PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time. More...

#include <PrescribedController.h>

Inheritance diagram for OpenSim::PrescribedController:

Public Member Functions
	OpenSim_DECLARE_PROPERTY (ControlFunctions, FunctionSet,"Functions (one per control) describing the controls for actuators""specified for this controller.")
	FunctionSet of prescribed controls associated with each actuator.
	OpenSim_DECLARE_OPTIONAL_PROPERTY (controls_file, std::string,"Controls storage (.sto) file containing controls for individual ""actuators in the model. Column labels must match actuator names.")
	(Optional) prescribed controls from a storage file
	OpenSim_DECLARE_OPTIONAL_PROPERTY (interpolation_method, int,"Interpolate the controls file data using piecewise: '0-constant', ""'1-linear', '3-cubic' or '5-quintic' functions.")
	(Optional) interpolation method for controls in storage.
	PrescribedController ()
	Default constructor.
	PrescribedController (const std::string &controlsFileName, int interpMethodType=1)
	Convenience constructor get controls from file.
virtual	~PrescribedController ()
	Destructor.
void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const override
	Compute the control values for all actuators under the control of this Controller.
void	prescribeControlForActuator (int index, Function *prescribedFunction)
	Assign a prescribe control function for the desired actuator identified by its index.
void	prescribeControlForActuator (const std::string actName, Function *prescribedFunction)
	Assign a prescribe control function for the desired actuator identified by its name.
void	connectToModel (Model &model) override
	Model component interface.
Public Member Functions inherited from OpenSim::Controller
	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag (true or false) indicating whether or not the controller is disabled.")
	OpenSim_DECLARE_LIST_PROPERTY (actuator_list, std::string,"The list of model actuators that this controller will control.""The keyword ALL indicates the controller will controll all the acuators in the model")
	Controller ()
	Default constructor.
bool	isDisabled () const
	Get whether or not this controller is disabled.
void	setDisabled (bool disableFlag)
	Disable this controller.
void	setActuators (const Set< Actuator > &actuators)
	replace the current set of actuators with the provided set
void	addActuator (const Actuator &actuator)
	add to the current set of actuators
const Set< Actuator > &	getActuatorSet () const
	get a const reference to the current set of actuators
Set< Actuator > &	updActuators ()
	get a writable reference to the set of actuators for this controller
int	getNumControls () const

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.
Protected Member Functions inherited from OpenSim::Controller
void	addToSystem (SimTK::MultibodySystem &system) const override
	Model component interface that creates underlying computational components in the SimTK::MultibodySystem.
void	setNumControls (int numControls)
	Only a Controller can set its number of controls based on its actuators.
Protected Member Functions inherited from OpenSim::ModelComponent
virtual void	initStateFromProperties (SimTK::State &state) const
	Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.
virtual void	setPropertiesFromState (const SimTK::State &state)
	Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property.
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.
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 Attributes inherited from OpenSim::ModelComponent
Model *	_model
	The model this component belongs to.
Friends inherited from OpenSim::Controller
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

PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time.

Author: Ajay Seth

Constructor & Destructor Documentation

OpenSim::PrescribedController::PrescribedController ( )

Default constructor.

OpenSim::PrescribedController::PrescribedController	(	const std::string &	controlsFileName,
		int	interpMethodType = `1`
	)

Convenience constructor get controls from file.

Parameters

controlsFileName	string containing the controls storage (.sto)
interpMethodType	int 0-constant, 1-linear, 3-cubic, 5-quintic defaults to linear.

virtual OpenSim::PrescribedController::~PrescribedController ( )

virtual

Destructor.

Member Function Documentation

void OpenSim::PrescribedController::computeControls	(	const SimTK::State &	s,
		SimTK::Vector &	controls
	)		const

overridevirtual

Compute the control values for all actuators under the control of this Controller.

Parameters

s	system state
controls	model controls

Implements OpenSim::Controller.

void OpenSim::PrescribedController::connectToModel ( Model & model )

overridevirtual

Model component interface.

Reimplemented from OpenSim::Controller.

OpenSim::PrescribedController::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	controls_file	,
		std::string	,
		"Controls storage (.sto) file containing controls for individual ""actuators in the model. Column labels must match actuator names."
	)

(Optional) prescribed controls from a storage file

OpenSim::PrescribedController::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	interpolation_method	,
		int	,
		"Interpolate the controls file data using piecewise: '0-constant'	,
		""'1-linear'	,
		'3-cubic'or '5-quintic'functions."
	)

(Optional) interpolation method for controls in storage.

OpenSim::PrescribedController::OpenSim_DECLARE_PROPERTY	(	ControlFunctions	,
		FunctionSet	,
		"Functions (one per control) describing the controls for actuators""specified for this controller."
	)

FunctionSet of prescribed controls associated with each actuator.

void OpenSim::PrescribedController::prescribeControlForActuator	(	int	index,
		Function *	prescribedFunction
	)

Assign a prescribe control function for the desired actuator identified by its index.

Controller takes ownership of the function.

Parameters

index	the actuator's index in the controller's set
prescribedFunction	the actuator's control function

void OpenSim::PrescribedController::prescribeControlForActuator	(	const std::string	actName,
		Function *	prescribedFunction
	)

Assign a prescribe control function for the desired actuator identified by its name.

Controller takes ownership of the function.

Parameters

actName	the actuator's name in the controller's set
prescribedFunction	the actuator's control function

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

E:/Projects/OpenSimTrunk/OpenSim/Simulation/Control/PrescribedController.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation