  OpenSim | An force that exerts a generalized force based on spring-like characteristics (stiffness and viscosity) |
  DebugUtilities | |
 ActiveForceLengthCurve | This class serves as a serializable ActiveForceLengthCurve, commonly used to model the active element in muscle models |
| ClutchedPathSpring | The ClutchedPathSpring is an actuator that has passive path spring behavior only when the clutch is engaged |
| ConstantMuscleActivation | This constant muscle activation model simply holds activation at the value that was provided most recently, and can be used to generate an activation signal without relying on an excitation signal |
| ContDerivMuscle_Deprecated | A class implementing a SIMM muscle |
| CoordinateActuator | An actuator that applies a generalized force to along a generalized a generalized coordinate, which is proportional to its input control |
| Delp1990Muscle_Deprecated | A class implementing a SIMM muscle |
| FiberCompressiveForceCosPennationCurve | This class serves as a serializable FiberCompressiveForceCosPennationCurve, which is used to ensure that the pennation angle approaches but never reaches an angle of 90 degrees |
| FiberCompressiveForceLengthCurve | This class serves as a serializable FiberCompressiveForceLengthCurve, which is used to ensure that the fiber cannot generate force at, nor shorten beyond a minimum normalized length |
| FiberForceLengthCurve | This class serves as a serializable FiberForceLengthCurve, commonly used to model the parallel elastic element in muscle models |
| FirstOrderMuscleActivationDynamics | Computes muscle activation using a modified version of the first-order dynamic models used by Thelen (2003) and Winters (1995) |
| ForceVelocityCurve | This class serves as a serializable ForceVelocityCurve for use in muscle models |
| ForceVelocityInverseCurve | This class serves as a serializable ForceVelocityInverseCurve for use in equilibrium muscle models |
| Millard2012AccelerationMuscle | This class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocites) curves can be employed |
| Millard2012EquilibriumMuscle | This class implements a configurable equilibrium muscle model, as described in Millard et al. (2013) |
| MuscleActivationDynamics | An abstract class for modeling muscle activation dynamics |
 ExcitationGetter | The ExcitationGetter abstract class defines a standard interface for supplying muscle excitation to activation models |
| MuscleFirstOrderActivationDynamicModel | This is a muscle modeling utility class that computes the time derivative of activation using a first-order dynamic model |
| MuscleFixedWidthPennationModel | This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model |
| MuscleSecondOrderActivationDynamicModel | This function is a muscle modeling utility class that simulates dynamics of muscle force development as a function of input excitation |
| PointActuator | A class that implements a point actuator acting on the model |
| PointToPointActuator | A class that implements a force actuator acting between two points on two bodies |
| RigidTendonMuscle | A class implementing a RigidTendonMuscle actuator with no states |
| Schutte1993Muscle_Deprecated | A class implementing a SIMM muscle |
| SpringGeneralizedForce | |
| TendonForceLengthCurve | This class serves as a serializable TendonForceLengthCurve for use in muscle models |
| Thelen2003Muscle | Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors |
| Thelen2003Muscle_Deprecated | A class implementing a SIMM muscle |
| TorqueActuator | A TorqueActuatorr applies equal and opposite torques on the two bodies (bodyA and B) that it connects |
| ZerothOrderMuscleActivationDynamics | This zeroth-order muscle activation dynamic model simply sets activation to excitation, and can be used when activation dynamics are being ignored |
| Actuation | A class for recording the basic actuator information for a model during a simulation |
| BodyKinematics | A class for recording the kinematics of the bodies of a model during a simulation |
| ForceReporter | A class for recording the Forces applied to a model during a simulation |
| InducedAccelerations | A class to perform an Induced Accelerations analysis using a constraint- method of replacing external (contact) forces in order to determine the contributions of actuators to external reaction forces and thus model accelerations including that of the center-of-mass |
| InducedAccelerationsSolver | A Solver to compute the induced accelerations of an applied "force" acting on the model |
| JointReaction | An analysis for reporting the joint reaction loads from a model |
| Kinematics | A class for recording the kinematics of the generalized coordinates of a model during a simulation |
| MuscleAnalysis | A class for recording and computting basic quantities (length, shortening velocity, tendon length, ...) for muscles during a simulation |
| private | |
| PointKinematics | A class for recording the kinematics of a point on a body of a model during a simulation |
| ProbeReporter | A class for reporting the outputs of all model-connected Probes to file during a simulation |
| StatesReporter | A class for recording the states of a model during a simulation |
| StaticOptimization | This class implements static optimization to compute Muscle Forces and activations |
| StaticOptimizationTarget | This class provides an interface specification for static optimization Objective Function |
| Property | A Property<T> is a serializable (name, list-of-values) pair, where each value is of type T |
| TypeHelper | This is the generic definition of Property::TypeHelper to be used whenever T does not have a specialization, meaning that T must be a type derived from class Object |
| AbstractProperty | An abstract property is a serializable (name,value) pair, for which we do not know the type of the value |
| Array | |
| Constant | A class for representing a constant value |
| DisplayGeometry | A class for representing the DisplayGeometry properties of an object |
| Exception | |
| Function | |
| FunctionSet | |
| GCVSpline | |
| GCVSplineSet | |
| Geometry | Class Geometry is intended to be used as the base class for all geometry that needs to be represented in the system, both as vtk files, or analytic |
| LineGeometry | |
| ArrowGeometry | |
| AnalyticGeometry | Utility class used to abstract anayltic geometry |
| AnalyticSphere | |
| AnalyticEllipsoid | |
| AnalyticCylinder | |
| AnalyticTorus | |
| PolyhedralGeometry | |
| GeometrySet | |
| IO | A class for performing input and output with OpenSim API |
| LinearFunction | A class for representing a LinearFunction |
| MarkerData | A class implementing a sequence of marker frames from a TRC/TRB file |
| MarkerFrame | A class implementing a frame of marker data from a TRC/TRB file |
| MultiplierFunction | |
| Object | This is the base class for all OpenSim objects that are serializable (meaning they can be written to and read back from files) |
| ObjectGroup | A class implementing an object group |
| OptimizationTarget | This class provides an interface specification for optimizing redundant systems |
| PiecewiseConstantFunction | |
| PiecewiseLinearFunction | |
| PolynomialFunction | A class for representing a Polynomial of x |
| SimpleProperty | |
| ObjectProperty | |
| Property_Deprecated | |
| PropertyBool | |
| PropertyBoolArray | Class PropertyBoolArray extends class Property |
| PropertyDbl | |
| PropertyDblArray | |
| PropertyDblVec_ | |
| PropertyGroup | A class implementing a property group |
| PropertyInt | |
| PropertyIntArray | |
| PropertyObj | |
| PropertyObjArray | |
| PropertyObjPtr | |
| PropertySet | A property set is simply a set of properties |
| PropertyStr | |
| PropertyStrArray | |
| PropertyTable | A property table is the container that an OpenSim Object uses to hold its properties (each derived from base class AbstractProperty) |
| PropertyTransform | |
| RootSolver | A class for finding the N roots of N one-dimensional non-linear equations |
| Scale | |
| ScaleSet | |
| SegmentedQuinticBezierToolkit | This is a low level Quintic Bezier curve class that contains functions to design continuous sets of 'C' shaped Bezier curves, and to evaluate their values and derivatives |
| Set | A class for holding a set of pointers to objects |
| Signal | A class for signal processing |
| SimmSpline | |
| Sine | A class for representing a Sine function |
| SmoothSegmentedFunction | This class contains the quintic Bezier curves, x(u) and y(u), that have been created by SmoothSegmentedFunctionFactory to follow a physiologically meaningful muscle characteristic |
| SmoothSegmentedFunctionFactory | This is a class that acts as a user friendly wrapper to QuinticBezerCurveSet to build specific kinds of physiologically plausible muscle curves using C2 continuous sets of quintic Bezier curves |
| StateVector | A class which stores a vector of states or data at a specified time |
| StepFunction | A class for representing a StepFunction |
| Storage | |
| StorageCreator | |
| StorageFactory | |
| StorageInterface | |
| Units | A class implementing various units for measuring quantities |
