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. More...

Inheritance diagram for OpenSim::InducedAccelerations:

Public Member Functions
	InducedAccelerations (Model *aModel=0)
	Construct an InducedAccelerations instance with a Model. More...

	InducedAccelerations (const std::string &aFileName)
	Construct InducedAccelerations from file. More...

	InducedAccelerations (const InducedAccelerations &aObject)
	Copy constructor. More...

virtual	~InducedAccelerations ()

InducedAccelerations &	operator= (const InducedAccelerations &aInducedAccelerations)
	Assign this object to the values of another. More...

virtual void	setModel (Model &aModel)
	set pointer to model to be analyzed. More...

virtual void	initialize (const SimTK::State &s)

virtual int	begin (SimTK::State &s)

virtual int	step (const SimTK::State &s, int stepNumber)

virtual int	end (SimTK::State &s)

virtual int	printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
	Print the results of the analysis. More...

void	addContactConstraintFromExternalForce (ExternalForce *externalForce)

Array< bool >	applyContactConstraintAccordingToExternalForces (SimTK::State &s)

Public Member Functions inherited from OpenSim::Analysis
	Analysis (Model *aModel=0)
	Default constructor. More...

	Analysis (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct an object from file. More...

	Analysis (const Analysis &aAnalysis)
	Copy constructor. More...

virtual	~Analysis ()

Analysis &	operator= (const Analysis &aAnalysis)
	Assignment operator. More...

virtual void	setStatesStore (const Storage &aStatesStore)
	set states storage for analysis. More...

void	setOn (bool aTrueFalse)

bool	getOn () const

void	setStartTime (double aStartTime)

double	getStartTime () const

void	setEndTime (double aEndTime)

double	getEndTime () const

void	setInDegrees (bool aTrueFalse)
	Set whether or not to write the output of angles in degrees. More...

bool	getInDegrees () const

virtual bool	proceed (int aStep=0)

void	setStepInterval (int aStepInterval)

int	getStepInterval () const

void	setColumnLabels (const Array< std::string > &aLabels)
	Set the column labels for this analysis. More...

const Array< std::string > &	getColumnLabels () const

void	setStorageInterval (int aInterval)

int	getStorageInterval () const

virtual ArrayPtrs< Storage > &	getStorageList ()

void	setPrintResultFiles (bool aToWrite)

bool	getPrintResultFiles () const

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

virtual Object *	clone () const =0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

virtual const std::string &	getConcreteClassName () const =0
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

virtual const VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...

virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...

virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...

virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...

void	setName (const std::string &name)
	Set the name of the Object. More...

const std::string &	getName () const
	Get the name of this Object. More...

void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...

const std::string &	getDescription () const
	Get description, a one-liner summary. More...

const std::string &	getAuthors () const
	Get Authors of this Object. More...

void	setAuthors (const std::string &authors)
	Set Authors of this object, call this method in your constructor if needed. More...

const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...

void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...

int	getNumProperties () const
	Determine how many properties are stored with this Object. More...

const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...

bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty. More...

const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty. More...

template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...

template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...

template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...

void	setObjectIsUpToDateWithProperties ()
	When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date. More...

bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...

void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...

virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

virtual void	updateXMLNode (SimTK::Xml::Element &parent)
	Serialize this object into the XML node that represents it. More...

bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...

void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...

std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...

void	setAllPropertiesUseDefault (bool aUseDefault)

bool	print (const std::string &fileName)
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...

std::string	dump (bool dumpName=false)
	dump the XML representation of this Object into an std::string and return it. More...

void	clearObjectIsUpToDateWithProperties ()
	For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...

virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...

const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

Protected Member Functions
int	record (const SimTK::State &s)

void	constructDescription ()

void	assembleContributors ()

Array< std::string >	constructColumnLabelsForCoordinate ()

Array< std::string >	constructColumnLabelsForBody ()

Array< std::string >	constructColumnLabelsForCOM ()

Array< std::string >	constructColumnLabelsForConstraintReactions ()

void	setupStorage ()

Array< bool >	applyConstraintsAccordingToExternalForces (SimTK::State &s)

Protected Member Functions inherited from OpenSim::Object
	Object ()
	The default constructor is only for use by constructors of derived types. More...

	Object (const std::string &fileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Constructor from a file, to be called from other constructors that take a file as input. More...

	Object (const Object &source)
	Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...

