ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation. More...

#include <ActuatorPowerProbe.h>

Inheritance diagram for OpenSim::ActuatorPowerProbe:

Public Member Functions
	ActuatorPowerProbe ()
	Default constructor. More...

	ActuatorPowerProbe (const Array< std::string > actuator_names, const bool sum_powers_together, const double exponent)
	Convenience constructor. More...

const Property< std::string > &	getActuatorNames () const
	Returns the names of the Actuators being probed. More...

const bool	getSumPowersTogether () const
	Returns whether to report sum of all actuator powers together or report the actuator powers individually. More...

const double	getExponent () const
	Returns the exponent to apply to each actuator power. More...

void	setActuatorNames (const Array< std::string > &actuatorNames)
	Sets the names of the Actuators being probed. More...

void	setSumPowersTogether (bool sum_powers_together)
	Sets whether to report sum of all actuator powers together or report the actuator powers individually. More...

void	setExponent (const double exponent)
	Sets the exponent to apply to each actuator power. More...

SimTK::Vector	computeProbeInputs (const SimTK::State &state) const override
	Compute the Actuator power. More...

int	getNumProbeInputs () const override
	Returns the number of probe inputs in the vector returned by computeProbeInputs(). More...

virtual OpenSim::Array < std::string >	getProbeOutputLabels () const override
	Returns the column labels of the probe values for reporting. More...

void	connectToModel (Model &aModel) overridefinal
	Perform any necessary initializations required to connect the component into the Model, and check for error conditions. More...

Property declarations
These are the serializable properties associated with this class.
	OpenSim_DECLARE_LIST_PROPERTY (actuator_names, std::string,"Specify a list of model Actuators whose power should be calculated.""Use 'all' to probe all actuators.")
	List of Actuators to probe. More...

	OpenSim_DECLARE_PROPERTY (sum_powers_together, bool,"Flag to specify whether to report the sum of all actuator powers, ""or report each actuator power value separately.")
	Flag to specify whether to report the sum of all powers, or report each power value separately. More...

	OpenSim_DECLARE_PROPERTY (exponent, double,"Element-wise power exponent to apply to each actuator power prior to the Probe operation.")
	Element-wise power exponent to apply to each actuator power prior to the Probe operation. More...

Public Member Functions inherited from OpenSim::Probe
	Probe ()

void	reset (SimTK::State &s)
	Reset (initialize) the underlying Probe SimTK::Measure. More...

int	getNumInternalMeasureStates () const
	Get the number of states in the underlying SimTK::Measure. More...

bool	isDisabled () const
	Returns true if the Probe is disabled or false if the probe is enabled. More...

void	setDisabled (bool isDisabled)
	Set the Probe as disabled (true) or enabled (false). More...

std::string	getOperation () const
	Return the operation being performed on the probe value. More...

void	setOperation (std::string probe_operation)
	Set the operation being performed on the probe value. More...

SimTK::Vector	getInitialConditions () const
	Return the initial conditions (when the probe_operation is set to 'integrate'). More...

void	setInitialConditions (SimTK::Vector initial_conditions_for_integration)
	Set the initial conditions (when the probe_operation is set to 'integrate'). More...

double	getGain () const
	Return the gain to apply to the probe output. More...

void	setGain (double gain)
	Set the gain to apply to the probe output. More...

SimTK::Vector	getProbeOutputs (const SimTK::State &state) const
	Returns the values of the probe after the operation has been performed. More...

	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the Probe is disabled or not.")
	Enabled by default. More...

	OpenSim_DECLARE_PROPERTY (probe_operation, std::string,"The operation to perform on the probe input value: ""'value'(no operation, just return the probe value), 'integrate', ""'differentiate', 'minimum', 'minabs', 'maximum', 'maxabs'.")

	OpenSim_DECLARE_LIST_PROPERTY (initial_conditions_for_integration, double,"Array of initial conditions to be specified if the 'integrate' operation is ""selected. Note that the size of initial conditions must be the same size as ""the data being integrated, otherwise an exception will be thrown.")

	OpenSim_DECLARE_PROPERTY (gain, double,"Constant gain to scale the probe output by.")

Public Member Functions inherited from OpenSim::ModelComponent
	ModelComponent ()
	Default constructor. More...

	ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Construct ModelComponent from an XML file. More...

	ModelComponent (SimTK::Xml::Element &aNode)
	Construct ModelComponent from a specific node in an XML document. More...

	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. More...

virtual	~ModelComponent ()
	Destructor is virtual to allow concrete model component cleanup. More...

ModelComponent &	operator= (const ModelComponent &aModelComponent)
	Assignment operator to copy contents of an existing component. More...

const Model &	getModel () const
	Get a const reference to the Model this component is part of. More...

Model &	updModel ()
	Get a modifiable reference to the Model this component is part of. More...

virtual void	updateDisplayer (const SimTK::State &s) const
	In case the ModelComponent has a visual representation (VisualObject), override this method to update it. More...

virtual int	getNumStateVariables () const
	Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents. More...

virtual Array< std::string >	getStateVariableNames () const
	Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents. More...

virtual SimTK::SystemYIndex	getStateVariableSystemIndex (const std::string &stateVariableName) const
	Get the System Index of a state variable allocated by this ModelComponent. More...

int	getModelingOption (const SimTK::State &state, const std::string &name) const
	Get a ModelingOption flag for this ModelComponent by name. More...

void	setModelingOption (SimTK::State &state, const std::string &name, int flag) const
	Set the value of a ModelingOption flag for this ModelComponent. More...

double	getStateVariable (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable allocated by this ModelComponent. More...

