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OpenSim::RollingOnSurfaceConstraint Class Reference

A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface. More...

#include <RollingOnSurfaceConstraint.h>

Inheritance diagram for OpenSim::RollingOnSurfaceConstraint:
OpenSim::UnilateralConstraint OpenSim::Constraint OpenSim::ModelComponent OpenSim::Object

Public Member Functions

 RollingOnSurfaceConstraint ()
virtual ~RollingOnSurfaceConstraint ()
void connectToModel (Model &aModel) override
 Perform any necessary initializations required to connect the component into the Model, and check for error conditions.
void addToSystem (SimTK::MultibodySystem &system) const override
 Create the SimTK::Constraints: which implements this RollingOnSurfaceConstraint.
void initStateFromProperties (SimTK::State &state) const override
 Populate the the SimTK::State: with defaults for the RollingOnSurfaceConstraint.
void setPropertiesFromState (const SimTK::State &state) override
 Given an existing SimTK::State set defaults for the RollingOnSurfaceConstraint.
void setRollingBodyByName (std::string aBodyName)
void setSurfaceBodyByName (std::string aBodyName)
virtual void setContactPointForInducedAccelerations (const SimTK::State &s, SimTK::Vec3 point)
 This method specifies the interface that a constraint must implement in order to be used by the Induced Accelerations Analysis.
virtual std::vector< bool > unilateralConditionsSatisfied (const SimTK::State &state)
virtual bool isDisabled (const SimTK::State &state) const
virtual bool setDisabled (SimTK::State &state, bool isDisabled)
bool setDisabled (SimTK::State &state, bool isDisabled, std::vector< bool > shouldBeOn)
bool setDisabledWithCachedUnilateralConditions (bool isDisabled, SimTK::State &state)
virtual void calcConstraintForces (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForcesInAncestor, SimTK::Vector &mobilityForces) const
- Public Member Functions inherited from OpenSim::UnilateralConstraint
 UnilateralConstraint ()
virtual ~UnilateralConstraint ()
virtual int getNumConstraintEquations ()
- Public Member Functions inherited from OpenSim::Constraint
 OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the constraint is disabled or not. Disabled means that the constraint is not active in subsequent dynamics realization")
 Constraint ()
virtual ~Constraint ()
virtual void updateFromConstraint (SimTK::State &s, const Constraint &aConstraint)
virtual Array< std::string > getRecordLabels () const
 Methods to query a Constraint forces (defaults to the Lagrange mulipliers) applied The names of the quantities (column labels) is returned by this first function getRecordLabels()
virtual Array< double > getRecordValues (const SimTK::State &state) const
 Given SimTK::State object extract all the values necessary to report constraint forces (multipliers) Subclasses can override to report force, application location frame, etc.
virtual void scale (const ScaleSet &aScaleSet)
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor.
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 Construct ModelComponent from an XML file.
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document.
 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.
virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup.
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component.
const ModelgetModel () const
 Get a const reference to the Model this component is part of.
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of.
virtual void updateDisplayer (const SimTK::State &s) const
 In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
virtual Array< std::string > getStateVariableNames () const
 Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
virtual SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
 Get the System Index of a state variable allocated by this ModelComponent.
int getModelingOption (const SimTK::State &state, const std::string &name) const
 Get a ModelingOption flag for this ModelComponent by name.
void setModelingOption (SimTK::State &state, const std::string &name, int flag) const
 Set the value of a ModelingOption flag for this ModelComponent.
double getStateVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable allocated by this ModelComponent.
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.
double getDiscreteVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a discrete variable allocated by this ModelComponent by name.
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.
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.
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.
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.
void markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
 Mark a cache variable value allocated by this ModelComponent as invalid.
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.
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.
- 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

 OpenSim_DECLARE_PROPERTY (rolling_body, std::string,"Specify the rolling body for this constraint.")
 OpenSim_DECLARE_PROPERTY (surface_body, std::string,"Specify the body containing the surface (plane) that the rolling body rolls on.")
 OpenSim_DECLARE_PROPERTY (surface_normal, SimTK::Vec3,"Surface normal direction in the surface body.")
 OpenSim_DECLARE_PROPERTY (surface_height, double,"Surface height in the direction of the normal in the surface body.")
 OpenSim_DECLARE_PROPERTY (friction_coefficient, double,"Coulomb friction coefficient for rolling on the surface.")
 OpenSim_DECLARE_PROPERTY (contact_radius, double,"A guess at the area of contact approximated by a circle of radius.")

Protected Attributes

Body_rollingBody
 First body is the rolling body.
Body_surfaceBody
 Second body describes the surface body.
std::vector
< SimTK::ConstraintIndex > 
_indices
 Get the indices of underlying constraints to access from Simbody.
std::vector< bool > _defaultUnilateralConditions
 This cache acts a temporary hold for the constraint conditions when time has not changed.
- Protected Attributes inherited from OpenSim::UnilateralConstraint
int _numConstraintEquations
 number of constraint equations and thus unilateral conditions to be satisfied
- Protected Attributes inherited from OpenSim::Constraint
SimTK::ConstraintIndex _index
 ID for the constraint in Simbody.
- Protected Attributes inherited from OpenSim::ModelComponent
Model_model
 The model this component belongs to.
- 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().
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized.

