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OpenSim::TransformAxis Class Reference

A class expressing a transformation of a child body in relation to a parent body along either a translation or rotation axis. More...

#include <TransformAxis.h>

Inheritance diagram for OpenSim::TransformAxis:
OpenSim::Object

Public Member Functions

 TransformAxis ()
 TransformAxis (const Array< std::string > &coordNames, const SimTK::Vec3 &axis)
 TransformAxis (SimTK::Xml::Element &node)
void setCoordinateNames (const Array< std::string > &coordNames)
 Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object.
const Property< std::string > & getCoordinateNames () const
 Get the generalized coordinate names associated with this object.
Array< std::string > getCoordinateNamesInArray () const
 Copy the coordinate names into an OpenSim::Array for convenience.
void setAxis (const SimTK::Vec3 &axis)
 Set the value of the "axis" property.
const SimTK::Vec3 & getAxis () const
 Return the current value of the "axis" property.
void getAxis (SimTK::Vec3 &axis) const
 Alternate signature that writes the axis value to its argument.
void getAxis (double rAxis[]) const
 Alternate signature that writes the axis value to its argument as an ordinary C array.
double getAxis (int which) const
 Get one component (0,1, or 2) of the axis vector.
bool hasFunction () const
 Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.
const FunctiongetFunction () const
 Get the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.
FunctionupdFunction ()
 Get writable access to the transform function.
void setFunction (Function *function)
 Set the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.
void setFunction (const Function &function)
 Set the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.
const JointgetJoint () const
 Return a reference to the Joint to which this TransformAxis applies.
double getValue (const SimTK::State &s)
void connectToJoint (const Joint &owningJoint)
 Connect the TransformAxis to its owning Joint after the model has been deserialized or copied.
Property declarations

These are the serializable properties associated with this class.

 OpenSim_DECLARE_LIST_PROPERTY (coordinates, std::string,"Names of the coordinates that serve as the independent variables \ of the transform function.")
 The "coordinates" property holds a list of strings representing the generalized coordinate names that serve as the independent variables of the transform function.
 OpenSim_DECLARE_PROPERTY (axis, SimTK::Vec3,"Rotation or translation axis for the transform.")
 The "axis" property holds the axis direction of the rotation or translation axis of the transform as a Vec3.
 OpenSim_DECLARE_OPTIONAL_PROPERTY (function, Function,"Transform function of the generalized coordinates used to \ represent the amount of transformation along a specified axis.")
 The optional "function" property holds the transform function of the generalized coordinates used to represent the amount of transformation along the specified axis.
- 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

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.
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes.

Detailed Description

A class expressing a transformation of a child body in relation to a parent body along either a translation or rotation axis.

Author
Peter Loan, Frank C. Anderson, Jeffrey A. Reinbolt, Ajay Seth, Michael Sherman

Constructor & Destructor Documentation

OpenSim::TransformAxis::TransformAxis ( )
OpenSim::TransformAxis::TransformAxis ( const Array< std::string > &  coordNames,
const SimTK::Vec3 &  axis 
)
OpenSim::TransformAxis::TransformAxis ( SimTK::Xml::Element &  node)
explicit

Member Function Documentation

void OpenSim::TransformAxis::connectToJoint ( const Joint owningJoint)

Connect the TransformAxis to its owning Joint after the model has been deserialized or copied.

const SimTK::Vec3& OpenSim::TransformAxis::getAxis ( ) const
inline

Return the current value of the "axis" property.

void OpenSim::TransformAxis::getAxis ( SimTK::Vec3 &  axis) const
inline

Alternate signature that writes the axis value to its argument.

void OpenSim::TransformAxis::getAxis ( double  rAxis[]) const
inline

Alternate signature that writes the axis value to its argument as an ordinary C array.

double OpenSim::TransformAxis::getAxis ( int  which) const
inline

Get one component (0,1, or 2) of the axis vector.

const Property<std::string>& OpenSim::TransformAxis::getCoordinateNames ( ) const
inline

Get the generalized coordinate names associated with this object.

The returned value is a references to the Property<string> that contains the list of coordinate names.

See Also
get_coordinates()
Array<std::string> OpenSim::TransformAxis::getCoordinateNamesInArray ( ) const
inline

Copy the coordinate names into an OpenSim::Array for convenience.

const Function& OpenSim::TransformAxis::getFunction ( ) const

Get the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.

If no function has been specified, this throws an exception; check first with hasFunction() if you aren't sure.

const Joint& OpenSim::TransformAxis::getJoint ( ) const
inline

Return a reference to the Joint to which this TransformAxis applies.

double OpenSim::TransformAxis::getValue ( const SimTK::State &  s)
bool OpenSim::TransformAxis::hasFunction ( ) const
inline

Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.

OpenSim::TransformAxis::OpenSim_DECLARE_LIST_PROPERTY ( coordinates  ,
std::string  ,
"Names of the coordinates that serve as the independent variables \ of the transform function."   
)

The "coordinates" property holds a list of strings representing the generalized coordinate names that serve as the independent variables of the transform function.

OpenSim::TransformAxis::OpenSim_DECLARE_OPTIONAL_PROPERTY ( function  ,
Function  ,
"Transform function of the generalized coordinates used to \ represent the amount of transformation along a specified axis."   
)

The optional "function" property holds the transform function of the generalized coordinates used to represent the amount of transformation along the specified axis.

OpenSim::TransformAxis::OpenSim_DECLARE_PROPERTY ( axis  ,
SimTK::Vec3  ,
"Rotation or translation axis for the transform."   
)

The "axis" property holds the axis direction of the rotation or translation axis of the transform as a Vec3.

void OpenSim::TransformAxis::setAxis ( const SimTK::Vec3 &  axis)
inline

Set the value of the "axis" property.

void OpenSim::TransformAxis::setCoordinateNames ( const Array< std::string > &  coordNames)
inline

Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object.

Parameters
coordNamesNames of the generalized coordinates.
void OpenSim::TransformAxis::setFunction ( Function function)

Set the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.

This object adopts ownership of the Function object, don't delete it yourself! It will be deleted when this TransformAxis object is deleted.

void OpenSim::TransformAxis::setFunction ( const Function function)

Set the custom function that maps between the generalized coordinates and the amount of transformation along the specified axis.

This method creates a copy of the supplied Function object, which is unaffected. Use the other signature if you want this TransformAxis to take over ownership of the Function object.

Function& OpenSim::TransformAxis::updFunction ( )

Get writable access to the transform function.


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