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. More...

double	getDiscreteVariable (const SimTK::State &state, const std::string &name) const
	Get the value of a discrete variable allocated by this ModelComponent by name. More...

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. More...

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. More...

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. More...

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. More...

void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Mark a cache variable value allocated by this ModelComponent as invalid. More...

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. More...

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. More...

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

virtual Object *	clone () const =0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

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. More...

virtual const VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...

virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...

virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...

virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...

void	setName (const std::string &name)
	Set the name of the Object. More...

const std::string &	getName () const
	Get the name of this Object. More...

void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...

const std::string &	getDescription () const
	Get description, a one-liner summary. More...

const std::string &	getAuthors () const
	Get Authors of this Object. More...

void	setAuthors (const std::string &authors)
	Set Authors of this object, call this method in your constructor if needed. More...

const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...

void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...

int	getNumProperties () const
	Determine how many properties are stored with this Object. More...

const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...

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. More...

const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty. More...

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. More...

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. More...

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. More...

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. More...

bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...

void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...

virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

virtual void	updateXMLNode (SimTK::Xml::Element &parent)
	Serialize this object into the XML node that represents it. More...

bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...

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. More...

std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...

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". More...

std::string	dump (bool dumpName=false)
	dump the XML representation of this Object into an std::string and return it. More...

void	clearObjectIsUpToDateWithProperties ()
	For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...

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. More...

const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () 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. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

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. More...

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*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

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. More...

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. More...

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. More...

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. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

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. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

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. More...

static void	setDebugLevel (int newLevel)
	Set the debug level to get verbose output. More...

static int	getDebugLevel ()
	Get current setting of debug level. More...

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. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized. More...

Protected Member Functions inherited from OpenSim::Probe
void	connectToModel (Model &model) override
	Concrete probes may override; be sure to invoke Super::connectToModel() at the beginning of the overriding method. More...

void	addToSystem (SimTK::MultibodySystem &system) const override
	Concrete probes may override; be sure to invoke Super::addToSystem() at the beginning of the overriding method. More...

Protected Attributes inherited from OpenSim::ModelComponent
Model *	_model
	The model this component belongs to. More...

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. More...

#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. More...

#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>. More...

#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. More...

Detailed Description

ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation.

E.g. Actuator work is the integral of actuator power with respect to time, so by using the ActuatorPowerProbe with the 'integrate' operation, Actuator work may be computed.

Author: Tim Dorn

Constructor & Destructor Documentation

OpenSim::ActuatorPowerProbe::ActuatorPowerProbe ( )

Default constructor.

OpenSim::ActuatorPowerProbe::ActuatorPowerProbe	(	const Array< std::string >	actuator_names,
		const bool	sum_powers_together,
		const double	exponent
	)

Convenience constructor.

Member Function Documentation

SimTK::Vector OpenSim::ActuatorPowerProbe::computeProbeInputs ( const SimTK::State & state) const

overridevirtual

Compute the Actuator power.

Implements OpenSim::Probe.

void OpenSim::ActuatorPowerProbe::connectToModel ( Model & model)

finaloverridevirtual

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::ModelComponent.

const Property<std::string>& OpenSim::ActuatorPowerProbe::getActuatorNames ( ) const

Returns the names of the Actuators being probed.

const double OpenSim::ActuatorPowerProbe::getExponent ( ) const

Returns the exponent to apply to each actuator power.

int OpenSim::ActuatorPowerProbe::getNumProbeInputs ( ) const

overridevirtual

Returns the number of probe inputs in the vector returned by computeProbeInputs().

Implements OpenSim::Probe.

virtual OpenSim::Array<std::string> OpenSim::ActuatorPowerProbe::getProbeOutputLabels ( ) const

overridevirtual

Returns the column labels of the probe values for reporting.

Currently uses the Probe name as the column label, so be sure to name your probe appropiately!

Implements OpenSim::Probe.

const bool OpenSim::ActuatorPowerProbe::getSumPowersTogether ( ) const

Returns whether to report sum of all actuator powers together or report the actuator powers individually.

OpenSim::ActuatorPowerProbe::OpenSim_DECLARE_LIST_PROPERTY	(	actuator_names	,
		std::string	,
		"Specify a list of model Actuators whose power should be calculated.""Use 'all' to probe all actuators."
	)

List of Actuators to probe.

OpenSim::ActuatorPowerProbe::OpenSim_DECLARE_PROPERTY	(	sum_powers_together	,
		bool	,
		"Flag to specify whether to report the sum of all actuator	powers,
		""or report each actuator power value separately."
	)

Flag to specify whether to report the sum of all powers, or report each power value separately.

OpenSim::ActuatorPowerProbe::OpenSim_DECLARE_PROPERTY	(	exponent	,
		double	,
		"Element-wise power exponent to apply to each actuator power prior to the Probe operation."
	)

Element-wise power exponent to apply to each actuator power prior to the Probe operation.

For example, if two actuators A1 and A2 are given in actuator_names, then the Probe value will be equal to Power_A1^exponent + Power_A2^exponent.

void OpenSim::ActuatorPowerProbe::setActuatorNames ( const Array< std::string > & actuatorNames)

Sets the names of the Actuators being probed.

void OpenSim::ActuatorPowerProbe::setExponent ( const double exponent)

Sets the exponent to apply to each actuator power.

void OpenSim::ActuatorPowerProbe::setSumPowersTogether ( bool sum_powers_together)

Sets whether to report sum of all actuator powers together or report the actuator powers individually.

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

/home/fitze/repos/opensim/Branches/OpenSim32ForDoxygen/OpenSim/Simulation/Model/ActuatorPowerProbe.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation