|
| double | computeActuation (const SimTK::State &s) const =0 |
| | Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e. More...
|
| |
|
These are the serializable properties associated with the Muscle class.
Note that concrete muscles derived from this class inherit all these properties.
|
| | OpenSim_DECLARE_PROPERTY (max_isometric_force, double,"Maximum isometric force that the fibers can generate") |
| |
| | OpenSim_DECLARE_PROPERTY (optimal_fiber_length, double,"Optimal length of the muscle fibers") |
| |
| | OpenSim_DECLARE_PROPERTY (tendon_slack_length, double,"Resting length of the tendon") |
| |
| | OpenSim_DECLARE_PROPERTY (pennation_angle_at_optimal, double,"Angle between tendon and fibers at optimal fiber length expressed in radians") |
| |
| | OpenSim_DECLARE_PROPERTY (max_contraction_velocity, double,"Maximum contraction velocity of the fibers, in optimal fiberlengths/second") |
| |
| | OpenSim_DECLARE_PROPERTY (ignore_tendon_compliance, bool,"Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.") |
| |
| | OpenSim_DECLARE_PROPERTY (ignore_activation_dynamics, bool,"Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.") |
| |
|
| | Muscle () |
| | Default constructor. More...
|
| |
|
| double | getMaxIsometricForce () const |
| | get/set the maximum isometric force (in N) that the fibers can generate More...
|
| |
| void | setMaxIsometricForce (double maxIsometricForce) |
| |
| double | getOptimalFiberLength () const |
| | get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber) More...
|
| |
| void | setOptimalFiberLength (double optimalFiberLength) |
| |
| double | getTendonSlackLength () const |
| | get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber More...
|
| |
| void | setTendonSlackLength (double tendonSlackLength) |
| |
| double | getPennationAngleAtOptimalFiberLength () const |
| | get/set the angle (in radians) between fibers at their optimal fiber length and the tendon More...
|
| |
| void | setPennationAngleAtOptimalFiberLength (double pennationAngle) |
| |
| double | getMaxContractionVelocity () const |
| | get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second More...
|
| |
| void | setMaxContractionVelocity (double maxContractionVelocity) |
| |
|
Get quantities of interest common to all muscles
|
| bool | getIgnoreTendonCompliance (const SimTK::State &s) const |
| | Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics. More...
|
| |
| void | setIgnoreTendonCompliance (SimTK::State &s, bool ignore) const |
| |
| bool | getIgnoreActivationDynamics (const SimTK::State &s) const |
| | Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics. More...
|
| |
| void | setIgnoreActivationDynamics (SimTK::State &s, bool ignore) const |
| |
| virtual double | getActivation (const SimTK::State &s) const |
| | get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles. More...
|
| |
| double | getFiberLength (const SimTK::State &s) const |
| | get the current working fiber length (m) for the muscle More...
|
| |
| double | getPennationAngle (const SimTK::State &s) const |
| | get the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
|
| |
| double | getCosPennationAngle (const SimTK::State &s) const |
| | get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
|
| |
| double | getTendonLength (const SimTK::State &s) const |
| | get the current tendon length (m) given the current joint angles and fiber length More...
|
| |
| double | getNormalizedFiberLength (const SimTK::State &s) const |
| | get the current normalized fiber length (fiber_length/optimal_fiber_length) More...
|
| |
| double | getFiberLengthAlongTendon (const SimTK::State &s) const |
| | get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction More...
|
| |
| double | getTendonStrain (const SimTK::State &s) const |
| | get the current tendon strain (delta_l/tendon_slack_length is dimensionless) More...
|
| |
| double | getFiberPotentialEnergy (const SimTK::State &s) const |
| | the potential energy (J) stored in the fiber due to its parallel elastic element More...
|
| |
| double | getTendonPotentialEnergy (const SimTK::State &s) const |
| | the potential energy (J) stored in the tendon More...
|
| |
| double | getMusclePotentialEnergy (const SimTK::State &s) const |
| | the total potential energy (J) stored in the muscle More...
|
| |
| double | getPassiveForceMultiplier (const SimTK::State &s) const |
| | get the passive fiber (parallel elastic element) force multiplier More...
|
| |
| double | getActiveForceLengthMultiplier (const SimTK::State &s) const |
| | get the active fiber (contractile element) force multiplier due to current fiber length More...
|
| |
| double | getFiberVelocity (const SimTK::State &s) const |
| | get current fiber velocity (m/s) positive is lengthening More...
|
| |
| double | getNormalizedFiberVelocity (const SimTK::State &s) const |
| | get normalize fiber velocity (fiber_lengths/s / max_contraction_velocity) More...
|
| |
| double | getFiberVelocityAlongTendon (const SimTK::State &s) const |
| | get the current afiber velocity (m/s) projected onto the tendon direction More...
|
| |
| double | getPennationAngularVelocity (const SimTK::State &s) const |
| | get pennation angular velocity (radians/s) More...
|
| |
| double | getTendonVelocity (const SimTK::State &s) const |
| | get the tendon velocity (m/s) positive is lengthening More...
|
| |
| double | getForceVelocityMultiplier (const SimTK::State &s) const |
| | get the dimensionless multiplier resulting from the fiber's force-velocity curve More...
|
| |
| double | getFiberForce (const SimTK::State &s) const |
| | get the current fiber force (N) applied to the tendon More...
|
| |
| double | getFiberForceAlongTendon (const SimTK::State &s) const |
| | get the force of the fiber (N/m) along the direction of the tendon More...
|
| |
| double | getActiveFiberForce (const SimTK::State &s) const |
| | get the current active fiber force (N) due to activation*force_length*force_velocity relationships More...
|
| |
| double | getPassiveFiberForce (const SimTK::State &s) const |
| | get the current passive fiber force (N) passive_force_length relationship More...
|
| |
| double | getActiveFiberForceAlongTendon (const SimTK::State &s) const |
| | get the current active fiber force (N) projected onto the tendon direction More...
|
| |
| double | getPassiveFiberForceAlongTendon (const SimTK::State &s) const |
| | get the current passive fiber force (N) projected onto the tendon direction More...
|
| |
| double | getTendonForce (const SimTK::State &s) const |
| | get the current tendon force (N) applied to bones More...
|
| |
| double | getFiberStiffness (const SimTK::State &s) const |
| | get the current fiber stiffness (N/m) defined as the partial derivative of fiber force w.r.t. More...
|
| |
| double | getFiberStiffnessAlongTendon (const SimTK::State &s) const |
| | get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon More...
|
| |
| double | getTendonStiffness (const SimTK::State &s) const |
| | get the current tendon stiffness (N/m) defined as the partial derivative of tendon force w.r.t. More...
|
| |
| double | getMuscleStiffness (const SimTK::State &s) const |
| | get the current muscle stiffness (N/m) defined as the partial derivative of muscle force w.r.t. More...
|
| |
| double | getFiberActivePower (const SimTK::State &s) const |
| | get the current active fiber power (W) More...
|
| |
| double | getFiberPassivePower (const SimTK::State &s) const |
| | get the current passive fiber power (W) More...
|
| |
| double | getTendonPower (const SimTK::State &s) const |
| | get the current tendon power (W) More...
|
| |
| double | getMusclePower (const SimTK::State &s) const |
| | get the current muscle power (W) More...
|
| |
| double | getStress (const SimTK::State &s) const |
| | get the stress in the muscle (part of the Actuator interface as well) More...
|
| |
| void | setExcitation (SimTK::State &s, double excitation) const |
| | set the excitation (control) for this muscle. More...
|
| |
| double | getExcitation (const SimTK::State &s) const |
| |
| virtual void | setActivation (SimTK::State &s, double activation) const =0 |
| | DEPRECATED: only for backward compatibility. More...
|
| |
|
| void | equilibrate (SimTK::State &s) const |
| | Find and set the equilibrium state of the muscle (if any) More...
|
| |
| | PathActuator () |
| |
| GeometryPath & | updGeometryPath () |
| |
| const GeometryPath & | getGeometryPath () const |
| |
| virtual bool | hasGeometryPath () const |
| | Return a flag indicating whether the Force is applied along a Path. More...
|
| |
| void | setOptimalForce (double aOptimalForce) |
| |
| double | getOptimalForce () const |
| |
| virtual double | getLength (const SimTK::State &s) const |
| |
| virtual double | getLengtheningSpeed (const SimTK::State &s) const |
| |
| virtual double | getPower (const SimTK::State &s) const |
| |
| void | addNewPathPoint (const std::string &proposedName, OpenSim::Body &aBody, const SimTK::Vec3 &aPositionOnBody) |
| | Note that this function does not maintain the State and so should be used only before a valid State is created. More...
|
| |
| virtual double | computeMomentArm (const SimTK::State &s, Coordinate &aCoord) const |
| |
| virtual void | preScale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| |
| virtual void | scale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| |
| virtual void | postScale (const SimTK::State &s, const ScaleSet &aScaleSet) |
| |
| virtual const VisibleObject * | getDisplayer () const |
| | Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. 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...
|
| |
| | OpenSim_DECLARE_UNNAMED_PROPERTY (GeometryPath,"The set of points defining the path of the muscle.") |
| |
| | OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum force this actuator can produce.") |
| |
| | Actuator () |
| |
| virtual double | getControl (const SimTK::State &s) const |
| | Convenience method to set controls given scalar (double) valued control. More...
|
| |
| virtual int | numControls () const |
| |
| virtual void | setForce (const SimTK::State &s, double aForce) const |
| |
| virtual double | getForce (const SimTK::State &s) const |
| |
| virtual void | setSpeed (const SimTK::State &s, double aspeed) const |
| |
| virtual double | getSpeed (const SimTK::State &s) const |
| |
| void | setMinControl (const double &aMinControl) |
| |
| double | getMinControl () const |
| |
| void | setMaxControl (const double &aMaxControl) |
| |
| double | getMaxControl () const |
| |
| void | overrideForce (SimTK::State &s, bool flag) const |
| | Enable/disable an Actuator's override force. More...
|
| |
| bool | isForceOverriden (const SimTK::State &s) const |
| | return Actuator's override status More...
|
| |
| void | setOverrideForce (SimTK::State &s, double value) const |
| | set the force value used when the override is true More...
|
| |
| double | getOverrideForce (const SimTK::State &s) const |
| | return override force More...
|
| |
| | OpenSim_DECLARE_PROPERTY (min_control, double,"Minimum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is -Infinity (no limit). More...
|
| |
| | OpenSim_DECLARE_PROPERTY (max_control, double,"Maximum allowed value for control signal. Used primarily when solving ""for control values.") |
| | Default is Infinity (no limit). More...
|
| |
| | Actuator_ () |
| |
| virtual const SimTK::Vector | getDefaultControls () |
| | Actuator default controls are zero. More...
|
| |
virtual const
SimTK::VectorView_< double > | getControls (const SimTK::State &s) const |
| |
| virtual void | getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const |
| | Convenience methods for getting, setting and adding to actuator controls from/into the model controls. More...
|
| |
| virtual void | setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| | set actuator controls subvector into the right slot in the system-wide model controls More...
|
| |
| virtual void | addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| | add actuator controls to the values already occupying the slot in the system-wide model controls More...
|
| |
| virtual void | computeEquilibrium (SimTK::State &s) const |
| |
| | Force (const Force &aForce) |
| | Implements a copy constructor just so it can invalidate the SimTK::Force index after copying. More...
|
| |
| Force & | operator= (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...
|
| |
| | 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...
|
| |
| | 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 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...
|
| |
| 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 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 | 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 |
| |
|
| const MuscleLengthInfo & | getMuscleLengthInfo (const SimTK::State &s) const |
| | Developer Access to intermediate values calculate by the muscle model. More...
|
| |
| MuscleLengthInfo & | updMuscleLengthInfo (const SimTK::State &s) const |
| |
| const FiberVelocityInfo & | getFiberVelocityInfo (const SimTK::State &s) const |
| |
| FiberVelocityInfo & | updFiberVelocityInfo (const SimTK::State &s) const |
| |
| const MuscleDynamicsInfo & | getMuscleDynamicsInfo (const SimTK::State &s) const |
| |
| MuscleDynamicsInfo & | updMuscleDynamicsInfo (const SimTK::State &s) const |
| |
| const MusclePotentialEnergyInfo & | getMusclePotentialEnergyInfo (const SimTK::State &s) const |
| |
| MusclePotentialEnergyInfo & | updMusclePotentialEnergyInfo (const SimTK::State &s) const |
| |
|
Developers must override these methods to implement the desired behavior of their muscle models.
Unless you are augmenting the behavior of an existing muscle class or writing a new derived class, you do not have access to these methods.
|
| virtual void | calcMuscleLengthInfo (const SimTK::State &s, MuscleLengthInfo &mli) const |
| | calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc... More...
|
| |
| virtual void | calcFiberVelocityInfo (const SimTK::State &s, FiberVelocityInfo &fvi) const |
| | calculate muscle's fiber velocity and pennation angular velocity, etc... More...
|
| |
| virtual void | calcMuscleDynamicsInfo (const SimTK::State &s, MuscleDynamicsInfo &mdi) const |
| | calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values More...
|
| |
| virtual void | calcMusclePotentialEnergyInfo (const SimTK::State &s, MusclePotentialEnergyInfo &mpei) const |
| | calculate muscle's fiber and tendon potential energy More...
|
| |
| virtual void | computeInitialFiberEquilibrium (SimTK::State &s) const =0 |
| | This function modifies the fiber length in the supplied state such that the fiber and tendon are developing the same force, taking activation and velocity into account. More...
|
| |
| virtual void | computeFiberEquilibriumAtZeroVelocity (SimTK::State &s) const |
| | Provide a quick estimate of the fiber length assuming the musculotendon unit velocity is zero. More...
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| |
|
| void | computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForce) const override |
| | Force interface applies tension to bodies, and Muscle also checks that applied muscle tension is not negative. More...
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| |
| double | computePotentialEnergy (const SimTK::State &state) const override |
| | Potential energy stored by the muscle. More...
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| |
| SimTK::Vec3 | computePathColor (const SimTK::State &state) const override |
| | Override PathActuator virtual to calculate a preferred color for the muscle path based on activation. More...
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| |
| void | connectToModel (Model &aModel) override |
| | Model Component creation interface. More...
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| |
| void | addToSystem (SimTK::MultibodySystem &system) const override |
| | Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component. More...
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| |
| void | setPropertiesFromState (const SimTK::State &s) override |
| | Subclass should override; be sure to invoke Force::setPropertiesFromState() at the beginning of the overriding method. More...
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| |
| void | initStateFromProperties (SimTK::State &state) const override |
| | Subclass should override; be sure to invoke Force::initStateFromProperties() at the beginning of the overriding method. More...
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| |
| virtual void | updateGeometry (const SimTK::State &s) |
| |
| void | connectToModel (Model &aModel) override |
| | Extension of parent class method; derived classes may extend further. More...
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| |
| void | realizeDynamics (const SimTK::State &state) const override |
| | Extension of parent class method; derived classes may extend further. More...
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| |
| double | computeOverrideForce (const SimTK::State &s) const |
| |
| OpenSim::Array< std::string > | getRecordLabels () const |
| | Methods to query a Force for the value actually applied during simulation The names of the quantities (column labels) is returned by this first function getRecordLabels() More...
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| |
| OpenSim::Array< double > | getRecordValues (const SimTK::State &state) const |
| | Given SimTK::State object extract all the values necessary to report forces, application location frame, etc. More...
|
| |
| virtual void | updateGeometry () |
| |
| | Force () |
| | Default constructor sets up Force-level properties; can only be called from a derived class constructor. More...
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| |
| | Force (SimTK::Xml::Element &node) |
| | Deserialization from XML, necessary so that derived classes can (de)serialize. 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...
|
| |
| 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 | 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...
|
| |
| | 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...
|
| |
Public Member Functions inherited from OpenSim::PathActuator
1.8.4 
