A TorqueActuatorr applies equal and opposite torques on the two bodies (bodyA and B) that it connects. More...

#include <TorqueActuator.h>

Inheritance diagram for OpenSim::TorqueActuator:

Public Member Functions
	TorqueActuator ()
	Default constructor leaves body names unspecified. More...

	TorqueActuator (const Body &bodyA, const Body &bodyB, const SimTK::Vec3 &axis, bool axisInGround=true)
	Convenience Constructor. More...

void	setAxis (const SimTK::Vec3 &axis)
	Set the 'axis' property to the supplied value; frame is interpreted according to the 'torque_is_global' property. More...

const SimTK::Vec3 &	getAxis () const
	Return the current value of the 'axis' property. More...

void	setTorqueIsGlobal (bool isGlobal)
	Set the 'torque_is_global' property that determines how to interpret the 'axis' vector; if not global (Ground frame) it is in body A's frame. More...

bool	getTorqueIsGlobal () const
	Return the current value of the 'torque_is_global' property. More...

void	setOptimalForce (double optimalForce)
	Set the 'optimal_force' property. More...

double	getOptimalForce () const override
	Get the current value of the 'optimal_force' property. More...

void	setBodyA (const Body &body)

void	setBodyB (const Body &body)

const Body &	getBodyA () const

const Body &	getBodyB () const

Property declarations
These are the serializable properties associated with this class.
	OpenSim_DECLARE_OPTIONAL_PROPERTY (bodyA, std::string,"Name of Body to which the torque actuator is applied.")

	OpenSim_DECLARE_OPTIONAL_PROPERTY (bodyB, std::string,"Name of Body to which the equal and opposite torque is applied.")

	OpenSim_DECLARE_PROPERTY (torque_is_global, bool,"Interpret axis in Ground frame if true; otherwise, body A's frame.")
	The default is torque_is_global=true. More...

	OpenSim_DECLARE_PROPERTY (axis, SimTK::Vec3,"Fixed direction about which torque is applied, in Ground or body A ""frame depending on 'torque_is_global' property.")
	The default direction for the axis is z (0,0,1). More...

	OpenSim_DECLARE_PROPERTY (optimal_force, double,"The maximum torque produced by this actuator when fully activated.")
	The default for optimal force is 1. More...

Public Member Functions inherited from OpenSim::Actuator
	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

virtual double	getPower (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...

Public Member Functions inherited from OpenSim::Actuator_
	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

Public Member Functions inherited from OpenSim::Force
	Force (const Force &aForce)
	Implements a copy constructor just so it can invalidate the SimTK::Force index after copying. More...

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...

virtual bool	hasGeometryPath () const
	Return a flag indicating whether the Force is applied along a Path. More...

	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.")
	A Force element is active (enabled) by default. More...

Public Member Functions inherited from OpenSim::ModelComponent
	ModelComponent ()
	Default constructor. More...

	ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Construct ModelComponent from an XML file. More...

	ModelComponent (SimTK::Xml::Element &aNode)
	Construct ModelComponent from a specific node in an XML document. More...

	ModelComponent (const ModelComponent &source)
	Construct ModelComponent with its contents copied from another ModelComponent; this is a deep copy so nothing is shared with the source after the copy. More...

virtual	~ModelComponent ()
	Destructor is virtual to allow concrete model component cleanup. More...

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	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

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...

Protected Member Functions inherited from OpenSim::Actuator
virtual void	addToSystem (SimTK::MultibodySystem &system) const
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component. More...

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...

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...

Protected Attributes inherited from OpenSim::Actuator_
int	_controlIndex

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 TorqueActuatorr applies equal and opposite torques on the two bodies (bodyA and B) that it connects.

The torque is applied about an axis specified in ground (global) by default, otherwise it is in bodyA's frame. The magnitude of the torque is equal to the product of the optimal_force of the actuator and its control signal.

Author: Ajay Seth, Matt DeMers

Constructor & Destructor Documentation

OpenSim::TorqueActuator::TorqueActuator ( )

Default constructor leaves body names unspecified.

OpenSim::TorqueActuator::TorqueActuator	(	const Body &	bodyA,
		const Body &	bodyB,
		const SimTK::Vec3 &	axis,
		bool	axisInGround = `true`
	)

Convenience Constructor.

Create a torque actuator that applies equal and opposite torques on the two bodies (bodyA and B) that it connects. The torque is applied about an axis specified in ground if axisInGround is true, otherwise it is specified in bodyA's body frame.

Parameters

bodyA	the body that the actuator applies torque to
bodyB	the body that the actuator applies the opposite torque to
axis	the axis about which the torque is applied
axisInGround	flag to inidicate the axis is expressed in ground otherwise, it is expressed in bodyA's frame

Member Function Documentation

const SimTK::Vec3& OpenSim::TorqueActuator::getAxis ( ) const

inline

Return the current value of the 'axis' property.

const Body& OpenSim::TorqueActuator::getBodyA ( ) const

inline

const Body& OpenSim::TorqueActuator::getBodyB ( ) const

inline

double OpenSim::TorqueActuator::getOptimalForce ( ) const

inlineoverridevirtual

Get the current value of the 'optimal_force' property.

Reimplemented from OpenSim::Actuator.

bool OpenSim::TorqueActuator::getTorqueIsGlobal ( ) const

inline

Return the current value of the 'torque_is_global' property.

OpenSim::TorqueActuator::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	bodyA	,
		std::string	,
		"Name of Body to which the torque actuator is applied."
	)

OpenSim::TorqueActuator::OpenSim_DECLARE_OPTIONAL_PROPERTY	(	bodyB	,
		std::string	,
		"Name of Body to which the equal and opposite torque is applied."
	)

OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY	(	torque_is_global	,
		bool	,
		"Interpret axis in Ground frame if true;	otherwise,
		body A's frame."
	)

The default is torque_is_global=true.

OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY	(	axis	,
		SimTK::Vec3	,
		"Fixed direction about which torque is	applied,
		in Ground or body A""frame depending on 'torque_is_global'property."
	)

The default direction for the axis is z (0,0,1).

OpenSim::TorqueActuator::OpenSim_DECLARE_PROPERTY	(	optimal_force	,
		double	,
		"The maximum torque produced by this actuator when fully activated."
	)

The default for optimal force is 1.

void OpenSim::TorqueActuator::setAxis ( const SimTK::Vec3 & axis)

inline

Set the 'axis' property to the supplied value; frame is interpreted according to the 'torque_is_global' property.

void OpenSim::TorqueActuator::setBodyA ( const Body & body)

void OpenSim::TorqueActuator::setBodyB ( const Body & body)

void OpenSim::TorqueActuator::setOptimalForce ( double optimalForce)

inline

Set the 'optimal_force' property.

void OpenSim::TorqueActuator::setTorqueIsGlobal ( bool isGlobal)

inline

Set the 'torque_is_global' property that determines how to interpret the 'axis' vector; if not global (Ground frame) it is in body A's frame.

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

/home/fitze/repos/opensim/Branches/OpenSim32ForDoxygen/OpenSim/Actuators/TorqueActuator.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation