A concrete class that specifies the interface to a musculoskeletal model. More...

Inheritance diagram for OpenSim::Model:

Public Member Functions
	Model ()
	Default constructor creates a Model containing only the ground Body and a set of default properties. More...

	Model (const std::string &filename, bool connectToModel=true) SWIG_DECLARE_EXCEPTION
	Constructor from an OpenSim XML model file. More...

	Model (const Model &source)
	Copy constructor copies model components but does not copy any run-time objects. More...

Model &	operator= (const Model &source)
	Copy assignment copies model components but does not copy any run-time objects. More...

void	setup () SWIG_DECLARE_EXCEPTION
	Perform some set up functions that happen after the object has been deserialized. More...

void	cleanup ()
	Perform some clean up functions that are normally done from the destructor however this gives the GUI a way to proactively do the cleaning without waiting for garbage collection to do the actual cleanup. More...

void	buildSystem ()
	After the Model and its components have been constructed, call this to interconnect the components and then create the Simbody MultibodySystem needed to represent the Model computationally. More...

SimTK::State &	initializeState ()
	After buildSystem() has been called, and any additional modifications to the Simbody MultibodySystem have been made, call this method to finalize the MultibodySystem (by calling its realizeTopology() method), obtain an initial state, and assemble it so that position constraints are satisified. More...

SimTK::State &	initSystem () SWIG_DECLARE_EXCEPTION
	Convenience method that invokes buildSystem() and then initializeState(). More...

const SimTK::State &	getWorkingState () const
	Convenience method that returns a reference to the model's 'working' state. More...

SimTK::State &	updWorkingState ()

void	copyDefaultStateIntoWorkingState ()
	Method to copy a model's default state into the space allocated for its working state. More...

void	initStateWithoutRecreatingSystem (SimTK::State &state) const
	This is called after the Model is fully created but before starting a simulation. More...

void	invalidateSystem ()
	Mark the computational system as invalid. More...

bool	isValidSystem () const
	Check that the underlying computational system representing the model is valid. More...

void	formStateStorage (const Storage &originalStorage, Storage &statesStorage)
	create a storage (statesStorage) that has same label order as model's states with values populated from originalStorage, 0.0 for those states unspecified in the originalStorage. More...

void	formQStorage (const Storage &originalStorage, Storage &qStorage)

void	updateAssemblyConditions (SimTK::State &s)
	Update the AssemblySolver to the latest coordinate locking/constraints. More...

void	assemble (SimTK::State &state, const Coordinate *coord=NULL, double weight=10)
	Find the kinematic state of the model that satisfies constraints and coordinate goals If assemble is being called due to a coordinate set value, provide the option to weight that coordinate value more heavily if specified. More...

void	equilibrateMuscles (SimTK::State &state)
	Update the state of all Muscles so they are in equilibrium. More...

virtual int	getNumStateVariables () const
	Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents. More...

void	addComponent (ModelComponent *aComponent)
	Add ModelComponents to the Model. More...

void	addBody (Body *aBody)

void	addConstraint (Constraint *aConstraint)

void	addForce (Force *aForce)

void	addProbe (Probe *aProbe)

void	addContactGeometry (ContactGeometry *aContactGeometry)

void	removeProbe (Probe *aProbe)
	remove passed in Probe from model More...

const std::string &	getInputFileName () const
	Get the XML file name used to construct the model. More...

void	setInputFileName (const std::string &fileName)
	Set the XML file name used to construct the model. More...

const std::string &	getCredits () const
	Get the credits (e.g., model author names) associated with the model. More...

void	setAuthors (const std::string &aCredits)
	Set the credits (e.g., model author names) associated with the model. More...

const std::string &	getPublications () const
	Get the publications associated with the model. More...

void	setPublications (const std::string &aPublications)
	Set the publications associated with the model. More...

const Units &	getLengthUnits () const
	Get the length units associated with the model. More...

const Units &	getForceUnits () const
	Get the force units associated with the model. More...

SimTK::Vec3	getGravity () const
	Get the gravity vector in the global frame. More...

bool	setGravity (const SimTK::Vec3 &aGrav)
	Set the gravity vector in the gloabl frame. More...

int	getNumMarkers () const
	Get the number of markers in the model. More...

int	getNumContactGeometries () const
	Get the number of ContactGeometries in the model. More...

int	getNumBodies () const
	Get the total number of bodies in the model. More...

int	getNumJoints () const
	Get the total number of joints in the model. More...

int	getNumCoordinates () const
	Get the total number of coordinates in the model. More...

int	getNumSpeeds () const
	Get the total number of speeds in the model. More...

int	getNumProbes () const
	Get the total number of probes in the model. More...

const Set< Actuator > &	getActuators () const
	Get the subset of Forces in the model which are actuators. More...

Set< Actuator > &	updActuators ()

const Set< Muscle > &	getMuscles () const
	Get the subset of Forces in the model which are muscles. More...

Set< Muscle > &	updMuscles ()

const ForceSet &	getForceSet () const

ForceSet &	updForceSet ()

const ProbeSet &	getProbeSet () const
	Get the subset of Probes in the model. More...

ProbeSet &	updProbeSet ()

const ComponentSet &	getMiscModelComponentSet () const
	Get the subset of misc ModelComponents in the model. More...

ComponentSet &	updMiscModelComponentSet ()

int	getNumAnalyses () const
	Get the number of analyses in the model. More...

int	getNumControls () const
	Get the number of controls for this the model. More...

SimTK::Vector &	updDefaultControls () const
	Writable access to the default values for controls. More...

void	setDefaultControls (const SimTK::Vector &controls) const

const SimTK::Vector &	getDefaultControls () const

SimTK::Vector &	updControls (const SimTK::State &s) const
	Update the controls for this the model at a given state. More...

void	markControlsAsValid (const SimTK::State &s) const
	Mark controls as valid after an update at a given state. More...

void	setControls (const SimTK::State &s, const SimTK::Vector &controls) const
	Alternatively, set the controls on the model at a given state. More...

const SimTK::Vector &	getControls (const SimTK::State &s) const
	Const access to controls does not invalidate dynamics. More...

void	computeControls (const SimTK::State &state, SimTK::Vector &controls) const
	Compute the controls for the model. More...

bool	isControlled () const
	Get a flag indicating if the model needs controls to operate its actuators. More...

void	storeControls (const SimTK::State &s, int step)

void	printControlStorage (const std::string &fileName) const

const ControllerSet &	getControllerSet () const

ControllerSet &	updControllerSet ()

bool	getAllControllersEnabled () const

void	setAllControllersEnabled (bool enabled)

void	applyDefaultConfiguration (SimTK::State &s)

const SimbodyEngine &	getSimbodyEngine () const
	Get the model's dynamics engine. More...

SimbodyEngine &	updSimbodyEngine ()

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...

double	getTotalMass (const SimTK::State &s) const

SimTK::Inertia	getInertiaAboutMassCenter (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterPosition (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterVelocity (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterAcceleration (const SimTK::State &s) const

void	getStateValues (const SimTK::State &state, Array< double > &stateValues) const
	Get the values of state variables in the same ordering as returned by getStateVariableNames(). More...

SimTK::Vector	getStateValues (const SimTK::State &s) const

void	setStateValues (SimTK::State &state, const double *stateValues) const
	Set the values of state variables which are passed in the same ordering as returned by getStateVariableNames(). More...

int	getNumMuscleStates () const

int	getNumProbeStates () const

CoordinateSet &	updCoordinateSet ()

const CoordinateSet &	getCoordinateSet () const

BodySet &	updBodySet ()

const BodySet &	getBodySet () const

JointSet &	updJointSet ()

const JointSet &	getJointSet () const

AnalysisSet &	updAnalysisSet ()

const AnalysisSet &	getAnalysisSet () const

ContactGeometrySet &	updContactGeometrySet ()

const ContactGeometrySet &	getContactGeometrySet () const

Body &	getGroundBody () const

ConstraintSet &	updConstraintSet ()

const ConstraintSet &	getConstraintSet () const

MarkerSet &	updMarkerSet ()

const MarkerSet &	getMarkerSet () const

int	replaceMarkerSet (const SimTK::State &s, MarkerSet &aMarkerSet)

void	writeMarkerFile (const std::string &aFileName) const

void	updateMarkerSet (MarkerSet &aMarkerSet)

int	deleteUnusedMarkers (const Array< std::string > &aMarkerNames)

void	addAnalysis (Analysis *analysis)
	Add an Analysis to the Model. More...

void	addController (Controller *aController)
	Add a Controller to the Model. More...

void	removeAnalysis (Analysis *analysis, bool deleteIt=true)
	Remove an Analysis from the Model. More...

void	removeController (Controller *aController)
	Remove a Controller from the Model. More...

bool	scale (SimTK::State &state, const ScaleSet &scaleSet, double finalMass=-1.0, bool preserveMassDist=false)
	Scale the model. More...

void	printBasicInfo (std::ostream &aOStream) const
	Print some basic information about the model. More...

void	printDetailedInfo (const SimTK::State &s, std::ostream &aOStream) const
	Print detailed information about the model. More...

void	disownAllComponents ()
	Model relinquishes ownership of all components such as: Bodies, Constraints, Forces, ConactGeometry and so on. More...

void	overrideAllActuators (SimTK::State &s, bool flag)
	Convenice function to turn on/off overriding the force for all actuators. More...

const std::string &	getValidationLog ()
	Get a log of errors/warnings ecountered when loading/constructing the model. More...

void	clearValidationLog ()

const Object &	getObjectByTypeAndName (const std::string &typeString, const std::string &nameString) SWIG_DECLARE_EXCEPTION
	Utility to get a reference to an Object based on its name and type throws an exception if the object was not found. More...

Visualization
Methods in this group affect visualization of this Model, which may be through the OpenSim GUI or through the use of a ModelVisualizer which can provide limited run-time display and user interaction capability for an OpenSim API-based program. If you enable visualization at the API level, the Model will create a ModelVisualizer that you can use to control display and user interaction. In turn, the ModelVisualizer makes use of a Simbody SimTK::Visualizer; for advanced features you can ask the ModelVisualizer to give you direct access to the SimTK::Visualizer; consult Simbody documentation for more details.
const ModelDisplayHints &	getDisplayHints () const
	Get read only access to the ModelDisplayHints object stored with this Model. More...

ModelDisplayHints &	updDisplayHints ()
	Get writable access to the ModelDisplayHints object stored with this Model. More...

void	setUseVisualizer (bool visualize)
	Request or suppress visualization of this Model. More...

bool	getUseVisualizer () const
	Return the current setting of the "use visualizer" flag, which will take effect at the next call to initSystem() on this Model. More...

bool	hasVisualizer () const
	Test whether a ModelVisualizer has been created for this Model. More...

const ModelVisualizer &	getVisualizer () const
	Obtain read-only access to the ModelVisualizer. More...

ModelVisualizer &	updVisualizer ()
	Obtain writable access to the ModelVisualizer. More...

Access to the Simbody System and components
Methods in this section provide advanced users access to the underlying Simbody System and associated subcomponents that are constructed and maintained by this Model. Note that these are not available until after initSystem() has been invoked on this Model. Be very careful if you call any of the upd() methods since modifying a System after the Model creates it can require reinitialization. See Also initStateWithoutRecreatingSystem()
const SimTK::MultibodySystem &	getMultibodySystem () const
	Get read-only access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call. More...

SimTK::MultibodySystem &	updMultibodySystem () const
	(Advanced) Get writable access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call. More...

const SimTK::DefaultSystemSubsystem &	getDefaultSubsystem () const
	Get read-only access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem. More...

SimTK::DefaultSystemSubsystem &	updDefaultSubsystem ()
	(Advanced) Get writable access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem. More...

const SimTK::SimbodyMatterSubsystem &	getMatterSubsystem () const
	Get read-only access to the internal SimbodyMatterSubsystem allocated by this Model. More...

SimTK::SimbodyMatterSubsystem &	updMatterSubsystem ()
	(Advanced) Get writable access to the internal SimbodyMatterSubsystem allocated by this Model. More...

const SimTK::Force::Gravity &	getGravityForce () const
	Get read-only access to the Simbody Force::Gravity element that was allocated by this Model. More...

SimTK::Force::Gravity &	updGravityForce ()
	(Advanced) Get writable access to the Simbody Force::Gravity element that was allocated by this Model. More...

const SimTK::GeneralForceSubsystem &	getForceSubsystem () const
	Get read-only access to the internal Simbody GeneralForceSubsystem allocated by this Model. More...

SimTK::GeneralForceSubsystem &	updForceSubsystem ()
	(Advanced) Get writable access to the internal Simbody GeneralForceSubsystem allocated by this Model. More...

Implementation of Object interface
These methods are Model's implementation of virtual methods defined in the Object class from which Model derives (indirectly through ModelComponent).
	~Model ()
	Destructor. More...

void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
	Override of the default implementation to account for versioning. More...

Implementation of ModelComponent interface
These methods are Model's implementation of virtual methods defined in the ModelComponent class from which Model derives. The implementations here serve as dispatchers that treat all contained ModelComponents (and model elements that are not ModelComponents) as subcomponents whose corresponding methods need to be called.
void	connectToModel (Model &model) override
	Perform any necessary initializations required to connect the component into the Model, and check for error conditions. More...

void	addToSystem (SimTK::MultibodySystem &system) const override
	Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More...

void	initStateFromProperties (SimTK::State &state) const override
	Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More...

void	setPropertiesFromState (const SimTK::State &state) override
	Given a State, set all default values for this Model to match those found in the State. More...

void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const override
	Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state. More...

Array< std::string >	getStateVariableNames () const
	Get the names of the states. More...

const Array < SimTK::SystemYIndex > &	getStateVariableSystemIndices () const

double	getStateVariable (const SimTK::State &s, const std::string &name) const
	Get the value of a state variable of this Model. More...

void	setStateVariable (SimTK::State &s, const std::string &name, double value) const
	Set the value of a state variable of this Model. More...

SimTK::SystemYIndex	getStateVariableSystemIndex (const std::string &stateVariableName) const
	Get the Y index of a state variable by name. 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...

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 >
const T &	getCacheVariable (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex) const

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...

template<typename T >
T &	updCacheVariable (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex) const

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	markCacheVariableValid (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex) const

void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Mark a cache variable value allocated by this ModelComponent as invalid. More...

void	markCacheVariableInvalid (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex) const

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...

bool	isCacheVariableValid (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex) const

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...

template<typename T >
void	setCacheVariable (const SimTK::State &state, SimTK::CacheEntryIndex ceIndex, const T &value) 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	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

Friends
class	ModelComponent

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::ModelComponent
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	realizeDynamics (const SimTK::State &state) const
	Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces. 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...

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 inherited from OpenSim::ModelComponent
Model *	_model
	The model this component belongs to. More...

Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. 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 concrete class that specifies the interface to a musculoskeletal model.

You can read this in from an XML file or create it programmatically, and modify it via the API.

A Model contains ModelComponents, and is itself a ModelComponent so must satisfy the ModelComponent interface, as well as the Object interface from which ModelComponent derives. This allows a Model to allocate "global" resources using ModelComponent resource-allocation facilities.

Computation using a Model is done by creating a computational representation of the Model, called a System (SimTK::System), using Simbody. Creation of the System is initiated by a call to the Model's initSystem() method. The System and related objects are maintained in a runtime section of the Model object. You can also ask a Model to provide visualization using the setUseVisualizer() method, in which case it will allocate an maintain a ModelVisualizer.

Authors: Frank Anderson, Peter Loan, Ayman Habib, Ajay Seth, Michael Sherman

See Also: ModelComponent, ModelVisualizer, SimTK::System

Constructor & Destructor Documentation

OpenSim::Model::Model ( )

Default constructor creates a Model containing only the ground Body and a set of default properties.

OpenSim::Model::Model	(	const std::string &	filename,
		bool	connectToModel = `true`
	)

explicit

Constructor from an OpenSim XML model file.

Parameters

filename	Name of a file containing an OpenSim model in XML format; suffix is typically ".osim".
connectToModel	whether to call connectToModel to create a valid OpenSim Model or not on exit, defaults to true. If set to false only deserialization is performed.

OpenSim::Model::Model ( const Model & source )

Copy constructor copies model components but does not copy any run-time objects.

Parameters

source The Model to be copied.

OpenSim::Model::~Model ( )

Destructor.

Member Function Documentation

void OpenSim::Model::addAnalysis ( Analysis * analysis )

Add an Analysis to the Model.

Parameters

analysis pointer to the Analysis to add

void OpenSim::Model::addBody ( Body * aBody )

void OpenSim::Model::addComponent ( ModelComponent * aComponent )

Add ModelComponents to the Model.

Model takes ownership of the objects.

void OpenSim::Model::addConstraint ( Constraint * aConstraint )

void OpenSim::Model::addContactGeometry ( ContactGeometry * aContactGeometry )

void OpenSim::Model::addController ( Controller * aController )

Add a Controller to the Model.

void OpenSim::Model::addForce ( Force * aForce )

void OpenSim::Model::addProbe ( Probe * aProbe )

void OpenSim::Model::addToSystem ( SimTK::MultibodySystem & system ) const

overridevirtual

Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.

addToSystem() is called when the Simbody System is being created to represent a completed Model for computation. That is, connectToModel() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within addToSystem() only.

Note that this method is const; you must not modify your model component or the containing model during this call. Any modifications you need should instead be performed in connectToModel(), which is non-const. One exception is that you may need to record access information for resources you create in the system, such as an index number. You should declare those data members mutable so that you can set them here.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::addToSystem(SimTK::MultibodySystem& system) const {
    Super::addToSystem(system); // invoke parent class method
    // ... your code goes here
}

Parameters

[in,out] system The System being created.

See Also: addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Model::applyDefaultConfiguration ( SimTK::State & s )

void OpenSim::Model::assemble	(	SimTK::State &	state,
		const Coordinate *	coord = `NULL`,
		double	weight = `10`
	)

Find the kinematic state of the model that satisfies constraints and coordinate goals If assemble is being called due to a coordinate set value, provide the option to weight that coordinate value more heavily if specified.

void OpenSim::Model::buildSystem ( )

After the Model and its components have been constructed, call this to interconnect the components and then create the Simbody MultibodySystem needed to represent the Model computationally.

The connectToModel() method of each contained ModelComponent will be invoked, and then their addToSystem() methods are invoked. The resulting MultibodySystem is maintained internally by the Model. After this call, you may obtain a writable reference to the System using updMultibodySystem() which you can use to make any additions you want. Then when the System is complete, call initializeState() to finalize it and obtain an initial State.

SimTK::Vec3 OpenSim::Model::calcMassCenterAcceleration ( const SimTK::State & s ) const

SimTK::Vec3 OpenSim::Model::calcMassCenterPosition ( const SimTK::State & s ) const

SimTK::Vec3 OpenSim::Model::calcMassCenterVelocity ( const SimTK::State & s ) const

void OpenSim::Model::cleanup ( )

Perform some clean up functions that are normally done from the destructor however this gives the GUI a way to proactively do the cleaning without waiting for garbage collection to do the actual cleanup.

void OpenSim::Model::clearValidationLog ( )

inline

void OpenSim::Model::computeControls	(	const SimTK::State &	state,
		SimTK::Vector &	controls
	)		const

Compute the controls for the model.

Calls down to the Controllers to make their contributions to the controls.

Parameters

[in]	state	System state from which Controllers should draw when computing their control outputs.
[out]	controls	The complete vector of controls into which individual controller contributions should be added.

SimTK::Vector OpenSim::Model::computeStateVariableDerivatives ( const SimTK::State & s ) const

virtual

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.

Override to return a Vector of the same size as the number of state variables defined and in order added to the system (also

See Also: addToSystem()). Default returns empty (no derivatives are defined). Implement like this:
SimTK::Vector computeStateVariableDerivatives(const SimTK::State& s) const {

// Collect derivatives from parent class and above first.

SimTK::Vector derivs = Super::computeStateVariableDerivatives(s);

const int n = derivs.size();

derivs.resizeKeep(n + myNumStateVariables); // grow

for (int i=0; i < myNumStateVariables; ++i)

derivs[n+i] = ...; // i'th state variable derivative

return derivs;

}

This method is invoked from the base class realizeAcceleration() method.

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Model::connectToModel ( Model & model )

inlineoverridevirtual

Perform any necessary initializations required to connect the component into the Model, and check for error conditions.

connectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::connectToModel(Model& model) {
    Super::connectToModel(model); // invoke parent class method
    // ... your code goes here
}

Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.

Parameters

[in,out] model The Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::ModelComponent.

References OVERRIDE_11.

void OpenSim::Model::copyDefaultStateIntoWorkingState ( )

Method to copy a model's default state into the space allocated for its working state.

This is so that the default state does not get corrupted.

int OpenSim::Model::deleteUnusedMarkers ( const Array< std::string > & aMarkerNames )

void OpenSim::Model::disownAllComponents ( )

Model relinquishes ownership of all components such as: Bodies, Constraints, Forces, ConactGeometry and so on.

That means the freeing of the memory of these objects is up to the caller.

void OpenSim::Model::equilibrateMuscles ( SimTK::State & state )

Update the state of all Muscles so they are in equilibrium.

void OpenSim::Model::formQStorage	(	const Storage &	originalStorage,
		Storage &	qStorage
	)

void OpenSim::Model::formStateStorage	(	const Storage &	originalStorage,
		Storage &	statesStorage
	)

create a storage (statesStorage) that has same label order as model's states with values populated from originalStorage, 0.0 for those states unspecified in the originalStorage.

void OpenSim::Model::generateDecorations	(	bool	fixed,
		const ModelDisplayHints &	hints,
		const SimTK::State &	state,
		SimTK::Array_< SimTK::DecorativeGeometry > &	appendToThis
	)		const

overridevirtual

Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state.

This will be called once to obtain ground- and body-fixed geometry (with fixed=true), and then once per frame (with fixed=false) to generate on-the-fly geometry such as rubber band lines, force arrows, labels, or debugging aids.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::generateDecorations
   (bool                                        fixed, 
    const ModelDisplayHints&                    hints,
    const SimTK::State&                         state,
    SimTK::Array_<SimTK::DecorativeGeometry>&   appendToThis) const
{
    // invoke parent class method
    Super::generateDecorations(fixed,hints,state,appendToThis); 
    // ... your code goes here
}

Parameters

[in]	fixed	If `true`, generate only geometry that is independent of time, configuration, and velocity. Otherwise generate only such dependent geometry.
[in]	hints	See documentation for ModelDisplayHints; you may want to alter the geometry you generate depending on what you find there. For example, you can determine whether the user wants to see debug geometry.
[in]	state	The State for which geometry should be produced. See below for more information.
[in,out]	appendToThis	Array to which generated geometry should be appended via the `push_back()` method.

When called with fixed=true only modeling options and parameters (Instance variables) should affect geometry; time, position, and velocity should not. In that case OpenSim will already have realized the state through Instance stage. When called with fixed=false, you may consult any relevant value in state. However, to avoid unnecessary computation, OpenSim guarantees only that state will have been realized through Position stage; if you need anything higher than that (reaction forces, for example) you should make sure the state is realized through Acceleration stage.

Reimplemented from OpenSim::ModelComponent.

const Set<Actuator>& OpenSim::Model::getActuators ( ) const

Get the subset of Forces in the model which are actuators.

Returns: The set of Actuators

bool OpenSim::Model::getAllControllersEnabled ( ) const

const AnalysisSet& OpenSim::Model::getAnalysisSet ( ) const

inline

const BodySet& OpenSim::Model::getBodySet ( ) const

inline

const ConstraintSet& OpenSim::Model::getConstraintSet ( ) const

inline

const ContactGeometrySet& OpenSim::Model::getContactGeometrySet ( ) const

inline

const ControllerSet& OpenSim::Model::getControllerSet ( ) const

const SimTK::Vector& OpenSim::Model::getControls ( const SimTK::State & s ) const

Const access to controls does not invalidate dynamics.

const CoordinateSet& OpenSim::Model::getCoordinateSet ( ) const

inline

const std::string& OpenSim::Model::getCredits ( ) const

inline

Get the credits (e.g., model author names) associated with the model.

Returns: Credits string.

const SimTK::Vector& OpenSim::Model::getDefaultControls ( ) const

inline

const SimTK::DefaultSystemSubsystem& OpenSim::Model::getDefaultSubsystem ( ) const

inline

Get read-only access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem.

const ModelDisplayHints& OpenSim::Model::getDisplayHints ( ) const

inline

Get read only access to the ModelDisplayHints object stored with this Model.

These should be checked whenever display geometry is being generated.

const ForceSet& OpenSim::Model::getForceSet ( ) const

inline

const SimTK::GeneralForceSubsystem& OpenSim::Model::getForceSubsystem ( ) const

inline

Get read-only access to the internal Simbody GeneralForceSubsystem allocated by this Model.

const Units& OpenSim::Model::getForceUnits ( ) const

inline

Get the force units associated with the model.

Returns: Force units

SimTK::Vec3 OpenSim::Model::getGravity ( ) const

Get the gravity vector in the global frame.

Returns: The XYZ gravity vector in the global frame.

const SimTK::Force::Gravity& OpenSim::Model::getGravityForce ( ) const

inline

Get read-only access to the Simbody Force::Gravity element that was allocated by this Model.

Body& OpenSim::Model::getGroundBody ( ) const

SimTK::Inertia OpenSim::Model::getInertiaAboutMassCenter ( const SimTK::State & s ) const

const std::string& OpenSim::Model::getInputFileName ( ) const

inline

Get the XML file name used to construct the model.

Returns: XML file name string.

const JointSet& OpenSim::Model::getJointSet ( ) const

const Units& OpenSim::Model::getLengthUnits ( ) const

inline

Get the length units associated with the model.

Returns: Length units.

const MarkerSet& OpenSim::Model::getMarkerSet ( ) const

inline

const SimTK::SimbodyMatterSubsystem& OpenSim::Model::getMatterSubsystem ( ) const

inline

Get read-only access to the internal SimbodyMatterSubsystem allocated by this Model.

const ComponentSet& OpenSim::Model::getMiscModelComponentSet ( ) const

inline

Get the subset of misc ModelComponents in the model.

Returns: The set of misc ModelComponents

const SimTK::MultibodySystem& OpenSim::Model::getMultibodySystem ( ) const

inline

Get read-only access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call.

const Set<Muscle>& OpenSim::Model::getMuscles ( ) const

Get the subset of Forces in the model which are muscles.

Returns: The set of Muscles

int OpenSim::Model::getNumAnalyses ( ) const

Get the number of analyses in the model.

Returns: The number of analyses.

int OpenSim::Model::getNumBodies ( ) const

Get the total number of bodies in the model.

Returns: Number of bodies.

int OpenSim::Model::getNumContactGeometries ( ) const

Get the number of ContactGeometries in the model.

Returns: Number of ContactGeometries.

int OpenSim::Model::getNumControls ( ) const

Get the number of controls for this the model.

Only valid once underlying system for the model has been created. Throws an exception if called before Model::initSystem()

Returns: number of controls corresponding to all the actuators in the model

int OpenSim::Model::getNumCoordinates ( ) const

Get the total number of coordinates in the model.

Returns: Number of coordinates.

int OpenSim::Model::getNumJoints ( ) const

Get the total number of joints in the model.

Returns: Number of joints.

int OpenSim::Model::getNumMarkers ( ) const

Get the number of markers in the model.

Returns: Number of markers.

int OpenSim::Model::getNumMuscleStates ( ) const

int OpenSim::Model::getNumProbes ( ) const

Get the total number of probes in the model.

Returns: Number of probes.

int OpenSim::Model::getNumProbeStates ( ) const

int OpenSim::Model::getNumSpeeds ( ) const

Get the total number of speeds in the model.

Returns: Number of speeds.

virtual int OpenSim::Model::getNumStateVariables ( ) const

virtual

Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.

Reimplemented from OpenSim::ModelComponent.

const Object& OpenSim::Model::getObjectByTypeAndName	(	const std::string &	typeString,
		const std::string &	nameString
	)

Utility to get a reference to an Object based on its name and type throws an exception if the object was not found.

names are case sensitive

Parameters

typeString	the type of object being looked up (Body, Force, Constraint, Coordinate, Joint, Marker, Controller)
nameString	the name of the object being looked up

Returns: reference to the object if found or throws an exception.

const ProbeSet& OpenSim::Model::getProbeSet ( ) const

inline

Get the subset of Probes in the model.

Returns: The set of Probes

const std::string& OpenSim::Model::getPublications ( ) const

inline

Get the publications associated with the model.

Returns: Publications string.

const SimbodyEngine& OpenSim::Model::getSimbodyEngine ( ) const

inline

Get the model's dynamics engine.

Returns: Reference to the Simbody dynamics engine

void OpenSim::Model::getStateValues	(	const SimTK::State &	state,
		Array< double > &	stateValues
	)		const

Get the values of state variables in the same ordering as returned by getStateVariableNames().

Values are dug out from the passed-in state based on Y-indices that are associated with the named state variables.

Parameters

[in]	state	State from which values are to be obtained.
[out]	stateValues	Array used to collect the reordered state values.

SimTK::Vector OpenSim::Model::getStateValues ( const SimTK::State & s ) const

double OpenSim::Model::getStateVariable	(	const SimTK::State &	s,
		const std::string &	name
	)		const

Get the value of a state variable of this Model.

Parameters

s	the State for which to get the value
name	the name (string) of the state variable of interest

Array<std::string> OpenSim::Model::getStateVariableNames ( ) const

virtual

Get the names of the states.

These are the continuous states introduced by OpenSim ModelComponents and exposed thru the ModelComponent API.

Reimplemented from OpenSim::ModelComponent.

SimTK::SystemYIndex OpenSim::Model::getStateVariableSystemIndex ( const std::string & stateVariableName ) const

virtual

Get the Y index of a state variable by name.

Parameters

stateVariableName the name (string) of the state variable of interest

Reimplemented from OpenSim::ModelComponent.

const Array<SimTK::SystemYIndex>& OpenSim::Model::getStateVariableSystemIndices ( ) const

inline

double OpenSim::Model::getTotalMass ( const SimTK::State & s ) const

bool OpenSim::Model::getUseVisualizer ( ) const

inline

Return the current setting of the "use visualizer" flag, which will take effect at the next call to initSystem() on this Model.

const std::string& OpenSim::Model::getValidationLog ( )

inline

Get a log of errors/warnings ecountered when loading/constructing the model.

const ModelVisualizer& OpenSim::Model::getVisualizer ( ) const

inline

Obtain read-only access to the ModelVisualizer.

This will throw an exception if visualization was not requested or initSystem() not yet called.

Returns: A const reference to the allocated ModelVisualizer.

const SimTK::State& OpenSim::Model::getWorkingState ( ) const

Convenience method that returns a reference to the model's 'working' state.

This is just returning the reference that was returned by initSystem() and initializeState() – note that either of these methods must be called prior to getWorkingState(), otherwise an empty state will be returned.

bool OpenSim::Model::hasVisualizer ( ) const

inline

Test whether a ModelVisualizer has been created for this Model.

Even if visualization has been requested there will be no visualizer present until initSystem() has been successfully invoked. Use this method prior to calling getVisualizer() or updVisualizer() to avoid an unpleasant exception.

SimTK::State& OpenSim::Model::initializeState ( )

After buildSystem() has been called, and any additional modifications to the Simbody MultibodySystem have been made, call this method to finalize the MultibodySystem (by calling its realizeTopology() method), obtain an initial state, and assemble it so that position constraints are satisified.

The initStateFromProperties() method of each contained ModelComponent will be invoked. A reference to the writable internally- maintained model State is returned (note that this does not affect the system's default state (which is part of the model and hence read only). The model's state can be reset to the system's default state at any time by re-executing initializeState().

void OpenSim::Model::initStateFromProperties ( SimTK::State & state ) const

overridevirtual

Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.

This is called after a SimTK::System and State have been created for the Model (that is, after addToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::initStateFromProperties(SimTK::State& state) const {
    Super::initStateFromProperties(state); // invoke parent class method
    // ... your code goes here
}

Parameters

state The state that will receive the new initial conditions.

See Also: setPropertiesFromState()

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Model::initStateWithoutRecreatingSystem ( SimTK::State & state ) const

inline

This is called after the Model is fully created but before starting a simulation.

It ONLY initializes the computational system used to simulate the model and addToSystem() has been called already. This method should only be used if if additional SimTK::System components are being added using the SimTK API and the programmer is certain that the model's system has been created.

SimTK::State& OpenSim::Model::initSystem ( )

inline

Convenience method that invokes buildSystem() and then initializeState().

A reference to the writable internally- maintained model State is returned (note that this does not affect the system's default state (which is part of the model and hence read only).

void OpenSim::Model::invalidateSystem ( )

Mark the computational system as invalid.

This should be called whenever a property of the model is modified. Once this has been called, no calculations can be done until initSystem() is called again.

bool OpenSim::Model::isControlled ( ) const

Get a flag indicating if the model needs controls to operate its actuators.

bool OpenSim::Model::isValidSystem ( ) const

Check that the underlying computational system representing the model is valid.

That is, is the system ready for performing calculations.

void OpenSim::Model::markControlsAsValid ( const SimTK::State & s ) const

Mark controls as valid after an update at a given state.

Indicates that controls are valid for use at the dynamics stage. If the stage is Velocity or lower the controls will remain invalid.

Parameters

[in] s System state in which the controls are updated

Model& OpenSim::Model::operator= ( const Model & source )

Copy assignment copies model components but does not copy any run-time objects.

Parameters

source The Model to be copied.

Returns: Reference to this object.

void OpenSim::Model::overrideAllActuators	(	SimTK::State &	s,
		bool	flag
	)

Convenice function to turn on/off overriding the force for all actuators.

void OpenSim::Model::printBasicInfo ( std::ostream & aOStream ) const

Print some basic information about the model.

Parameters

aOStream Output stream.

void OpenSim::Model::printControlStorage ( const std::string & fileName ) const

void OpenSim::Model::printDetailedInfo	(	const SimTK::State &	s,
		std::ostream &	aOStream
	)		const

Print detailed information about the model.

Parameters

s	the system State.
aOStream	Output stream.

void OpenSim::Model::removeAnalysis	(	Analysis *	analysis,
		bool	deleteIt = `true`
	)

Remove an Analysis from the Model.

Parameters

analysis	Pointer to the analysis to remove.
deleteIt	Whether the removed object should be deleted.

void OpenSim::Model::removeController ( Controller * aController )

Remove a Controller from the Model.

void OpenSim::Model::removeProbe ( Probe * aProbe )

remove passed in Probe from model

int OpenSim::Model::replaceMarkerSet	(	const SimTK::State &	s,
		MarkerSet &	aMarkerSet
	)

bool OpenSim::Model::scale	(	SimTK::State &	state,
		const ScaleSet &	scaleSet,
		double	finalMass = `-1.0`,
		bool	preserveMassDist = `false`
	)

Scale the model.

Parameters

state	State containing parameter values that might be modified here.
scaleSet	The set of XYZ scale factors for the bodies.
finalMass	The mass that the scaled model should have.
preserveMassDist	Whether or not the masses of the individual bodies should be scaled with the body scale factors.

Returns: Whether or not scaling was successful.

void OpenSim::Model::setAllControllersEnabled ( bool enabled )

void OpenSim::Model::setAuthors ( const std::string & aCredits )

inline

Set the credits (e.g., model author names) associated with the model.

Parameters

aCredits The string of credits.

void OpenSim::Model::setControls	(	const SimTK::State &	s,
		const SimTK::Vector &	controls
	)		const

Alternatively, set the controls on the model at a given state.

Note, this method will invalidate the dynamics of the model, but will mark the controls as valid. (E.g. controllers will not be invoked)

Parameters

[in]	s	System state at which to apply the controls
[in]	controls	The complete Vector of controls to be applied

void OpenSim::Model::setDefaultControls ( const SimTK::Vector & controls ) const

inline

bool OpenSim::Model::setGravity ( const SimTK::Vec3 & aGrav )

Set the gravity vector in the gloabl frame.

Parameters

aGrav The XYZ gravity vector

Returns: Whether or not the gravity vector was successfully set.

void OpenSim::Model::setInputFileName ( const std::string & fileName )

inline

Set the XML file name used to construct the model.

Parameters

fileName The XML file name.

void OpenSim::Model::setPropertiesFromState ( const SimTK::State & state )

overridevirtual

Given a State, set all default values for this Model to match those found in the State.

Reimplemented from OpenSim::ModelComponent.

void OpenSim::Model::setPublications ( const std::string & aPublications )

inline

Set the publications associated with the model.

Parameters

aPublications The string of publications.

void OpenSim::Model::setStateValues	(	SimTK::State &	state,
		const double *	stateValues
	)		const

Set the values of state variables which are passed in the same ordering as returned by getStateVariableNames().

Values are set in the passed in state object based on Y-indices that are associated with the named state variables.

Parameters

[out]	state	State to be modified.
[in]	stateValues	Pointer to an array of values corresponding to each of the named state variables.

void OpenSim::Model::setStateVariable	(	SimTK::State &	s,
		const std::string &	name,
		double	value
	)		const

Set the value of a state variable of this Model.

Parameters

s	the State for which to get the value
name	the name (string) of the state variable of interest
value	the value of the state

void OpenSim::Model::setup ( )

Perform some set up functions that happen after the object has been deserialized.

TODO: this method is not yet designed to be called after a model has been copied.

void OpenSim::Model::setUseVisualizer ( bool visualize )

inline

Request or suppress visualization of this Model.

This flag is checked during initSystem() and if set causes the Model to allocate a ModelVisualizer that provides visualization and interaction with the Model as it is executing. The default is no visualization.

See Also: getModelVisualizer()

void OpenSim::Model::storeControls	(	const SimTK::State &	s,
		int	step
	)

Set<Actuator>& OpenSim::Model::updActuators ( )

AnalysisSet& OpenSim::Model::updAnalysisSet ( )

inline

void OpenSim::Model::updateAssemblyConditions ( SimTK::State & s )

Update the AssemblySolver to the latest coordinate locking/constraints.

void OpenSim::Model::updateFromXMLNode	(	SimTK::Xml::Element &	aNode,
		int	versionNumber = `-1`
	)

virtual

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Object.

void OpenSim::Model::updateMarkerSet ( MarkerSet & aMarkerSet )

BodySet& OpenSim::Model::updBodySet ( )

inline

ConstraintSet& OpenSim::Model::updConstraintSet ( )

inline

ContactGeometrySet& OpenSim::Model::updContactGeometrySet ( )

inline

ControllerSet& OpenSim::Model::updControllerSet ( )

SimTK::Vector& OpenSim::Model::updControls ( const SimTK::State & s ) const

Update the controls for this the model at a given state.

Only callable once underlying system for the model has been created. Throws an exception if called before Model::initSystem() This call invalidates the dynamics of the model and invalidates the value of the controls until they are marked as valid when the update is completed (

See Also: markControlsAsValid)

Parameters

[in] s System state at which to apply the controls

Returns: writable controls Vector

CoordinateSet& OpenSim::Model::updCoordinateSet ( )

inline

SimTK::Vector& OpenSim::Model::updDefaultControls ( ) const

inline

Writable access to the default values for controls.

These values are used for control value during a simulation unless updated, for example, by a Controller

SimTK::DefaultSystemSubsystem& OpenSim::Model::updDefaultSubsystem ( )

inline

(Advanced) Get writable access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem.

ModelDisplayHints& OpenSim::Model::updDisplayHints ( )

inline

Get writable access to the ModelDisplayHints object stored with this Model.

The GUI or ModelVisualizer can update these as a result of user requests, or an OpenSim API program can set them programmatically.

ForceSet& OpenSim::Model::updForceSet ( )

inline

SimTK::GeneralForceSubsystem& OpenSim::Model::updForceSubsystem ( )

inline

(Advanced) Get writable access to the internal Simbody GeneralForceSubsystem allocated by this Model.

SimTK::Force::Gravity& OpenSim::Model::updGravityForce ( )

inline

(Advanced) Get writable access to the Simbody Force::Gravity element that was allocated by this Model.

JointSet& OpenSim::Model::updJointSet ( )

MarkerSet& OpenSim::Model::updMarkerSet ( )

inline

SimTK::SimbodyMatterSubsystem& OpenSim::Model::updMatterSubsystem ( )

inline

(Advanced) Get writable access to the internal SimbodyMatterSubsystem allocated by this Model.

ComponentSet& OpenSim::Model::updMiscModelComponentSet ( )

inline

SimTK::MultibodySystem& OpenSim::Model::updMultibodySystem ( ) const

inline

(Advanced) Get writable access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call.

Be careful if you make modifications to the System because that will invalidate initialization already performed by the Model.

See Also: initStateWithoutRecreatingSystem()

Set<Muscle>& OpenSim::Model::updMuscles ( )

ProbeSet& OpenSim::Model::updProbeSet ( )

inline

SimbodyEngine& OpenSim::Model::updSimbodyEngine ( )

inline

ModelVisualizer& OpenSim::Model::updVisualizer ( )

inline

Obtain writable access to the ModelVisualizer.

This will throw an exception if visualization was not requested or initSystem() not yet called. Writable access to the ModelVisualizer requires that you have writable access to this containing Model.

Returns: A non-const reference to the allocated ModelVisualizer.

SimTK::State& OpenSim::Model::updWorkingState ( )

void OpenSim::Model::writeMarkerFile ( const std::string & aFileName ) const

Friends And Related Function Documentation

friend class ModelComponent

friend

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

OpenSim/Simulation/Model/Model.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation