A class implementing an OpenSim Joint. More...

#include <Joint.h>

Inheritance diagram for OpenSim::Joint:

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::Body &	getBody () const
	Get the body to which this joint belongs. More...

OpenSim::Body &	updBody ()

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::Body &	getParentBody () const
	Get the parent body to which this joint attaches. More...

OpenSim::Body &	updParentBody ()

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 CoordinateSet &	getCoordinateSet () 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...

ModelComponent &	operator= (const ModelComponent &aModelComponent)
	Assignment operator to copy contents of an existing component. More...

const Model &	getModel () const
	Get a const reference to the Model this component is part of. More...

Model &	updModel ()
	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 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

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 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
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 Object *	getDefaultInstanceOfType (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 Object *	newInstanceOfType (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 Object *	makeObjectFromFile (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 Object *	SafeCopy (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...

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 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] system The 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

s	containing the generalized coordinate and speed values
mobilityForces	for 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

aModel OpenSim 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

state The state that will receive the new initial conditions.

See Also: setPropertiesFromState()

Reimplemented from OpenSim::ModelComponent.

bool OpenSim::Joint::isCoordinateUsed ( Coordinate & aCoordinate) const

virtual int OpenSim::Joint::numCoordinates ( ) const

pure virtual

Implemented in OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::BallJoint, OpenSim::PinJoint, OpenSim::PlanarJoint, OpenSim::SliderJoint, OpenSim::WeldJoint, OpenSim::FreeJoint, OpenSim::UniversalJoint, and OpenSim::GimbalJoint.

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

aScaleSet Set 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

aBody Body 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

References OpenSim::ModelComponent::_model.

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

state The 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:

/home/fitze/repos/opensim/Branches/OpenSim32ForDoxygen/OpenSim/Simulation/SimbodyEngine/Joint.h

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation