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| OpenSim_DECLARE_PROPERTY (ControlFunctions, FunctionSet,"Functions (one per control) describing the controls for actuators""specified for this controller.") |
| FunctionSet of prescribed controls associated with each actuator. More...
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| OpenSim_DECLARE_OPTIONAL_PROPERTY (controls_file, std::string,"Controls storage (.sto) file containing controls for individual ""actuators in the model. Column labels must match actuator names.") |
| (Optional) prescribed controls from a storage file More...
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| OpenSim_DECLARE_OPTIONAL_PROPERTY (interpolation_method, int,"Interpolate the controls file data using piecewise: '0-constant', ""'1-linear', '3-cubic' or '5-quintic' functions.") |
| (Optional) interpolation method for controls in storage. More...
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| PrescribedController () |
| Default constructor. More...
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| PrescribedController (const std::string &controlsFileName, int interpMethodType=1) |
| Convenience constructor get controls from file. More...
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virtual | ~PrescribedController () |
| Destructor. More...
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void | computeControls (const SimTK::State &s, SimTK::Vector &controls) const override |
| Compute the control values for all actuators under the control of this Controller. More...
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void | prescribeControlForActuator (int index, Function *prescribedFunction) |
| Assign a prescribe control function for the desired actuator identified by its index. More...
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void | prescribeControlForActuator (const std::string actName, Function *prescribedFunction) |
| Assign a prescribe control function for the desired actuator identified by its name. More...
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| OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag (true or false) indicating whether or not the controller is disabled.") |
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| OpenSim_DECLARE_LIST_PROPERTY (actuator_list, std::string,"The list of model actuators that this controller will control.""The keyword ALL indicates the controller will controll all the acuators in the model") |
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| Controller () |
| Default constructor. More...
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bool | isDisabled () const |
| Get whether or not this controller is disabled. More...
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void | setDisabled (bool disableFlag) |
| Disable this controller. More...
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void | setActuators (const Set< Actuator > &actuators) |
| replace the current set of actuators with the provided set More...
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void | addActuator (const Actuator &actuator) |
| add to the current set of actuators More...
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const Set< Actuator > & | getActuatorSet () const |
| get a const reference to the current set of actuators More...
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Set< Actuator > & | updActuators () |
| get a writable reference to the set of actuators for this controller More...
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int | getNumControls () const |
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static void | registerType (const Object &defaultObject) |
| Register an instance of a class; if the class is already registered it will be replaced. More...
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static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
| Support versioning by associating the current Object type with an old name. More...
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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...
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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...
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static Object * | newInstanceOfType (const std::string &concreteClassName) |
| Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
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static void | getRegisteredTypenames (Array< std::string > &typeNames) |
| Retrieve all the typenames registered so far. More...
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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...
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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...
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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...
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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...
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static const std::string & | getClassName () |
| Return the name of this class as a string; i.e., "Object". More...
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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...
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static bool | getSerializeAllDefaults () |
| Report the value of the "serialize all defaults" flag. More...
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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...
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static void | setDebugLevel (int newLevel) |
| Set the debug level to get verbose output. More...
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static int | getDebugLevel () |
| Get current setting of debug level. More...
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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...
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static void | RegisterType (const Object &defaultObject) |
| OBSOLETE alternate name for registerType(). More...
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static void | RenameType (const std::string &oldName, const std::string &newName) |
| OBSOLETE alternate name for renameType(). More...
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static const std::string | DEFAULT_NAME |
| Name used for default objects when they are serialized. More...
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Model * | _model |
| The model this component belongs to. More...
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#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...
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#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...
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#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...
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#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...
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PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time.
- Author
- Ajay Seth