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OpenSim::Joint Class Referenceabstract

A class implementing an OpenSim Joint. More...

#include <Joint.h>

Inheritance diagram for OpenSim::Joint:
OpenSim::ModelComponent OpenSim::Object OpenSim::BallJoint OpenSim::CustomJoint OpenSim::EllipsoidJoint OpenSim::FreeJoint OpenSim::GimbalJoint OpenSim::PinJoint OpenSim::PlanarJoint OpenSim::SliderJoint OpenSim::UniversalJoint OpenSim::WeldJoint

Public Member Functions

 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
 
virtual int numCoordinates () const =0
 
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...
 
virtual void scale (const ScaleSet &aScaleSet)
 Scale a joint based on XYZ scale factors for the bodies. More...
 
void connectToModel (Model &aModel) override
 Perform some set up functions that happen after the object has been deserialized or copied. More...
 
Property declarations

These are the serializable properties associated with a Joint.

 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 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
 

Protected Member Functions

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 Member Functions inherited from OpenSim::ModelComponent
virtual SimTK::Vector computeStateVariableDerivatives (const SimTK::State &s) const
 If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states. More...
 
virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state. More...
 
virtual void realizeTopology (SimTK::State &state) const
 Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology. More...
 
virtual void realizeModel (SimTK::State &state) const
 Obtain state resources that may be needed, depending on modeling options, and perform computations that depend only on topology and selected modeling options. More...
 
virtual void realizeInstance (const SimTK::State &state) const
 Perform computations that depend only on instance variables, like lengths and masses. More...
 
virtual void realizeTime (const SimTK::State &state) const
 Perform computations that depend only on time and earlier stages. More...
 
virtual void realizePosition (const SimTK::State &state) const
 Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time). More...
 
virtual void realizeVelocity (const SimTK::State &state) const
 Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time). More...
 
virtual void realizeDynamics (const SimTK::State &state) const
 Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces. More...
 
virtual void realizeAcceleration (const SimTK::State &state) const
 Perform computations that may depend on applied forces. More...
 
virtual void realizeReport (const SimTK::State &state) const
 Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior. More...
 
void includeAsSubComponent (ModelComponent *aComponent)
 Include another ModelComponent as a Subcomponent of this ModelComponent. More...
 
void addModelingOption (const std::string &optionName, int maxFlagValue) const
 Add a modeling option (integer flag stored in the State) for use by this ModelComponent. More...
 
void addStateVariable (const std::string &stateVariableName, SimTK::Stage invalidatesStage=SimTK::Stage::Dynamics) const
 Add a continuous system state variable belonging to this ModelComponent, and assign a name by which to refer to it. More...
 
void addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
 Add a system discrete variable belonging to this ModelComponent, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed. More...
 
template<class T >
void addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const
 Add a state cache entry belonging to this ModelComponent to hold calculated values that must be automatically invalidated when certain state values change. More...
 
const int getStateIndex (const std::string &name) const
 Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations. More...
 
const SimTK::DiscreteVariableIndex getDiscreteVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's discrete variable in the Subsystem for allocations. More...
 
const SimTK::CacheEntryIndex getCacheVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's cache variable in the Subsystem for allocations. 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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Protected Attributes

SimTK::Transform _jointFrameInBody
 
SimTK::Transform _jointFrameInParent
 
- Protected Attributes inherited from OpenSim::ModelComponent
Model_model
 The model this component belongs to. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Friends

class JointSet
 

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...
 

Detailed Description

A class implementing an OpenSim Joint.

Author
Frank C. Anderson, Peter Loan, Ajay Seth
Version
1.0

Constructor & Destructor Documentation

OpenSim::Joint::Joint ( )

DEFAULT CONSTRUCTION.

OpenSim::Joint::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.

virtual OpenSim::Joint::~Joint ( )
virtual

Member Function Documentation

void OpenSim::Joint::addToSystem ( SimTK::MultibodySystem &  system) const
overrideprotectedvirtual

Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.

addToSystem() is called when the Simbody System is being created to represent a completed Model for computation. That is, connectToModel() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within addToSystem() only.

Note that this method is const; you must not modify your model component or the containing model during this call. Any modifications you need should instead be performed in connectToModel(), which is non-const. One exception is that you may need to record access information for resources you create in the system, such as an index number. You should declare those data members mutable so that you can set them here.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::addToSystem(SimTK::MultibodySystem& system) const {
Super::addToSystem(system); // invoke parent class method
// ... your code goes here
}
Parameters
[in,out]systemThe System being created.
See Also
addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::ModelComponent.

Reimplemented in OpenSim::PlanarJoint, OpenSim::PinJoint, OpenSim::SliderJoint, OpenSim::UniversalJoint, and OpenSim::WeldJoint.

virtual SimTK::SpatialVec OpenSim::Joint::calcEquivalentSpatialForce ( const SimTK::State &  s,
const SimTK::Vector &  mobilityForces 
) const
virtual

Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint.

Keep in mind that there are typically nm < 6 mobilities per joint with an infinte set of solutions that can map nm gen forces to 6 spatial force components (3 for torque + 3 for force). The solution returned provides the "most" effective force and torque in the joint frame. This means the smallest magnituded force and/or torque that will result in the same generalized force. If a generalized force is defined along/about a joint axis, then this should be evident in the reported results as a force or torque on the same axis. NOTE: Joints comprised of multiple mobilizers and/or constraints, should override this method and account for multiple internal components

Parameters
scontaining the generalized coordinate and speed values
mobilityForcesfor the system as computed by inverse dynamics, for example
Returns
spatial force, FB_G, acting on the body connected by this joint at its location B, expressed in ground.
SimTK::SpatialVec OpenSim::Joint::calcEquivalentSpatialForceForMobilizedBody ( const SimTK::State &  s,
const SimTK::MobilizedBodyIndex  mbx,
const SimTK::Vector &  mobilityForces 
) const
protected
virtual double OpenSim::Joint::calcPower ( const SimTK::State &  s) const
virtual

Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space.

However, when joint motion is prescribed, the internal forces that move the joint will do work. In this case, the power is non-zero

void OpenSim::Joint::checkParentBody ( )

Verify that the parent specified by this joint is in the underlying Simbody model/system.

If the parent is not connected (does not have a valid MobilzedBodyIndex) then throw an exception. It is up to the assembly routine to make sure it is connecting in a valid sequence - not the joint.

void OpenSim::Joint::connectToModel ( Model aModel)
overridevirtual

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters
aModelOpenSim model containing this Joint.

Reimplemented from OpenSim::ModelComponent.

Reimplemented in OpenSim::PlanarJoint, and OpenSim::SliderJoint.

void OpenSim::Joint::constructCoordinates ( )
protected

Construct coordinates according to the mobilities of the Joint.

const OpenSim::Body& OpenSim::Joint::getBody ( ) const

Get the body to which this joint belongs.

Returns
Body to which this joint belongs.
const CoordinateSet& OpenSim::Joint::getCoordinateSet ( ) const
inline
virtual void OpenSim::Joint::getLocation ( SimTK::Vec3 &  rLocation) const
virtual
const SimTK::Vec3& OpenSim::Joint::getLocationInChild ( ) const
inline
void OpenSim::Joint::getLocationInParent ( SimTK::Vec3 &  rLocation) const
SimTK::MobilizedBodyIndex OpenSim::Joint::getMobilizedBodyIndex ( Body aBody) const
protected
virtual void OpenSim::Joint::getOrientation ( SimTK::Vec3 &  rOrientation) const
virtual
void OpenSim::Joint::getOrientationInParent ( SimTK::Vec3 &  rOrientation) const
const OpenSim::Body& OpenSim::Joint::getParentBody ( ) const

Get the parent body to which this joint attaches.

Returns
Parent body to which this joint attaches.
std::string OpenSim::Joint::getParentName ( ) const
bool OpenSim::Joint::getReverse ( ) const
inline
void OpenSim::Joint::initStateFromProperties ( SimTK::State &  state) const
overrideprotectedvirtual

Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.

This is called after a SimTK::System and State have been created for the Model (that is, after addToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::initStateFromProperties(SimTK::State& state) const {
Super::initStateFromProperties(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe state that will receive the new initial conditions.
See Also
setPropertiesFromState()

Reimplemented from OpenSim::ModelComponent.

bool OpenSim::Joint::isCoordinateUsed ( Coordinate aCoordinate) const
OpenSim::Joint::OpenSim_DECLARE_PROPERTY ( parent_body  ,
std::string  ,
"Name of the parent body to which this joint connects its owner body."   
)
OpenSim::Joint::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::Joint::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::Joint::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::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::Joint::OpenSim_DECLARE_PROPERTY ( reverse  ,
bool  ,
"Whether the joint transform defines parent->child or child->parent."   
)
OpenSim::Joint::OpenSim_DECLARE_UNNAMED_PROPERTY ( CoordinateSet  ,
"Set holding the generalized coordinates (q's) that parmeterize this joint."   
)
virtual void OpenSim::Joint::scale ( const ScaleSet aScaleSet)
virtual

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 in OpenSim::CustomJoint, and OpenSim::EllipsoidJoint.

virtual void OpenSim::Joint::setBody ( OpenSim::Body aBody)
virtual

Set the body to which this joint belongs.

Parameters
aBodyBody to which this joint should belong.
void OpenSim::Joint::setCoordinateMobilizedBodyIndex ( Coordinate aCoord,
SimTK::MobilizedBodyIndex  index 
) const
inlineprotected
void OpenSim::Joint::setCoordinateMobilizerQIndex ( Coordinate aCoord,
int  index 
) const
inlineprotected
void OpenSim::Joint::setCoordinateModel ( Coordinate aCoord,
Model aModel 
) const
inlineprotected
virtual void OpenSim::Joint::setLocation ( const SimTK::Vec3 &  aLocation)
virtual
void OpenSim::Joint::setLocationInChild ( const SimTK::Vec3 &  aLocation)
inline
void OpenSim::Joint::setLocationInParent ( const SimTK::Vec3 &  aLocation)
void OpenSim::Joint::setMobilizedBodyIndex ( Body aBody,
SimTK::MobilizedBodyIndex  index 
) const
protected
virtual void OpenSim::Joint::setOrientation ( const SimTK::Vec3 &  aOrientation)
virtual
void OpenSim::Joint::setOrientationInParent ( const SimTK::Vec3 &  aOrientation)
void OpenSim::Joint::setParentBody ( OpenSim::Body aBody)
void OpenSim::Joint::setParentName ( const std::string &  aName)
void OpenSim::Joint::setPropertiesFromState ( const SimTK::State &  state)
overrideprotectedvirtual

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.

Thus, state variable values can persist as part of the model component and be serialized as a property.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::setPropertiesFromState(const SimTK::State& state) {
Super::setPropertiesFromState(state); // invoke parent class method
// ... your code goes here
}
Parameters
stateThe State from which values may be extracted to set persistent property values.
See Also
initStateFromProperties()

Reimplemented from OpenSim::ModelComponent.

OpenSim::Body& OpenSim::Joint::updBody ( )
OpenSim::Body& OpenSim::Joint::updParentBody ( )

Friends And Related Function Documentation

friend class JointSet
friend

Member Data Documentation

SimTK::Transform OpenSim::Joint::_jointFrameInBody
protected
SimTK::Transform OpenSim::Joint::_jointFrameInParent
protected

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