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OpenSim::RRATool Class Reference

An abstract class for specifying the interface for an investigation. More...

#include <RRATool.h>

Inheritance diagram for OpenSim::RRATool:
OpenSim::AbstractTool OpenSim::Object

Public Member Functions

virtual ~RRATool ()
 RRATool ()
 RRATool (const std::string &aFileName, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
 RRATool (const RRATool &aObject)
RRATooloperator= (const RRATool &aRRATool)
const std::string & getDesiredPointsFileName ()
void setDesiredPointsFileName (const std::string &aFileName)
const std::string & getDesiredKinematicsFileName ()
void setDesiredKinematicsFileName (const std::string &aFileName)
const std::string & getConstraintsFileName ()
void setConstraintsFileName (const std::string &aFileName)
const std::string & getTaskSetFileName ()
void setTaskSetFileName (const std::string &aFileName)
const std::string & getOutputModelFileName ()
void setOutputModelFileName (const std::string &aFileName)
bool getAdjustCOMToReduceResiduals ()
void setAdjustCOMToReduceResiduals (bool aAdjust)
const std::string & getAdjustedCOMBody ()
void setAdjustedCOMBody (const std::string &aBody)
double getLowpassCutoffFrequency () const
void setLowpassCutoffFrequency (double aLowpassCutoffFrequency)
const std::string & getExternalLoadsFileName () const
void setExternalLoadsFileName (const std::string &aFileName)
virtual bool run () SWIG_DECLARE_EXCEPTION
StoragegetForceStorage ()
void setOriginalForceSet (const ForceSet &aForceSet)
virtual void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
 Use this method to deserialize an object from a SimTK::Xml::Element.
void initializeControlSetUsingConstraints (const ControlSet *aRRAControlSet, const ControlSet *aControlConstraints, ControlSet &rControlSet)
std::string adjustCOMToReduceResiduals (SimTK::State &s, const Storage &qStore, const Storage &uStore)
std::string adjustCOMToReduceResiduals (const OpenSim::Array< double > &aFAve, const OpenSim::Array< double > &aMAve)
void addNecessaryAnalyses ()
void writeAdjustedModel ()
- 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.
AbstractTooloperator= (const AbstractTool &aTool)
 Assignment operator.
virtual void setModel (Model &aModel) SWIG_DECLARE_EXCEPTION
 Set the model to be investigated.
virtual ModelgetModel () const
 Get the model to be investigated.
bool getReplaceForceSet () const
void setReplaceForceSet (bool aReplace)
std::string getNextAvailableForceName (const std::string prefix="Force") const
const ExternalLoadsgetExternalLoads () const
ExternalLoadsupdExternalLoads ()
void setExternalLoads (ExternalLoads &el)
Array< std::string > & getForceSetFiles ()
void setForceSetFiles (const Array< std::string > &aForceSetFiles)
int getOutputPrecision () const
void setOutputPrecision (int aPrecision)
AnalysisSetgetAnalysisSet () 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 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 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

Static Public Member Functions

static void computeAverageResiduals (const Storage &aForceStore, OpenSim::Array< double > &rFAve, OpenSim::Array< double > &rMAve)
static void computeAverageResiduals (SimTK::State &s, Model &aModel, double aTi, double aTf, const Storage &aStatesStore, OpenSim::Array< double > &rFAve, OpenSim::Array< double > &rMAve)

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.
- 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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object.
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object.
- 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.

Detailed Description

An abstract class for specifying the interface for an investigation.

Author
Frank C. Anderson
Version
1.0

Constructor & Destructor Documentation

virtual OpenSim::RRATool::~RRATool ( )
virtual
OpenSim::RRATool::RRATool ( )
OpenSim::RRATool::RRATool ( const std::string &  aFileName,
bool  aLoadModel = true 
)
OpenSim::RRATool::RRATool ( const RRATool aObject)

Member Function Documentation

void OpenSim::RRATool::addNecessaryAnalyses ( )
std::string OpenSim::RRATool::adjustCOMToReduceResiduals ( SimTK::State &  s,
const Storage qStore,
const Storage uStore 
)
std::string OpenSim::RRATool::adjustCOMToReduceResiduals ( const OpenSim::Array< double > &  aFAve,
const OpenSim::Array< double > &  aMAve 
)
static void OpenSim::RRATool::computeAverageResiduals ( const Storage aForceStore,
OpenSim::Array< double > &  rFAve,
OpenSim::Array< double > &  rMAve 
)
static
static void OpenSim::RRATool::computeAverageResiduals ( SimTK::State &  s,
Model aModel,
double  aTi,
double  aTf,
const Storage aStatesStore,
OpenSim::Array< double > &  rFAve,
OpenSim::Array< double > &  rMAve 
)
static
bool OpenSim::RRATool::getAdjustCOMToReduceResiduals ( )
inline
const std::string& OpenSim::RRATool::getAdjustedCOMBody ( )
inline
const std::string& OpenSim::RRATool::getConstraintsFileName ( )
inline
const std::string& OpenSim::RRATool::getDesiredKinematicsFileName ( )
inline
const std::string& OpenSim::RRATool::getDesiredPointsFileName ( )
inline
const std::string& OpenSim::RRATool::getExternalLoadsFileName ( ) const
inline

Reimplemented from OpenSim::AbstractTool.

Storage& OpenSim::RRATool::getForceStorage ( )
double OpenSim::RRATool::getLowpassCutoffFrequency ( ) const
inline
const std::string& OpenSim::RRATool::getOutputModelFileName ( )
inline
const std::string& OpenSim::RRATool::getTaskSetFileName ( )
inline
void OpenSim::RRATool::initializeControlSetUsingConstraints ( const ControlSet aRRAControlSet,
const ControlSet aControlConstraints,
ControlSet rControlSet 
)
RRATool& OpenSim::RRATool::operator= ( const RRATool aRRATool)
virtual bool OpenSim::RRATool::run ( )
virtual

Implements OpenSim::AbstractTool.

void OpenSim::RRATool::setAdjustCOMToReduceResiduals ( bool  aAdjust)
inline
void OpenSim::RRATool::setAdjustedCOMBody ( const std::string &  aBody)
inline
void OpenSim::RRATool::setConstraintsFileName ( const std::string &  aFileName)
inline
void OpenSim::RRATool::setDesiredKinematicsFileName ( const std::string &  aFileName)
inline
void OpenSim::RRATool::setDesiredPointsFileName ( const std::string &  aFileName)
inline
void OpenSim::RRATool::setExternalLoadsFileName ( const std::string &  aFileName)
inline

Reimplemented from OpenSim::AbstractTool.

void OpenSim::RRATool::setLowpassCutoffFrequency ( double  aLowpassCutoffFrequency)
inline
void OpenSim::RRATool::setOriginalForceSet ( const ForceSet aForceSet)
void OpenSim::RRATool::setOutputModelFileName ( const std::string &  aFileName)
inline
void OpenSim::RRATool::setTaskSetFileName ( const std::string &  aFileName)
inline
virtual void OpenSim::RRATool::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.

void OpenSim::RRATool::writeAdjustedModel ( )

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