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OpenSim::CustomJoint Class Reference

A class implementing a custom joint. More...

#include <CustomJoint.h>

Inheritance diagram for OpenSim::CustomJoint:
OpenSim::Joint OpenSim::ModelComponent OpenSim::Object

Public Member Functions

 CustomJoint ()
 
 CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SpatialTransform &aSpatialTransform, bool reverse=false)
 Construct joint with supplied coordinates and transform axes. More...
 
 CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
 
int numCoordinates () const override
 
const SpatialTransformgetSpatialTransform () const
 
SpatialTransformupdSpatialTransform ()
 
void scale (const ScaleSet &aScaleSet) override
 Scale a joint based on XYZ scale factors for the bodies. More...
 
void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) override
 Override of the default implementation to account for versioning. More...
 
Property declarations

These are the serializable properties associated with this class.

 OpenSim_DECLARE_UNNAMED_PROPERTY (SpatialTransform,"Defines how the child body moves with respect to the parent as ""a function of the generalized coordinates.")
 Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates. More...
 
- Public Member Functions inherited from OpenSim::Joint
 Joint ()
 DEFAULT CONSTRUCTION. More...
 
 Joint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
 Convenience Constructor. More...
 
virtual ~Joint ()
 
virtual void setBody (OpenSim::Body &aBody)
 Set the body to which this joint belongs. More...
 
const OpenSim::BodygetBody () const
 Get the body to which this joint belongs. More...
 
OpenSim::BodyupdBody ()
 
virtual void setLocation (const SimTK::Vec3 &aLocation)
 
virtual void getLocation (SimTK::Vec3 &rLocation) const
 
virtual void setOrientation (const SimTK::Vec3 &aOrientation)
 
virtual void getOrientation (SimTK::Vec3 &rOrientation) const
 
void setParentName (const std::string &aName)
 
std::string getParentName () const
 
void setParentBody (OpenSim::Body &aBody)
 
const OpenSim::BodygetParentBody () const
 Get the parent body to which this joint attaches. More...
 
OpenSim::BodyupdParentBody ()
 
void setLocationInParent (const SimTK::Vec3 &aLocation)
 
void getLocationInParent (SimTK::Vec3 &rLocation) const
 
void setOrientationInParent (const SimTK::Vec3 &aOrientation)
 
void getOrientationInParent (SimTK::Vec3 &rOrientation) const
 
void setLocationInChild (const SimTK::Vec3 &aLocation)
 
const SimTK::Vec3 & getLocationInChild () const
 
const CoordinateSetgetCoordinateSet () const
 
bool getReverse () const
 
void checkParentBody ()
 Verify that the parent specified by this joint is in the underlying Simbody model/system. More...
 
bool isCoordinateUsed (Coordinate &aCoordinate) const
 
virtual SimTK::SpatialVec calcEquivalentSpatialForce (const SimTK::State &s, const SimTK::Vector &mobilityForces) const
 Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint. More...
 
virtual double calcPower (const SimTK::State &s) const
 Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space. More...
 
void connectToModel (Model &aModel) override
 Perform some set up functions that happen after the object has been deserialized or copied. More...
 
 OpenSim_DECLARE_PROPERTY (parent_body, std::string,"Name of the parent body to which this joint connects its owner body.")
 
 OpenSim_DECLARE_PROPERTY (location_in_parent, SimTK::Vec3,"Location of the joint in the parent body specified in the parent ""reference frame. Default is (0,0,0).")
 
 OpenSim_DECLARE_PROPERTY (orientation_in_parent, SimTK::Vec3,"Orientation of the joint in the parent body specified in the parent ""reference frame. Euler XYZ body-fixed rotation angles are used to ""express the orientation. Default is (0,0,0).")
 
