OpenSim  OpenSim 3.2
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Pages
OpenSim::ActuatorPowerProbe Class Reference

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:
OpenSim::Probe OpenSim::ModelComponent OpenSim::Object

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...
 
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component. More...
 
const ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 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 Objectclone () 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 VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...
 
virtual VisibleObjectupdDisplayer ()
 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...
 
Objectoperator= (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 AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (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 AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
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. 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 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. 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 ObjectnewInstanceOfType (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 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. 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 ObjectSafeCopy (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...
 

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]modelThe 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: