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OpenSim::TrackingTask Class Reference

An abstract base class for specifying a target for a tracking problem. More...

#include <TrackingTask.h>

Inheritance diagram for OpenSim::TrackingTask:
OpenSim::Object OpenSim::CMC_Task OpenSim::StateTrackingTask OpenSim::CMC_Joint OpenSim::CMC_Orientation OpenSim::CMC_Point OpenSim::MuscleStateTrackingTask OpenSim::SMC_Joint

Public Member Functions

 TrackingTask ()
 TrackingTask (const TrackingTask &aTaskObject)
virtual ~TrackingTask ()
TrackingTaskoperator= (const TrackingTask &aTaskObject)
virtual void setModel (OpenSim::Model &aModel)
ModelgetModel () const
void setOn (bool aTrueFalse)
bool getOn () const
void setWeight (double aW0, double aW1=0.0, double aW2=0.0)
void setWeights (const Array< double > &aWeights)
double getWeight (int aWhich) const
const Array< double > & getWeights () const
int getNumTaskFunctions () const
virtual void setTaskFunctions (Function *aF0, Function *aF1=NULL, Function *aF2=NULL)
- 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 Attributes

PropertyBool _propOn
 Property to indicate on or off state.
PropertyDblArray _propW
 Weights of the task goals.
bool & _on
 Reference to the value of the on property.
Array< double > & _w
 Reference to the value of the Weight property.
Model_model
 Model.
int _nTrk
 Number of functions for this target.
Function_pTrk [3]
 Position task functions.
Function_vTrk [3]
 Velocity task functions.
Function_aTrk [3]
 Acceleration task functions.
- 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.
- 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.

Detailed Description

An abstract base class for specifying a target for a tracking problem.

Author
Ayman Habib & Ajay Seth
Version
1.0

Constructor & Destructor Documentation

OpenSim::TrackingTask::TrackingTask ( )
OpenSim::TrackingTask::TrackingTask ( const TrackingTask aTaskObject)
virtual OpenSim::TrackingTask::~TrackingTask ( )
virtual

Member Function Documentation

Model* OpenSim::TrackingTask::getModel ( ) const
int OpenSim::TrackingTask::getNumTaskFunctions ( ) const
bool OpenSim::TrackingTask::getOn ( ) const
double OpenSim::TrackingTask::getWeight ( int  aWhich) const

Reimplemented in OpenSim::CMC_Task.

const Array<double>& OpenSim::TrackingTask::getWeights ( ) const
inline
TrackingTask& OpenSim::TrackingTask::operator= ( const TrackingTask aTaskObject)
virtual void OpenSim::TrackingTask::setModel ( OpenSim::Model aModel)
virtual

Reimplemented in OpenSim::CMC_Joint, and OpenSim::CMC_Point.

void OpenSim::TrackingTask::setOn ( bool  aTrueFalse)
virtual void OpenSim::TrackingTask::setTaskFunctions ( Function aF0,
Function aF1 = NULL,
Function aF2 = NULL 
)
virtual
void OpenSim::TrackingTask::setWeight ( double  aW0,
double  aW1 = 0.0,
double  aW2 = 0.0 
)

Reimplemented in OpenSim::CMC_Task.

void OpenSim::TrackingTask::setWeights ( const Array< double > &  aWeights)
inline

Member Data Documentation

Function* OpenSim::TrackingTask::_aTrk[3]
protected

Acceleration task functions.

If acceleration task functions are not specified, derivatives of the position task function are used.

Model* OpenSim::TrackingTask::_model
protected
int OpenSim::TrackingTask::_nTrk
protected

Number of functions for this target.

bool& OpenSim::TrackingTask::_on
protected

Reference to the value of the on property.

PropertyBool OpenSim::TrackingTask::_propOn
protected

Property to indicate on or off state.

PropertyDblArray OpenSim::TrackingTask::_propW
protected

Weights of the task goals.

Function* OpenSim::TrackingTask::_pTrk[3]
protected

Position task functions.

Different types of tasks can require different numbers of task functions. For example, to track a joint angle, only one task function is needed. However, to track a position, up to three task functions may be needed.

Function* OpenSim::TrackingTask::_vTrk[3]
protected

Velocity task functions.

If velocity task functions are not specified, derivatives of the position task function are used.

Array<double>& OpenSim::TrackingTask::_w
protected

Reference to the value of the Weight property.


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