 OpenSim_DECLARE_PROPERTY (location, SimTK::Vec3,"Location of the joint in the child body specified in the child ""reference frame. For SIMM models, this vector is always the zero ""vector (i.e., the body reference frame coincides with the joint). ")
 
 OpenSim_DECLARE_PROPERTY (orientation, SimTK::Vec3,"Orientation of the joint in the owing body specified in the owning body ""reference frame. Euler XYZ body-fixed rotation angles are used to ""express the orientation. ")
 
 OpenSim_DECLARE_UNNAMED_PROPERTY (CoordinateSet,"Set holding the generalized coordinates (q's) that parmeterize this joint.")
 
 OpenSim_DECLARE_PROPERTY (reverse, bool,"Whether the joint transform defines parent->child or child->parent.")
 
- 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 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::Joint
void addToSystem (SimTK::MultibodySystem &system) const override
 Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More...
 
void initStateFromProperties (SimTK::State &s) const override
 Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More...
 
void setPropertiesFromState (const SimTK::State &state) override
 Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property. More...
 
void constructCoordinates ()
 Construct coordinates according to the mobilities of the Joint. More...
 
SimTK::MobilizedBodyIndex getMobilizedBodyIndex (Body *aBody) const
 
void setMobilizedBodyIndex (Body *aBody, SimTK::MobilizedBodyIndex index) const
 
void setCoordinateMobilizedBodyIndex (Coordinate *aCoord, SimTK::MobilizedBodyIndex index) const
 
void setCoordinateMobilizerQIndex (Coordinate *aCoord, int index) const
 
void setCoordinateModel (Coordinate *aCoord, Model *aModel) const
 
SimTK::SpatialVec calcEquivalentSpatialForceForMobilizedBody (const SimTK::State &s, const SimTK::MobilizedBodyIndex mbx, const SimTK::Vector &mobilityForces) const
 
- Protected Attributes inherited from OpenSim::Joint
SimTK::Transform _jointFrameInBody
 
SimTK::Transform _jointFrameInParent
 

Detailed Description

A class implementing a custom joint.

The underlying component in Simbody is a Function-based mobilizer.

Author
Frank C. Anderson, Ajay Seth

Constructor & Destructor Documentation

OpenSim::CustomJoint::CustomJoint ( )
OpenSim::CustomJoint::CustomJoint ( const std::string &  name,
Body parent,
SimTK::Vec3  locationInParent,
SimTK::Vec3  orientationInParent,
Body body,
SimTK::Vec3  locationInBody,
SimTK::Vec3  orientationInBody,
SpatialTransform aSpatialTransform,
bool  reverse = false 
)

Construct joint with supplied coordinates and transform axes.

OpenSim::CustomJoint::CustomJoint ( const std::string &  name,
Body parent,
SimTK::Vec3  locationInParent,
SimTK::Vec3  orientationInParent,
Body body,
SimTK::Vec3  locationInBody,
SimTK::Vec3  orientationInBody,
bool  reverse = false 
)

Member Function Documentation

const SpatialTransform& OpenSim::CustomJoint::getSpatialTransform ( ) const
inline
int OpenSim::CustomJoint::numCoordinates ( ) const
inlineoverridevirtual

Implements OpenSim::Joint.

OpenSim::CustomJoint::OpenSim_DECLARE_UNNAMED_PROPERTY ( SpatialTransform  ,
"Defines how the child body moves with respect to the parent as ""a function of the generalized coordinates."   
)

Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates.

Motion over 6 (independent) spatial axes must be defined.

void OpenSim::CustomJoint::scale ( const ScaleSet aScaleSet)
overridevirtual

Scale a joint based on XYZ scale factors for the bodies.

Generic behavior is to scale the locations on parent and on the body according to scale factors of the bodies upon which they are located.

Joint subclasses should invoke this method before scaling joint specific properties

Parameters
aScaleSetSet of XYZ scale factors for the bodies.

Reimplemented from OpenSim::Joint.

void OpenSim::CustomJoint::updateFromXMLNode ( SimTK::Xml::Element &  aNode,
int  versionNumber = -1 
)
overridevirtual

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Object.

SpatialTransform& OpenSim::CustomJoint::updSpatialTransform ( )
inline

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