Detailed Description

A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface.

The underlying Constraints in Simbody are: PointInPlane to oppose penetration into the ground (unitlaterally) ConstantAngle about the normal to the enforce no spinning NoSlip1D along one axis of the plane NoSlip1D along the other axis

mu = Coulomb Friction Coeefficient

Each of these constraints have condition dependent on the reaction forces generate collectively: PointInPlane normal force (Fn) must be positive (in the direction of the normal) ConstantAngle the reaction torque cannnot exceed contactRadius*mu*Fn Both NoSlip conditions are treated together, the magnitude the combined reaction forces (in the plane) cannot exceed mu*Fn

Author
Ajay Seth
Version
1.0

Constructor & Destructor Documentation

OpenSim::RollingOnSurfaceConstraint::RollingOnSurfaceConstraint ( )
virtual OpenSim::RollingOnSurfaceConstraint::~RollingOnSurfaceConstraint ( )
virtual

Member Function Documentation

void OpenSim::RollingOnSurfaceConstraint::addToSystem ( SimTK::MultibodySystem &  system) const
overridevirtual

Create the SimTK::Constraints: which implements this RollingOnSurfaceConstraint.

Reimplemented from OpenSim::ModelComponent.

virtual void OpenSim::RollingOnSurfaceConstraint::calcConstraintForces ( const SimTK::State &  state,
SimTK::Vector_< SimTK::SpatialVec > &  bodyForcesInAncestor,
SimTK::Vector &  mobilityForces 
) const
virtual

Reimplemented from OpenSim::Constraint.

void OpenSim::RollingOnSurfaceConstraint::connectToModel ( Model model)
overridevirtual

Perform any necessary initializations required to connect the component into the Model, and check for error conditions.

connectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::connectToModel(Model& model) {
Super::connectToModel(model); // invoke parent class method
// ... your code goes here
}

Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.

Parameters
[in,out]modelThe Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::UnilateralConstraint.

void OpenSim::RollingOnSurfaceConstraint::initStateFromProperties ( SimTK::State &  state) const
overridevirtual

Populate the the SimTK::State: with defaults for the RollingOnSurfaceConstraint.

Reimplemented from OpenSim::Constraint.

virtual bool OpenSim::RollingOnSurfaceConstraint::isDisabled ( const SimTK::State &  state) const
virtual

Reimplemented from OpenSim::Constraint.

OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( rolling_body  ,
std::string  ,
"Specify the rolling body for this constraint."   
)
protected
OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( surface_body  ,
std::string  ,
"Specify the body containing the surface (plane) that the rolling body rolls on."   
)
protected
OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( surface_normal  ,
SimTK::Vec3  ,
"Surface normal direction in the surface body."   
)
protected
OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( surface_height  ,
double  ,
"Surface height in the direction of the normal in the surface body."   
)
protected
OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( friction_coefficient  ,
double  ,
"Coulomb friction coefficient for rolling on the surface."   
)
protected
OpenSim::RollingOnSurfaceConstraint::OpenSim_DECLARE_PROPERTY ( contact_radius  ,
double  ,
"A guess at the area of contact approximated by a circle of radius."   
)
protected
virtual void OpenSim::RollingOnSurfaceConstraint::setContactPointForInducedAccelerations ( const SimTK::State &  s,
SimTK::Vec3  point 
)
virtual

This method specifies the interface that a constraint must implement in order to be used by the Induced Accelerations Analysis.

Reimplemented from OpenSim::Constraint.

virtual bool OpenSim::RollingOnSurfaceConstraint::setDisabled ( SimTK::State &  state,
bool  isDisabled 
)
virtual

Reimplemented from OpenSim::Constraint.

bool OpenSim::RollingOnSurfaceConstraint::setDisabled ( SimTK::State &  state,
bool  isDisabled,
std::vector< bool >  shouldBeOn 
)
bool OpenSim::RollingOnSurfaceConstraint::setDisabledWithCachedUnilateralConditions ( bool  isDisabled,
SimTK::State &  state 
)
inline
void OpenSim::RollingOnSurfaceConstraint::setPropertiesFromState ( const SimTK::State &  state)
overridevirtual

Given an existing SimTK::State set defaults for the RollingOnSurfaceConstraint.

Reimplemented from OpenSim::Constraint.

void OpenSim::RollingOnSurfaceConstraint::setRollingBodyByName ( std::string  aBodyName)
void OpenSim::RollingOnSurfaceConstraint::setSurfaceBodyByName ( std::string  aBodyName)
virtual std::vector<bool> OpenSim::RollingOnSurfaceConstraint::unilateralConditionsSatisfied ( const SimTK::State &  state)
virtual

Reimplemented from OpenSim::UnilateralConstraint.

Member Data Documentation

std::vector<bool> OpenSim::RollingOnSurfaceConstraint::_defaultUnilateralConditions
protected

This cache acts a temporary hold for the constraint conditions when time has not changed.

std::vector<SimTK::ConstraintIndex> OpenSim::RollingOnSurfaceConstraint::_indices
protected

Get the indices of underlying constraints to access from Simbody.

Body* OpenSim::RollingOnSurfaceConstraint::_rollingBody
protected

First body is the rolling body.

Body* OpenSim::RollingOnSurfaceConstraint::_surfaceBody
protected

Second body describes the surface body.


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