This is the base class for actuators that apply controllable tension along a geometry path.
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Public Member Functions |
| | PathActuator () |
| GeometryPath & | updGeometryPath () |
| const GeometryPath & | getGeometryPath () const |
| virtual bool | hasGeometryPath () const |
| | Return a flag indicating whether the Force is applied along a Path.
|
| void | setOptimalForce (double aOptimalForce) |
| double | getOptimalForce () const |
| virtual double | getLength (const SimTK::State &s) const |
| virtual double | getLengtheningSpeed (const SimTK::State &s) const |
| virtual double | getPower (const SimTK::State &s) const |
| virtual double | getStress (const SimTK::State &s) const |
| void | addNewPathPoint (const std::string &proposedName, OpenSim::Body &aBody, const SimTK::Vec3 &aPositionOnBody) |
| | Note that this function does not maintain the State and so should be used only before a valid State is created.
|
| virtual void | computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &mobilityForces) const |
| | Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds.
|
| virtual double | computeActuation (const SimTK::State &s) const |
| virtual double | computeMomentArm (const SimTK::State &s, Coordinate &aCoord) const |
| virtual void | updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) |
| | Use this method to deserialize an object from a SimTK::Xml::Element.
|
| virtual void | preScale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| virtual void | scale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| virtual void | postScale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| virtual const VisibleObject * | getDisplayer () const |
| | Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
|
| 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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These are the serializable properties associated with the PathActuator class.
Note that objects derived from this class inherit these properties.
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| | OpenSim_DECLARE_UNNAMED_PROPERTY (GeometryPath,"The set of points defining the path of the muscle.") |
| | OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum force this actuator can produce.") |
| | Actuator () |
| virtual double | getControl (const SimTK::State &s) const |
| | Convenience method to set controls given scalar (double) valued control.
|
| 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 | getSpeed (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().
|
| bool | isForceOverriden (const SimTK::State &s) const |
| | return Actuator's override status
|
| void | setOverrideForce (SimTK::State &s, double value) const |
| | set the force value used when the override is true
|
| double | getOverrideForce (const SimTK::State &s) const |
| | return override force
|
| | OpenSim_DECLARE_PROPERTY (min_control, double,"Minimum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is -Infinity (no limit).
|
| | OpenSim_DECLARE_PROPERTY (max_control, double,"Maximum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is Infinity (no limit).
|
| | Actuator_ () |
| virtual const SimTK::Vector | getDefaultControls () |
| | Actuator default controls are zero.
|
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.
|
| 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
|
| 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
|
| 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).
|
| | 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.
|
| | ModelComponent () |
| | Default constructor.
|
| | 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 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 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 | 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 |
Protected Member Functions |
| virtual SimTK::Vec3 | computePathColor (const SimTK::State &state) const |
| | Override this method if you would like to calculate a color for use when the PathActuator's path is displayed in the visualizer.
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| void | connectToModel (Model &aModel) override |
| | Extension of parent class method; derived classes may extend further.
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| void | realizeDynamics (const SimTK::State &state) const override |
| | Extension of parent class method; derived classes may extend further.
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| virtual void | addToSystem (SimTK::MultibodySystem &system) const |
| | Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component.
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| double | computeOverrideForce (const SimTK::State &s) const |
| OpenSim::Array< std::string > | getRecordLabels () const |
| | Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels()
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| OpenSim::Array< double > | getRecordValues (const SimTK::State &state) const |
| | Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.
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| virtual void | updateGeometry () |
| | Force () |
| | Default constructor sets up Force-level properties; can only be called from a derived class constructor.
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| | Force (SimTK::Xml::Element &node) |
| | Deserialization from XML, necessary so that derived classes can (de)serialize.
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| virtual void | initStateFromProperties (SimTK::State &state) const override |
| | Subclass should override; be sure to invoke Force::initStateFromProperties() at the beginning of the overriding method.
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| virtual void | setPropertiesFromState (const SimTK::State &state) override |
| | Subclass should override; be sure to invoke Force::setPropertiesFromState() at the beginning of the overriding method.
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| 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.
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| 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.
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| 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.
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| void | applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const |
| | Apply a generalized force.
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| 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 | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
| | Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state.
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| virtual void | realizeTopology (SimTK::State &state) const |
| | Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology.
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| 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.
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| virtual void | realizeInstance (const SimTK::State &state) const |
| | Perform computations that depend only on instance variables, like lengths and masses.
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| virtual void | realizeTime (const SimTK::State &state) const |
| | Perform computations that depend only on time and earlier stages.
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| 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).
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| 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).
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| virtual void | realizeAcceleration (const SimTK::State &state) const |
| | Perform computations that may depend on applied forces.
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| 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.
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| void | includeAsSubComponent (ModelComponent *aComponent) |
| | Include another ModelComponent as a Subcomponent of this ModelComponent.
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| void | addModelingOption (const std::string &optionName, int maxFlagValue) const |
| | Add a modeling option (integer flag stored in the State) for use by this ModelComponent.
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| 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.
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| 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.
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| const int | getStateIndex (const std::string &name) const |
| | Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations.
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| const SimTK::DiscreteVariableIndex | getDiscreteVariableIndex (const std::string &name) const |
| | Get the index of a ModelComponent's discrete variable in the Subsystem for allocations.
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| const SimTK::CacheEntryIndex | getCacheVariableIndex (const std::string &name) const |
| | Get the index of a ModelComponent's cache variable in the Subsystem for allocations.
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| | Object () |
| | The default constructor is only for use by constructors of derived types.
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| | 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.
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| | Object (const Object &source) |
| | Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly.
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| | Object (SimTK::Xml::Element &aElement) |
| | Construct the base class portion of an Object from a given Xml element that describes this Object.
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| 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.
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| 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.
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| 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.
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| 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.
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| PropertyIndex | getPropertyIndex (const std::string &name) const |
| | Look up a property by name and return its PropertyIndex if it is found.
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| 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.
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| 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.
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| void | setDocument (XMLDocument *doc) |
| | Unconditionally set the XMLDocument associated with this object.
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| const XMLDocument * | getDocument () const |
| | Get a const pointer to the document (if any) associated with this object.
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| XMLDocument * | updDocument () |
| | Get a writable pointer to the document (if any) associated with this object.
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Additional Inherited Members |
| 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.
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| 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.
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| 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*.
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| 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.
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| 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.
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| 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 const std::string | DEFAULT_NAME |
| | Name used for default objects when they are serialized.
|
| int | _controlIndex |
| #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.
|
Public Member Functions inherited from OpenSim::Actuator
1.8.1.2 