	Object (SimTK::Xml::Element &aElement)
	Construct the base class portion of an Object from a given Xml element that describes this Object. More...

template<class T >
PropertyIndex	addProperty (const std::string &name, const std::string &comment, const T &value)
	Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...

template<class T >
PropertyIndex	addOptionalProperty (const std::string &name, const std::string &comment)
	Add an optional property, meaning it can contain either no value or a single value. More...

template<class T >
PropertyIndex	addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
	Add an optional property, meaning it can contain either no value or a single value. More...

template<class T >
PropertyIndex	addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
	Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...

template<class T , template< class > class Container>
PropertyIndex	addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
	Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...

PropertyIndex	getPropertyIndex (const std::string &name) const
	Look up a property by name and return its PropertyIndex if it is found. More...

template<class T >
PropertyIndex	getPropertyIndex () const
	Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...

void	updateFromXMLDocument ()
	Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input. More...

void	setDocument (XMLDocument *doc)
	Unconditionally set the XMLDocument associated with this object. More...

const XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object. More...

XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object. More...

Protected Attributes
PropertyStrArray	_coordNamesProp
	Specifies the list of coordinates for which induced accelerations are reported. More...

Array< std::string > &	_coordNames

PropertyStrArray	_bodyNamesProp
	Specifies the list of bodies which includes center_of_mass for which induced accelerations are reported. More...

Array< std::string > &	_bodyNames

PropertyObj	_constraintSetProp
	Set containing the constraints used to represent contact in the analysis. More...

ConstraintSet &	_constraintSet

PropertyDbl	_forceThresholdProp
	Threshhold of force necessary for a constraint to be active. More...

double &	_forceThreshold

PropertyBool	_computePotentialsOnlyProp
	Flag to only compute the potential (acceleration/force) of a muscle to accelerate the model. More...

bool &	_computePotentialsOnly

PropertyBool	_reportConstraintReactionsProp
	Flag to report the constraint reaction forces (Lagrange multipliers). More...

bool &	_reportConstraintReactions

Array< Storage * >	_storeInducedAccelerations
	Storages for recording induced accelerations for specified coordinates and/or bodies. More...

Storage *	_storeConstraintReactions

Array< std::string >	_contributors
	List of all the contributors to the model acceleration. More...

bool	_includeCOM

Array< Array< double > * >	_coordIndAccs

Array< Array< double > * >	_bodyIndAccs

Array< double >	_comIndAccs

Array< double >	_constraintReactions

Array< ExternalForce * >	_externalForces

SimTK::Vec3	_gravity

Protected Attributes inherited from OpenSim::Analysis
PropertyInt	_stepIntervalProp
	Step interval. More...

int &	_stepInterval

PropertyBool	_onProp
	On, off flag. More...

bool &	_on

PropertyDbl	_startTimeProp
	Start time for the callback in normalized time. More...

double &	_startTime

PropertyDbl	_endTimeProp
	End time for the callback in normalized time. More...

double &	_endTime

ArrayPtrs< Storage >	_storageList

bool	_printResultFiles

Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...

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...

Public Attributes inherited from OpenSim::Analysis
Model *	_model

const Storage *	_statesStore

Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized. More...

Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object. More...

Detailed Description

A class 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.

The analysis reports the contributions of all forces to user identified accelerations of coordinates, bodies and/or center-of-mass.

Induced Accelerations can apply any OpenSim::Constraint that implements setContactPointForInducedAccelerations() to replace external forces, which are pecisely the same external forces (ExternalLoads file) applied during the forward dynamics simulation being analyzed.

The ConstraintSet supplied must have the same number constraints as external forces AND apply to the same bodies with respect to ground.

Author: Ajay Seth

Constructor & Destructor Documentation

OpenSim::InducedAccelerations::InducedAccelerations ( Model * aModel = 0 )

Construct an InducedAccelerations instance with a Model.

Parameters

aModel Model for which the analysis is to be run.

OpenSim::InducedAccelerations::InducedAccelerations ( const std::string & aFileName )

Construct InducedAccelerations from file.

Parameters

aFileName File name of the document.

OpenSim::InducedAccelerations::InducedAccelerations ( const InducedAccelerations & aObject )

Copy constructor.

virtual OpenSim::InducedAccelerations::~InducedAccelerations ( )

virtual

Member Function Documentation

void OpenSim::InducedAccelerations::addContactConstraintFromExternalForce ( ExternalForce * externalForce )

Array<bool> OpenSim::InducedAccelerations::applyConstraintsAccordingToExternalForces ( SimTK::State & s )

protected

Array<bool> OpenSim::InducedAccelerations::applyContactConstraintAccordingToExternalForces ( SimTK::State & s )

void OpenSim::InducedAccelerations::assembleContributors ( )

protected

virtual int OpenSim::InducedAccelerations::begin ( SimTK::State & s )

virtual

Reimplemented from OpenSim::Analysis.

Array<std::string> OpenSim::InducedAccelerations::constructColumnLabelsForBody ( )

protected

Array<std::string> OpenSim::InducedAccelerations::constructColumnLabelsForCOM ( )

protected

Array<std::string> OpenSim::InducedAccelerations::constructColumnLabelsForConstraintReactions ( )

protected

Array<std::string> OpenSim::InducedAccelerations::constructColumnLabelsForCoordinate ( )

protected

void OpenSim::InducedAccelerations::constructDescription ( )

protected

virtual int OpenSim::InducedAccelerations::end ( SimTK::State & s )

virtual

Reimplemented from OpenSim::Analysis.

virtual void OpenSim::InducedAccelerations::initialize ( const SimTK::State & s )

virtual

InducedAccelerations& OpenSim::InducedAccelerations::operator= ( const InducedAccelerations & aInducedAccelerations )

Assign this object to the values of another.

Returns: Reference to this object.

virtual int OpenSim::InducedAccelerations::printResults	(	const std::string &	aBaseName,
		const std::string &	aDir = `""`,
		double	aDT = `-1.0`,
		const std::string &	aExtension = `".sto"`
	)

virtual

Print the results of the analysis.

Parameters

aBaseName	Base name of file to which to print the data.
aDir	Directory name.
aDT	Time interval between results (linear interpolation is used). If not supplied as an argument or negative, all time steps are printed without interpolation.
aExtension	File extension if not the default ".sto".

Returns: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int OpenSim::InducedAccelerations::record ( const SimTK::State & s )

protected

virtual void OpenSim::InducedAccelerations::setModel ( Model & aModel )

virtual

set pointer to model to be analyzed.

Parameters

aModel

Reimplemented from OpenSim::Analysis.

void OpenSim::InducedAccelerations::setupStorage ( )

protected

virtual int OpenSim::InducedAccelerations::step	(	const SimTK::State &	s,
		int	stepNumber
	)

virtual

Reimplemented from OpenSim::Analysis.

Member Data Documentation

Array<Array<double> *> OpenSim::InducedAccelerations::_bodyIndAccs

protected

Array<std::string>& OpenSim::InducedAccelerations::_bodyNames

protected

PropertyStrArray OpenSim::InducedAccelerations::_bodyNamesProp

protected

Specifies the list of bodies which includes center_of_mass for which induced accelerations are reported.

Array<double> OpenSim::InducedAccelerations::_comIndAccs

protected

bool& OpenSim::InducedAccelerations::_computePotentialsOnly

protected

PropertyBool OpenSim::InducedAccelerations::_computePotentialsOnlyProp

protected

Flag to only compute the potential (acceleration/force) of a muscle to accelerate the model.

Array<double> OpenSim::InducedAccelerations::_constraintReactions

protected

ConstraintSet& OpenSim::InducedAccelerations::_constraintSet

protected

PropertyObj OpenSim::InducedAccelerations::_constraintSetProp

protected

Set containing the constraints used to represent contact in the analysis.

These must correspond to the number of external forces and involve the same bodies in contact with ground.

Array<std::string> OpenSim::InducedAccelerations::_contributors

protected

List of all the contributors to the model acceleration.

Array<Array<double> *> OpenSim::InducedAccelerations::_coordIndAccs

protected

Array<std::string>& OpenSim::InducedAccelerations::_coordNames

protected

PropertyStrArray OpenSim::InducedAccelerations::_coordNamesProp

protected

Specifies the list of coordinates for which induced accelerations are reported.

Array<ExternalForce *> OpenSim::InducedAccelerations::_externalForces

protected

double& OpenSim::InducedAccelerations::_forceThreshold

protected

PropertyDbl OpenSim::InducedAccelerations::_forceThresholdProp

protected

Threshhold of force necessary for a constraint to be active.

SimTK::Vec3 OpenSim::InducedAccelerations::_gravity

protected

bool OpenSim::InducedAccelerations::_includeCOM

protected

bool& OpenSim::InducedAccelerations::_reportConstraintReactions

protected

PropertyBool OpenSim::InducedAccelerations::_reportConstraintReactionsProp

protected

Flag to report the constraint reaction forces (Lagrange multipliers).

Storage* OpenSim::InducedAccelerations::_storeConstraintReactions

protected

Array<Storage *> OpenSim::InducedAccelerations::_storeInducedAccelerations

protected

Storages for recording induced accelerations for specified coordinates and/or bodies.

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

OpenSim/Analyses/InducedAccelerations.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation