A class that represents a piece-wise linear control curve. More...

#include <ControlLinear.h>

Inheritance diagram for OpenSim::ControlLinear:

Public Member Functions
	ControlLinear ()

	ControlLinear (const ControlLinear &aControl)

virtual	~ControlLinear ()

void	copyData (const ControlLinear &aControl)
	Copy the member variables of the specified ControlLinear over to this ControlLinear. More...

ControlLinear &	operator= (const ControlLinear &aControl)

void	setUseSteps (bool aTrueFalse)
	Sets whether or not step functions are used between control nodes or linear interpolation. More...

bool	getUseSteps () const

void	setKp (double aKp)
	Sets the position gain for PD follower filter. More...

double	getKp () const

void	setKv (double aKv)
	Sets the velocity gain for PD follower filter. More...

double	getKv () const

virtual int	getNumParameters () const
	Returns the number of parameters that are used to specify the control curve. More...

virtual void	setParameterMin (int aI, double aMin)
	Sets the minimum value that a control parameter can take on. More...

virtual double	getParameterMin (int aI) const

virtual void	setParameterMax (int aI, double aMax)
	Set the maximum value that a control parameter can take on. More...

virtual double	getParameterMax (int aI) const

virtual double	getParameterTime (int aI) const
	Get the time at which a parameter (control curve value) is specified. More...

virtual void	getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const

virtual int	getParameterList (double aT, Array< int > &rList)

virtual int	getParameterList (double aT1, double aT2, Array< int > &rList)
	Gets the list of parameters that affect the control curve between two specified times and that do NOT affect the control curve below the lower of these two times. More...

virtual void	setParameterValue (int aI, double aP)

virtual double	getParameterValue (int aI) const

virtual void	setControlValue (double aT, double aX)
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing ControlLinearNode, in which case the parameters of that control node are changed. More...

virtual double	getControlValue (double aT)
	Gets the value of this control at time aT. More...

virtual double	getControlValueMin (double aT=0.0)
	Gets the minimum allowed value of this control at time aT. More...

virtual void	setControlValueMin (double aT, double aX)
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...

virtual double	getControlValueMax (double aT=0.0)
	Gets the maximum allowed value of this control at time aT. More...

virtual void	setControlValueMax (double aT, double aX)
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...

void	clearControlNodes ()

ArrayPtrs< ControlLinearNode > &	getControlValues ()

ArrayPtrs< ControlLinearNode > &	getControlMinValues ()

ArrayPtrs< ControlLinearNode > &	getControlMaxValues ()

void	insertNewValueNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

void	insertNewMinNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

void	insertNewMaxNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

virtual const double	getFirstTime () const
	The time corresponding to the first ControlLinearNode. More...

virtual const double	getLastTime () const
	The time corresponding to the last ControlLinearNode. More...

virtual void	simplify (const PropertySet &aProperties)
	The number of control nodes is reduced by first applying a lowpass filter to the sequence of control nodes using a specified cutoff frequency and then removing nodes that keep the curve within a specified distance to the low-pass filtered curve. More...

bool	simplify (const double &cutoffFrequency, const double &distance)
	Another interface to simplify that: (1) does not require properties, and (2) returns bool on failure for a more graceful batch simplification. More...

virtual void	filter (double aT)
	Filter the control curve at a particular time using a PD follower filter. More...

Public Member Functions inherited from OpenSim::Control
	Control (const char *aName="UNKNOWN")

	Control (const Control &aControl)

virtual	~Control ()

Control &	operator= (const Control &aControl)

void	setIsModelControl (bool aTrueFalse)
	Sets whether or not this control is a model control. More...

bool	getIsModelControl () const

void	setExtrapolate (bool aTrueFalse)
	Sets whether or not to extrapolate for control curve evaluations that are outide the region of confidence for a control. More...

bool	getExtrapolate () const

void	setFilterOn (bool aTrueFalse)
	Sets whether or not to apply a PD (proportional-derivative) filter to the control values. More...

bool	getFilterOn () const

void	setDefaultParameterMin (double aMin)
	Sets the default minimum value of a control parameter. More...

double	getDefaultParameterMin () const

void	setDefaultParameterMax (double aMax)
	Sets the default maximum value of a control parameter. More...

double	getDefaultParameterMax () const

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

Static Public Member Functions
static double	Interpolate (double aX1, double aY1, double aX2, double aY2, double aX)
	Linearly interpolate or extrapolate given two points. More...

Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers. More...

Protected Member Functions inherited from OpenSim::Control
void	copyData (const Control &aControl)
	Copy the member variables of the specified Control over to this Control instance. More...

Protected Member Functions inherited from OpenSim::Object
	Object ()
	The default constructor is only for use by constructors of derived types. More...

	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. More...

	Object (const Object &source)
	Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...

	Object (SimTK::Xml::Element &aElement)
	Construct the base class portion of an Object from a given Xml element that describes this Object. More...

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. More...

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. More...

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. More...

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. More...

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. More...

PropertyIndex	getPropertyIndex (const std::string &name) const
	Look up a property by name and return its PropertyIndex if it is found. More...

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. More...

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. More...

void	setDocument (XMLDocument *doc)
	Unconditionally set the XMLDocument associated with this object. More...

const XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object. More...

XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object. More...

Protected Attributes
PropertyBool	_propUseSteps
	Flag that indicates whether or not to linearly interpolate between nodes or use step functions. More...

PropertyObjArray < ControlLinearNode >	_propXNodes
	Array of control nodes. More...

PropertyObjArray < ControlLinearNode >	_propMinNodes

PropertyObjArray < ControlLinearNode >	_propMaxNodes

PropertyDbl	_propKp
	Position gain for PD follower filter. More...

PropertyDbl	_propKv
	Velocity gain for PD follower filter. More...

bool &	_useSteps

ArrayPtrs< ControlLinearNode > &	_xNodes

ArrayPtrs< ControlLinearNode > &	_minNodes

ArrayPtrs< ControlLinearNode > &	_maxNodes

double &	_kp

double &	_kv

ControlLinearNode	_searchNode
	Utility node for speeding up searches for control values in getControlValue() and elsewhere. More...

Protected Attributes inherited from OpenSim::Control
PropertyBool	_propIsModelControl
	Flag that specifies whether or not this control is a model control. More...

PropertyBool	_propExtrapolate
	Flag that specifies whether or not this control should use extrapolation for times outside the time range of the control parameters. More...

PropertyDbl	_propDefaultMin
	Default parameter minimum. More...

PropertyDbl	_propDefaultMax
	Default parameter maximum. More...

PropertyBool	_propFilterOn
	Flat that indicates whether PD follower filter is on. More...

bool &	_isModelControl
	Reference to the value of the IsModelControl property. More...

bool &	_extrapolate
	Reference to the value of the Extrapolate flag. More...

double &	_defaultMin
	Reference to the value of the DefaultMin property. More...

double &	_defaultMax
	Reference to the value of the DefaultMax property. More...

bool &	_filterOn
	Reference to the value of the PropFilterOn property. More...

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

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

A class that represents a piece-wise linear control curve.

The curve is specified by an array of control nodes (see class ControlLinearNode) that occur at monotonically increasing times. The value of the control curve is computed by linearly interpolating the values of the appropriate control nodes.

For this Control, parameters are the values of the ControlLinearNode's.

Author: Frank C. Anderson

Version: 1.0

Constructor & Destructor Documentation

OpenSim::ControlLinear::ControlLinear ( )

OpenSim::ControlLinear::ControlLinear ( const ControlLinear & aControl)

virtual OpenSim::ControlLinear::~ControlLinear ( )

virtual

Member Function Documentation

void OpenSim::ControlLinear::clearControlNodes ( )

void OpenSim::ControlLinear::copyData ( const ControlLinear & aControl)

Copy the member variables of the specified ControlLinear over to this ControlLinear.

virtual void OpenSim::ControlLinear::filter ( double aT)

virtual

Filter the control curve at a particular time using a PD follower filter.

See Also: setFilterOn()

Parameters

aT	Time at which to compute a new, filtered control value

Reimplemented from OpenSim::Control.

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMaxValues ( )

inline

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMinValues ( )

inline

virtual double OpenSim::ControlLinear::getControlValue ( double aT)

virtual

Gets the value of this control at time aT.

If the value of the curve is not defined, SimTK::NaN is returned. If the control is set to extrapolate, (see getExtrapolate()), and the time is before that of the first node or after that of the last node, then an extrapolation is performed to determine the value of the control curve. Otherwise, the value of either the first control node or last control node is returned.

Parameters

aT	Time at which to get the control.

aT	time
rList	If aT lies between two nodes, the indices of these two nodes are returned; if aT equals the time at which a node occurs, the index of that node is returned; if aT is less than the time of the first node in the array, the index of the first node (i.e., 0) is returned; if aT is greater than the time of the last node, the index of the last node (i.e., size-1) is returned.

aTLower	Lower time bound.
aTUpper	Upper time bound.
rList	List of indices of the control parameters that affect the curve between aTLower and aTUpper but not before aTLower.

aI	Index of the parameter.
rTLower	The time of parameter aI-1 or of aI if there is no parameter aI-1. If there are no ControlLinearNode's at all or if aI is invalid, rTLower is given the value SimTK::NaN.
rTUpper	The time of parameter aI+1 or of aI if there is no parameter aI+1. If there are no ControlLinearNode's at all or if aI is invalid, rTUpper is given the value SimTK::NaN.

aX1	X coordinate of point 1.
aY1	Y coordinate of point 1.
aX2	X coordinate of point 2.
aY2	Y coordinate of point 2.
aX	X coordinate whose corresponding Y coordinate is desired.

aI	Index of the parameter.
aMax	Maximum value the parameter can have.

aI	Index of the parameter.
aMin	Minimum value the parameter can have.

aI	Index of the parameter.
aP	The parameter value is simply the value of the aI-th ControlLinearNode (which is the value of the control curve).

bool OpenSim::ControlLinear::simplify	(	const double &	cutoffFrequency,
		const double &	distance
	)

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation