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:

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.
ModelComponent &	operator= (const ModelComponent &aModelComponent)
	Assignment operator to copy contents of an existing component.
const Model &	getModel () const
	Get a const reference to the Model this component is part of.
Model &	updModel ()
	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 Object *	clone () 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 VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject
bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading.
Object &	operator= (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 AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty.
AbstractProperty &	updPropertyByIndex (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 AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty.
AbstractProperty &	updPropertyByName (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.
PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object.
const PropertySet &	getPropertySet () 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 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.
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

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]

model

The 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:

• E:/Projects/OpenSimTrunk/OpenSim/Simulation/SimbodyEngine/RollingOnSurfaceConstraint.h