &  s,
int  setNumber 
)
virtual

Reimplemented from OpenSim::Analysis.

Member Data Documentation

Array<double> OpenSim::JointReaction::_allLoads
protected

Internal work array for holding the computed joint loads for all joints in the model.

Array<double> OpenSim::JointReaction::_dydt
protected

Internal work array for holding the computed accelerations.

std::string& OpenSim::JointReaction::_forcesFileName
protected
PropertyStr OpenSim::JointReaction::_forcesFileNameProp
protected

String containing the name of the optional forces storage file.

Array<std::string>& OpenSim::JointReaction::_inFrame
protected
PropertyStrArray OpenSim::JointReaction::_inFrameProp
protected

String Array indicating which frame (ground, parent child) the reaction load is expressed in.

Array<std::string>& OpenSim::JointReaction::_jointNames
protected
PropertyStrArray OpenSim::JointReaction::_jointNamesProp
protected

String Array containting the names of the joints to be analysed.

Array<double> OpenSim::JointReaction::_Loads
protected

Internal work array for holding the computed joint loads of all joints specified in _jointNames.

Array<std::string>& OpenSim::JointReaction::_onBody
protected
PropertyStrArray OpenSim::JointReaction::_onBodyProp
protected

String Array indicating which body of a joint (parent or child) the reaction load is applied to.

Array<JointReactionKey> OpenSim::JointReaction::_reactionList
protected

Internal work array for holding the JointReactionKeys to identify the desired joints, onBody, and inFrame to be output.

Storage* OpenSim::JointReaction::_storeActuation
protected

Storage for holding actuator forces IF SPECIFIED by user.

Storage OpenSim::JointReaction::_storeReactionLoads
protected

Storage for recording joint Reaction loads.

bool OpenSim::JointReaction::_useForceStorage
protected

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