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OpenSim::ElasticFoundationForce Class Reference

This Force subclass implements an elastic foundation contact model. More...

#include <ElasticFoundationForce.h>

Inheritance diagram for OpenSim::ElasticFoundationForce:
OpenSim::Force OpenSim::ModelComponent OpenSim::Object

Public Member Functions

 ElasticFoundationForce ()
 
 ElasticFoundationForce (ContactParameters *params)
 
void addToSystem (SimTK::MultibodySystem &system) const
 Create a SimTK::Force which implements this Force. More...
 
ContactParametersSetupdContactParametersSet ()
 
const ContactParametersSetgetContactParametersSet ()
 
void addContactParameters (ContactParameters *params)
 Takes over ownership of the passed-in object. More...
 
double getTransitionVelocity () const
 Get the transition velocity for switching between static and dynamic friction. More...
 
void setTransitionVelocity (double velocity)
 Set the transition velocity for switching between static and dynamic friction. More...
 
double getStiffness ()
 Access to ContactParameters. More...
 
void setStiffness (double stiffness)
 
double getDissipation ()
 
void setDissipation (double dissipation)
 
double getStaticFriction ()
 
void setStaticFriction (double friction)
 
double getDynamicFriction ()
 
void setDynamicFriction (double friction)
 
double getViscousFriction ()
 
void setViscousFriction (double friction)
 
void addGeometry (const std::string &name)
 
virtual OpenSim::Array
< std::string > 
getRecordLabels () const
 Provide name(s) of the quantities (column labels) of the force value(s) to be reported. More...
 
virtual OpenSim::Array< double > getRecordValues (const SimTK::State &state) const
 Provide the value(s) to be reported that correspond to the labels. More...
 
 ContactParameters ()
 
 ContactParameters (double stiffness, double dissipation, double staticFriction, double dynamicFriction, double viscousFriction)
 
const Property< std::string > & getGeometry () const
 
Property< std::string > & updGeometry ()
 
void addGeometry (const std::string &name)
 
double getStiffness () const
 
void setStiffness (double stiffness)
 
double getDissipation () const
 
void setDissipation (double dissipation)
 
double getStaticFriction () const
 
void setStaticFriction (double friction)
 
double getDynamicFriction () const
 
void setDynamicFriction (double friction)
 
double getViscousFriction () const
 
void setViscousFriction (double friction)
 
 ContactParametersSet ()
 
Property declarations

These are the serializable properties associated with this class.

Others are inherited from the superclass.

 OpenSim_DECLARE_PROPERTY (contact_parameters, ElasticFoundationForce::ContactParametersSet,"Material properties.")
 
 OpenSim_DECLARE_PROPERTY (transition_velocity, double,"Slip velocity (creep) at which peak static friction occurs.")
 
 OpenSim_DECLARE_LIST_PROPERTY (geometry, std::string,"Names of geometry objects affected by these parameters.")
 
 OpenSim_DECLARE_PROPERTY (stiffness, double,"")
 
 OpenSim_DECLARE_PROPERTY (dissipation, double,"")
 
 OpenSim_DECLARE_PROPERTY (static_friction, double,"")
 
 OpenSim_DECLARE_PROPERTY (dynamic_friction, double,"")
 
 OpenSim_DECLARE_PROPERTY (viscous_friction, double,"")
 
- Public Member Functions inherited from OpenSim::Force
 Force (const Force &aForce)
 Implements a copy constructor just so it can invalidate the SimTK::Force index after copying. More...
 
Forceoperator= (const Force &aForce)
 Implements a copy assignment operator just so it can invalidate the SimTK::Force index after the assignment. More...
 
bool isDisabled (const SimTK::State &s) const
 Return if the Force is disabled or not. More...
 
void setDisabled (SimTK::State &s, bool disabled) const
 Set the Force as disabled (true) or not (false). More...
 
virtual bool hasGeometryPath () const
 Return a flag indicating whether the Force is applied along a Path. More...
 
 OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.")
 A Force element is active (enabled) by default. More...
 
- 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::Force
 Force ()
 Default constructor sets up Force-level properties; can only be called from a derived class constructor. More...
 
 Force (SimTK::Xml::Element &node)
 Deserialization from XML, necessary so that derived classes can (de)serialize. More...
 
virtual void initStateFromProperties (SimTK::State &state) const override
 Subclass should override; be sure to invoke Force::initStateFromProperties() at the beginning of the overriding method. More...
 
virtual void setPropertiesFromState (const SimTK::State &state) override
 Subclass should override; be sure to invoke Force::setPropertiesFromState() at the beginning of the overriding method. More...
 
virtual void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const
 Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds. More...
 
virtual double computePotentialEnergy (const SimTK::State &state) const
 Subclasses may optionally override this method to compute a contribution to the potential energy of the system. More...
 
void applyForceToPoint (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a force at a particular point (a "station") on a given body. More...
 
void applyTorque (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a torque to a particular body. More...
 
void applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
 Apply a generalized force. More...
 
- Protected Attributes inherited from OpenSim::Force
SimTK::ForceIndex _index
 ID for the force in Simbody. More...
 

Detailed Description

This Force subclass implements an elastic foundation contact model.

It places a spring at the center of each face of each ContactMesh it acts on. Those springs interact with all objects (both meshes and other objects) the mesh comes in contact with.

Author
Peter Eastman

Constructor & Destructor Documentation

OpenSim::ElasticFoundationForce::ElasticFoundationForce ( )
OpenSim::ElasticFoundationForce::ElasticFoundationForce ( ContactParameters params)
explicit

Member Function Documentation

void OpenSim::ElasticFoundationForce::addContactParameters ( ContactParameters params)

Takes over ownership of the passed-in object.

void OpenSim::ElasticFoundationForce::addGeometry ( const std::string &  name)
void OpenSim::ElasticFoundationForce::addGeometry ( const std::string &  name)
void OpenSim::ElasticFoundationForce::addToSystem ( SimTK::MultibodySystem &  system) const
virtual

Create a SimTK::Force which implements this Force.

Reimplemented from OpenSim::Force.

OpenSim::ElasticFoundationForce::ContactParameters ( )
OpenSim::ElasticFoundationForce::ContactParameters ( double  stiffness,
double  dissipation,
double  staticFriction,
double  dynamicFriction,
double  viscousFriction 
)
OpenSim::ElasticFoundationForce::ContactParametersSet ( )
const ContactParametersSet& OpenSim::ElasticFoundationForce::getContactParametersSet ( )
double OpenSim::ElasticFoundationForce::getDissipation ( )
double OpenSim::ElasticFoundationForce::getDissipation ( ) const
double OpenSim::ElasticFoundationForce::getDynamicFriction ( )
double OpenSim::ElasticFoundationForce::getDynamicFriction ( ) const
const Property<std::string>& OpenSim::ElasticFoundationForce::getGeometry ( ) const
virtual OpenSim::Array<std::string> OpenSim::ElasticFoundationForce::getRecordLabels ( ) const
virtual

Provide name(s) of the quantities (column labels) of the force value(s) to be reported.

Reimplemented from OpenSim::Force.

virtual OpenSim::Array<double> OpenSim::ElasticFoundationForce::getRecordValues ( const SimTK::State &  state) const
virtual

Provide the value(s) to be reported that correspond to the labels.

Reimplemented from OpenSim::Force.

double OpenSim::ElasticFoundationForce::getStaticFriction ( )
double OpenSim::ElasticFoundationForce::getStaticFriction ( ) const
double OpenSim::ElasticFoundationForce::getStiffness ( )

Access to ContactParameters.

Methods assume size 1 of ContactParametersSet and add one ContactParameter if needed

double OpenSim::ElasticFoundationForce::getStiffness ( ) const
double OpenSim::ElasticFoundationForce::getTransitionVelocity ( ) const

Get the transition velocity for switching between static and dynamic friction.

double OpenSim::ElasticFoundationForce::getViscousFriction ( )
double OpenSim::ElasticFoundationForce::getViscousFriction ( ) const
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_LIST_PROPERTY ( geometry  ,
std::string  ,
"Names of geometry objects affected by these parameters."   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( contact_parameters  ,
ElasticFoundationForce::ContactParametersSet  ,
"Material properties."   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( transition_velocity  ,
double  ,
"Slip velocity (creep) at which peak static friction occurs."   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( stiffness  ,
double  ,
""   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( dissipation  ,
double  ,
""   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( static_friction  ,
double  ,
""   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( dynamic_friction  ,
double  ,
""   
)
OpenSim::ElasticFoundationForce::OpenSim_DECLARE_PROPERTY ( viscous_friction  ,
double  ,
""   
)
void OpenSim::ElasticFoundationForce::setDissipation ( double  dissipation)
void OpenSim::ElasticFoundationForce::setDissipation ( double  dissipation)
void OpenSim::ElasticFoundationForce::setDynamicFriction ( double  friction)
void OpenSim::ElasticFoundationForce::setDynamicFriction ( double  friction)
void OpenSim::ElasticFoundationForce::setStaticFriction ( double  friction)
void OpenSim::ElasticFoundationForce::setStaticFriction ( double  friction)
void OpenSim::ElasticFoundationForce::setStiffness ( double  stiffness)
void OpenSim::ElasticFoundationForce::setStiffness ( double  stiffness)
void OpenSim::ElasticFoundationForce::setTransitionVelocity ( double  velocity)

Set the transition velocity for switching between static and dynamic friction.

void OpenSim::ElasticFoundationForce::setViscousFriction ( double  friction)
void OpenSim::ElasticFoundationForce::setViscousFriction ( double  friction)
ContactParametersSet& OpenSim::ElasticFoundationForce::updContactParametersSet ( )
Property<std::string>& OpenSim::ElasticFoundationForce::updGeometry ( )

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