| VectorFunction | |
| VectorFunctionUncoupledNxN | |
| VisibleObject | Class VisibleObject is intended to be used as the base class for all Visible objects that subclass Object |
| XMLDocument | |
| AssemblySolver | Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values |
| Control | |
| ControlConstant | A class that represents a constant control curve |
| Controller | Controller is an abstract ModelComponent that defines the interface for an OpenSim Controller |
| ControlLinear | A class that represents a piece-wise linear control curve |
| ControlLinearNode | |
| ControlSet | |
| ControlSetController | |
| PrescribedController | PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time |
| ToyReflexController | ToyReflexController is a concrete controller that excites muscles in response to muscle lengthening to simulate a simple stretch reflex |
| TrackingController | |
| CoordinateReference | Reference value to be achieved for a specified coordinate that will be used via optimization and/or tracking |
| InverseDynamicsSolver | Solve for the generalized coordinate coordinate forces (1 per degree-of-freedom) that satisfy the unconstrained equations of motion given kinemtics: q, u, u_dot |
| InverseKinematicsSolver | Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values |
| Manager | A class that manages the execution of a simulation |
| MarkerWeight | |
| MarkersReference | |
| AbstractTool | An abstract class for specifying the interface for an investigation |
| ActivationFiberLengthMuscle | A base class representing a two-state muscle-tendon actuator |
| ActivationFiberLengthMuscle_Deprecated | A base class representing a muscle-tendon actuator |
| Actuator_ | Base class for an actuator (e.g., a torque motor, muscle, ...) that requires external input (controls) to generate force |
| Actuator | Derived class for an actuator (e.g., a torque motor, muscle, ...) that requires exactly one external input (control) to generate a scalar value force, such as a torque/force magnitude or a tension |
| ActuatorForceProbe | ActuatorForceProbe is a ModelComponent Probe for computing an operation on a force or sum of forces in the model during a simulation |
| ActuatorPowerProbe | ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation |
| Analysis | An abstract class for specifying the interface for an analysis plugin |
| AnalysisSet | |
| Bhargava2004MuscleMetabolicsProbe | Bhargava2004MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation |
| Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameter | |
| Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameterSet | MetabolicMuscleParameterSet is a class that holds the set of MetabolicMuscleParameters for each muscle |
| BodyScale | A class implementing a set of parameters describing how to scale a body segment |
| BodyScaleSet | A class for holding a set of body scales |
| BodySet | A class for holding a set of bodies |
| BushingForce | A class implementing a Bushing Force |
| ComponentSet | A class for holding a set of miscellaneous model components |
| Condition | A parent class for implementing an OpenSim Condition |
| ConditionalPathPoint | A class implementing a conditional path point, which is a point that is active only for a specified range of a coordinate |
| ConstraintSet | A class for holding a set of constraints |
| ContactGeometry | This class represents the physical shape of an object for use in contact modeling |
| ContactGeometrySet | A class for holding a set of ContactGeometry objects |
| ContactHalfSpace | This class represents a half space (that is, everything to one side of an infinite plane) for use in contact modeling |
| ContactMesh | This class represents a polygonal mesh for use in contact modeling |
| ContactSphere | This class represents a spherical object for use in contact modeling |
| ControllerSet | A class for holding and managing a set of controllers for a model |
| CoordinateLimitForce | |
| CoordinateSet | A class for holding a set of coordinates |
| ElasticFoundationForce | This Force subclass implements an elastic foundation contact model |
| ExpressionBasedBushingForce | A class implementing a bushing force driven by expressions relating forces to deviations |
| ExpressionBasedCoordinateForce | |
| ExpressionBasedPointToPointForce | |
| ExternalForce | An ExternalForce is a Force class specialized at applying an external force and/or torque to a body as described by arrays (columns) of a Storage object |
| ExternalLoads | A convenience class for managing ExternaForce(s) to be applied to a model |
| Force | This abstract class represents a force applied to bodies or generalized coordinates during a simulation |
| ForceAdapter | This acts as an adapter to allow a Force or Actuator to be used as a SimTK::Force |
| ForceSet | A class for holding and managing a set of forces for a model |
| FunctionBasedBushingForce | A class implementing a bushing force driven by functions relating forces to deviations |
| FunctionThresholdCondition | FunctionThresholdCondition is a concrete implementation of a Condition |
| GeometryPath | A base class representing a path (muscle, ligament, etc.) |
| HuntCrossleyForce | This force subclass implements a Hunt-Crossley contact model |
| JointInternalPowerProbe | JointInternalPowerProbe is a ModelComponent Probe for computing an operation on internal joint power or sum of joint powers in the model during a simulation |
| JointSet | A class for holding a set of joints |
| Ligament | A class implementing a ligament |
| Marker | A class implementing a SIMM [mocap] marker |
| MarkerSet | A class for holding a set of markers for inverse kinematics |
| Model | A concrete class that specifies the interface to a musculoskeletal model |
| ModelComponent | This defines the abstract ModelComponent class, which is used to add computational components to the underlying SimTK::System (MultibodySystem) |
| ModelComponentSet | This is the base class for sets of ModelComponent subclasses |
| ModelDisplayHints | This class captures information indicating user or programmer preferences to guide automatic display geometry generation by a Model |
| ModelVisualizer | This class manages runtime visualization of a Model that is being manipulated through the OpenSim API |
| MovingPathPoint | A class implementing a moving muscle point, which is a muscle point that moves in a body's reference frame as a function of a coordinate |
| Muscle | A base class for modeling a muscle-tendon actuator |
| FiberVelocityInfo | FiberVelocityInfo contains velocity quantities related to the velocity of the muscle (fiber + tendon) complex |
| MuscleDynamicsInfo | MuscleDynamicsInfo contains quantities that are related to the forces that the muscle generates |
| MuscleLengthInfo | The MuscleLengthInfo struct contains information about the muscle that is strictly a function of the length of the fiber and the tendon, and the orientation of the muscle fiber |
| MusclePotentialEnergyInfo | MusclePotentialEnergyInfo contains quantities related to the potential energy of the muscle (fiber + tendon) complex |
| MuscleActiveFiberPowerProbe | MuscleActiveFiberPowerProbe is a ModelComponent probe for computing an operation on the active fiber power of a muscle |
| PathActuator | This is the base class for actuators that apply controllable tension along a geometry path |
| PathPoint | A class implementing a path point |
| PathPointSet | A class for holding a set of muscle points |
| PathSpring | A class implementing a PathSpring |
| PointForceDirection | Convenience class for a generic representation of geometery of a complex Force (or any other object) with multiple points of contact through which forces are applied to bodies |
| PointToPointSpring | |
| PrescribedForce | This applies to a body a force and/or torque that is fully specified as a function of time |
| Probe | This class represents a Probe which is designed to query a Vector of model values given system state |
| ProbeSet | A class for holding a set of probes |
| SystemEnergyProbe | SystemEnergyProbe is a ModelComponent Probe for computing an operation on a total system energy during a simulation |
| Umberger2010MuscleMetabolicsProbe | Umberger2010MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation |
| Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameter | |
| Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameterSet | MetabolicMuscleParameterSet is an internal container class containing the set of MetabolicMuscleParameters for each muscle that is probed |
| MomentArmSolver | Solve for the effective moment arms at all degrees-of-freedom due to one or more point forces |
| Reference_ | This base (abstract) class defines the interface for objects repsonsible in identifying a model output and its Reference value to be achieved via optimization and/or tracking |
| BallJoint | A class implementing an Ball joint |
| Body | A class implementing a Simbody rigid body |
| ConstantDistanceConstraint | A class implementing a constraint that maintains a constant distance between between two points |
| Constraint | A parent class for implementing a Simbody Constraint |
| Coordinate | A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized) |
| CoordinateCouplerConstraint | |
| CustomJoint | A class implementing a custom joint |
| EllipsoidJoint | A class implementing an Ellipsoid joint |
| FreeJoint | A class implementing a Free joint |
| GimbalJoint | A class implementing an Gimbal joint |
| Joint | A class implementing an OpenSim Joint |
| PinJoint | A class implementing an Pin joint |
| PlanarJoint | A PlanarJoint provides three DoFs: rotation about the the common Z of the parent and child joint frames, X and Y translation in the parent body's joint frame |
| PointConstraint | A class implementing a Point Constraint |
| PointOnLineConstraint | A class implementing a Point On Line Constraint |
| RollingOnSurfaceConstraint | A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface |
| SimbodyEngine | A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim |
| SliderJoint | A class implementing an Slider joint |
| SpatialTransform | A class encapsulating the spatial transformation between two bodies that defines the behaviour of a custom joint |
| TransformAxis | A class expressing a transformation of a child body in relation to a parent body along either a translation or rotation axis |
| UnilateralConstraint | An abstract class defining an OpenSim UnilateralConstraint |
| UniversalJoint | A class implementing a Universal joint |
| WeldConstraint | A class implementing a Weld Constraint |
| WeldJoint | A class implementing an Weld joint |
| Solver | The base (abstract) class for a family of objects repsonsible for solving system equations (statics, dynamic, kinematics, muscle, etc...) given by a model for values of interest |
| ActuatorForceTarget | A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production |
| ActuatorForceTargetFast | A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production |
| AnalyzeTool | An abstract class for specifying the interface for an investigation |
| CMC | Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and goverened by differential equaitions (as so have delays in force production) |
| CMC_Joint | A class for specifying the tracking task for a joint |
| CMC_Orientation | A class for tracking the orientation of a body |
| CMC_Point | A class for specifying and computing parameters for tracking a point |
| CMC_Task | An abstract base class for specifying a task objective for a dynamic simulation |
| CMC_TaskSet | An class for holding and managing a set of tasks |
| CMCTool | An abstract class for specifying the interface for an investigation |
| CorrectionController | This is a simple feedback controller to be used in generating a forward dynamic simulation |
| DynamicsTool | An abstract Tool for defining tools for perfroming a dynamics analysis with a given model |
| ForwardTool | A concrete tool for perfroming forward dynamics simulations |
| GenericModelMaker | A class implementing a set of parameters describing a generic musculoskeletal model |
| IKCoordinateTask | |
| IKMarkerTask | |
| IKTask | |
| IKTaskSet | |
| InverseDynamicsTool | A Tool that performs an Inverse Dynamics analysis with a given model |
| InverseKinematicsTool | A Tool that performs an Inverse Kinematics analysis with a given model |
| MarkerPair | |
| MarkerPairSet | A class for holding a set of SimmMarkerPairs |
| MarkerPlacer | A class implementing a set of parameters describing how to place markers on a model (presumably after it has been scaled to fit a subject) |
| Measurement | A class implementing a measurement (the distance between one or more pairs of markers, used to scale a model) |
| MeasurementSet | A class for holding a set of measurements |
| ModelScaler | A class for scaling a model |
| MuscleStateTrackingTask | A TrackingTask for that corresponds to a muscle state variable |
| RRATool | An abstract class for specifying the interface for an investigation |
| ScaleTool | A class implementing a set of parameters describing how to scale a model to fit a subject, place markers on it, and do IK on one or more motion trials |
| SMC_Joint | A class for specifying the tracking task for a joint |
| StateTrackingTask | A target for a tracking problem that corresponds to a state variable |
| Tool | A Tool is an OpenSim abstraction that encapsulates an analysis or series of modeling and analysis steps |
| TrackingTask | An abstract base class for specifying a target for a tracking problem |
| VectorFunctionForActuators | |
| SimTK | |
| DefaultGeometry | |
| osimInstantiator | |
1.8.6 
