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OpenSim::PrescribedForce Class Reference

This applies to a body a force and/or torque that is fully specified as a function of time. More...

+ Inheritance diagram for OpenSim::PrescribedForce:

Public Member Functions

 PrescribedForce (OpenSim::Body *body=0)
 Construct a PrescribedForce. More...
 
 PrescribedForce (SimTK::Xml::Element &aNode)
 Construct from an XML element. More...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
 Copy in properties from XML. More...
 
void setBodyName (const std::string &aBodyName)
 
const std::string & getBodyName () const
 
void setForceFunctions (Function *forceX, Function *forceY, Function *forceZ)
 Set the functions which specify the force to apply. More...
 
const FunctionSetgetForceFunctions () const
 
FunctionSetupdForceFunctions ()
 
void getForceFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setForceFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearForceFunctions ()
 
void setPointFunctions (Function *pointX, Function *pointY, Function *pointZ)
 Set the functions which specify the point at which to apply the force. More...
 
const FunctionSetgetPointFunctions () const
 
FunctionSetupdPointFunctions ()
 
void getPointFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setPointFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearPointFunctions ()
 
void setTorqueFunctions (Function *torqueX, Function *torqueY, Function *torqueZ)
 Set the functions which specify the torque to apply. More...
 
const FunctionSetgetTorqueFunctions () const
 
FunctionSetupdTorqueFunctions ()
 
void getTorqueFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setTorqueFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearTorqueFunctions ()
 
bool getForceIsInGlobalFrame () const
 Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates. More...
 
void setForceIsInGlobalFrame (bool isGlobal)
 Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates. More...
 
bool getPointIsInGlobalFrame () const
 Get whether the point is specified in inertial coordinates or in the body's local coordinates. More...
 
void setPointIsInGlobalFrame (bool isGlobal)
 Set whether the point is specified in inertial coordinates or in the body's local coordinates. More...
 
const OpenSim::BodygetBody () const
 Get the body that the prescribed force is acting upon. More...
 
SimTK::Vec3 getForceAtTime (double aTime) const
 Convenience method to evaluate the prescribed force functions at an arbitrary time. More...
 
SimTK::Vec3 getPointAtTime (double aTime) const
 Convenience method to evaluate the prescribed force application point functions at an arbitrary time. More...
 
SimTK::Vec3 getTorqueAtTime (double aTime) const
 Convenience method to evaluate the prescribed torque functions at an arbitrary time. More...
 
virtual OpenSim::Array
< std::string > 
getRecordLabels () const
 Methods used for reporting. More...
 
virtual OpenSim::Array< double > getRecordValues (const SimTK::State &state) const
 Given SimTK::State object extract all the values necessary to report forces, application location frame, etc. More...
 
Property declarations
 OpenSim_DECLARE_OPTIONAL_PROPERTY (body, std::string,"Name of the body the force is applied to.")
 "body" property is a string containing the name of the body to which the force will be applied. More...
 
 OpenSim_DECLARE_PROPERTY (pointIsGlobal, bool,"Flag indicating whether the point (specified in pointFunctions) ""is in global frame.")
 "pointIsGlobal" property is a flag indicating whether the point calculated by the Functions in pointFunctions are returned in the global frame rather than in the body frame which is the default. More...
 
 OpenSim_DECLARE_PROPERTY (forceIsGlobal, bool,"Flag indicating whether the quantities (specified in ""force/torqueFunctions) is in global frame.")
 "forceIsGlobal" property is a flag indicating whether the force and torque returned by the Functions in forceFunctions and torqueFunctions, resp., are returned in the global frame (the default). More...
 
 OpenSim_DECLARE_PROPERTY (forceFunctions, FunctionSet,"Three functions describing the force to be applied.")
 These are three functions providing the x,y,z measure numbers of the force vector being applied to the body. More...
 
 OpenSim_DECLARE_PROPERTY (pointFunctions, FunctionSet,"Three functions describing the location at which the force ""is applied.")
 These are three functions providing the x,y,z measure numbers of the point at which the force should be applied. More...
 
 OpenSim_DECLARE_PROPERTY (torqueFunctions, FunctionSet,"Three functions describing the torque the PrescribedForce applies.")
 These are three functions providing the x,y,z measure numbers of the torque vector being applied to the body. More...
 
- Public Member Functions inherited from OpenSim::Force
 Force (const Force &aForce)
 Implements a copy constructor just so it can invalidate the SimTK::Force index after copying. More...
 
Forceoperator= (const Force &aForce)
 Implements a copy assignment operator just so it can invalidate the SimTK::Force index after the assignment. More...
 
bool isDisabled (const SimTK::State &s) const
 Return if the Force is disabled or not. More...
 
void setDisabled (SimTK::State &s, bool disabled) const
 Set the Force as disabled (true) or not (false). More...
 
virtual bool hasGeometryPath () const
 Return a flag indicating whether the Force is applied along a Path. More...
 
 OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag indicating whether the force is disabled or not. Disabled means"" that the force is not active in subsequent dynamics realizations.")
 A Force element is active (enabled) by default. More...
 
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor. More...
 
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 Construct ModelComponent from an XML file. More...
 
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document. More...
 
 ModelComponent (const ModelComponent &source)
 Construct ModelComponent with its contents copied from another ModelComponent; this is a deep copy so nothing is shared with the source after the copy. More...
 
virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup. More...
 
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component. More...
 
const ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of. More...
 
virtual void updateDisplayer (const SimTK::State &s) const
 In case the ModelComponent has a visual representation (VisualObject), override this method to update it. More...
 
virtual int getNumStateVariables () const
 Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents. More...
 
virtual Array< std::string > getStateVariableNames () const
 Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents. More...
 
virtual SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
 Get the System Index of a state variable allocated by this ModelComponent. More...
 
int getModelingOption (const SimTK::State &state, const std::string &name) const
 Get a ModelingOption flag for this ModelComponent by name. More...
 
void setModelingOption (SimTK::State &state, const std::string &name, int flag) const
 Set the value of a ModelingOption flag for this ModelComponent. More...
 
double getStateVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable allocated by this ModelComponent. More...
 
void setStateVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a state variable allocated by this ModelComponent by name. More...
 
double getDiscreteVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a discrete variable allocated by this ModelComponent by name. More...
 
void setDiscreteVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a discrete variable allocated by this ModelComponent by name. More...
 
template<typename T >
const T & getCacheVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a cache variable allocated by this ModelComponent by name. More...
 
template<typename T >
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 Objectclone () 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 VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...
 
virtual VisibleObjectupdDisplayer ()
 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...
 
Objectoperator= (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 AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (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 AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Protected Member Functions

void connectToModel (Model &model) override
 ModelComponent interface. More...
 
virtual void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const override
 Force interface. More...
 
- Protected Member Functions inherited from OpenSim::Force
 Force ()
 Default constructor sets up Force-level properties; can only be called from a derived class constructor. More...
 
 Force (SimTK::Xml::Element &node)
 Deserialization from XML, necessary so that derived classes can (de)serialize. More...
 
virtual void initStateFromProperties (SimTK::State &state) const override
 Subclass should override; be sure to invoke Force::initStateFromProperties() at the beginning of the overriding method. More...
 
virtual void addToSystem (SimTK::MultibodySystem &system) const override
 Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component. More...
 
virtual void setPropertiesFromState (const SimTK::State &state) override
 Subclass should override; be sure to invoke Force::setPropertiesFromState() at the beginning of the overriding method. More...
 
virtual double computePotentialEnergy (const SimTK::State &state) const
 Subclasses may optionally override this method to compute a contribution to the potential energy of the system. More...
 
void applyForceToPoint (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a force at a particular point (a "station") on a given body. More...
 
void applyTorque (const SimTK::State &state, const OpenSim::Body &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
 Apply a torque to a particular body. More...
 
void applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
 Apply a generalized force. More...
 
- Protected Member Functions inherited from OpenSim::ModelComponent
virtual 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...
 
virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state. More...
 
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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. 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 ObjectgetDefaultInstanceOfType (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 ObjectnewInstanceOfType (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 ObjectmakeObjectFromFile (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 ObjectSafeCopy (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 Attributes inherited from OpenSim::Force
SimTK::ForceIndex _index
 ID for the force in Simbody. 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...
 

Detailed Description

This applies to a body a force and/or torque that is fully specified as a function of time.

It is defined by three sets of functions, all of which are optional:

  • Three functions that specify the (x,y,z) components of a force vector to apply (at a given point) as a function of time. If these functions are not provided, no force is applied.
  • Three functions that specify the (x,y,z) components of a point location at which the force should be applied. If these functions are not provided, the force is applied at the body's origin (not necessarily the body's center of mass).
  • Three functions that specify the (x,y,z) components of a pure torque vector to apply. This is in addition to any torque resulting from the applied force. If these functions are not provided, no additional torque is applied.
Author
Peter Eastman, Matt DeMers

Constructor & Destructor Documentation

OpenSim::PrescribedForce::PrescribedForce ( OpenSim::Body body = 0)
explicit

Construct a PrescribedForce.

By default, the force, torque, and point functions are all unspecified, meaning that it applies no force or torque. To specify them, call setForceFunctions(), setTorqueFunctions(), and setPointFunctions().

Parameters
bodythe body to apply the force to
OpenSim::PrescribedForce::PrescribedForce ( SimTK::Xml::Element aNode)
explicit

Construct from an XML element.

Member Function Documentation

void OpenSim::PrescribedForce::clearForceFunctions ( )
inline
void OpenSim::PrescribedForce::clearPointFunctions ( )
inline
void OpenSim::PrescribedForce::clearTorqueFunctions ( )
inline
virtual void OpenSim::PrescribedForce::computeForce ( const SimTK::State state,
SimTK::Vector_< SimTK::SpatialVec > &  bodyForces,
SimTK::Vector generalizedForces 
) const
overrideprotectedvirtual

Force interface.

Reimplemented from OpenSim::Force.

void OpenSim::PrescribedForce::connectToModel ( Model model)
overrideprotectedvirtual

ModelComponent interface.

Reimplemented from OpenSim::ModelComponent.

const OpenSim::Body& OpenSim::PrescribedForce::getBody ( ) const
inline

Get the body that the prescribed force is acting upon.

const std::string& OpenSim::PrescribedForce::getBodyName ( ) const
inline
SimTK::Vec3 OpenSim::PrescribedForce::getForceAtTime ( double  aTime) const

Convenience method to evaluate the prescribed force functions at an arbitrary time.

Returns zero if there aren't three functions defined.

void OpenSim::PrescribedForce::getForceFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline
const FunctionSet& OpenSim::PrescribedForce::getForceFunctions ( ) const
inline
bool OpenSim::PrescribedForce::getForceIsInGlobalFrame ( ) const
inline

Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

SimTK::Vec3 OpenSim::PrescribedForce::getPointAtTime ( double  aTime) const

Convenience method to evaluate the prescribed force application point functions at an arbitrary time.

Returns zero if there aren't three functions defined.

void OpenSim::PrescribedForce::getPointFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline
const FunctionSet& OpenSim::PrescribedForce::getPointFunctions ( ) const
inline
bool OpenSim::PrescribedForce::getPointIsInGlobalFrame ( ) const
inline

Get whether the point is specified in inertial coordinates or in the body's local coordinates.

virtual OpenSim::Array<std::string> OpenSim::PrescribedForce::getRecordLabels ( ) const
virtual

Methods used for reporting.

Reimplemented from OpenSim::Force.

virtual OpenSim::Array<double> OpenSim::PrescribedForce::getRecordValues ( const SimTK::State state) const
virtual

Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.

used in conjunction with getRecordLabels() and should return same size Array.

Reimplemented from OpenSim::Force.

SimTK::Vec3 OpenSim::PrescribedForce::getTorqueAtTime ( double  aTime) const

Convenience method to evaluate the prescribed torque functions at an arbitrary time.

Returns zero if there aren't three functions defined.

void OpenSim::PrescribedForce::getTorqueFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline
const FunctionSet& OpenSim::PrescribedForce::getTorqueFunctions ( ) const
inline
OpenSim::PrescribedForce::OpenSim_DECLARE_OPTIONAL_PROPERTY ( body  ,
std::string  ,
"Name of the body the force is applied to."   
)

"body" property is a string containing the name of the body to which the force will be applied.

OpenSim::PrescribedForce::OpenSim_DECLARE_PROPERTY ( pointIsGlobal  ,
bool  ,
"Flag indicating whether the point (specified in pointFunctions) ""is in global frame."   
)

"pointIsGlobal" property is a flag indicating whether the point calculated by the Functions in pointFunctions are returned in the global frame rather than in the body frame which is the default.

OpenSim::PrescribedForce::OpenSim_DECLARE_PROPERTY ( forceIsGlobal  ,
bool  ,
"Flag indicating whether the quantities (specified in ""force/torqueFunctions) is in global frame."   
)

"forceIsGlobal" property is a flag indicating whether the force and torque returned by the Functions in forceFunctions and torqueFunctions, resp., are returned in the global frame (the default).

Otherwise they are returned in the body frame.

OpenSim::PrescribedForce::OpenSim_DECLARE_PROPERTY ( forceFunctions  ,
FunctionSet  ,
"Three functions describing the force to be applied."   
)

These are three functions providing the x,y,z measure numbers of the force vector being applied to the body.

The coordinate frame in which this vector is interpreted depends on the "forceIsGlobal" property.

OpenSim::PrescribedForce::OpenSim_DECLARE_PROPERTY ( pointFunctions  ,
FunctionSet  ,
"Three functions describing the location at which the force ""is applied."   
)

These are three functions providing the x,y,z measure numbers of the point at which the force should be applied.

The coordinate frame in which this position vector is interpreted depends on the "pointIsGlobal" property.

OpenSim::PrescribedForce::OpenSim_DECLARE_PROPERTY ( torqueFunctions  ,
FunctionSet  ,
"Three functions describing the torque the PrescribedForce applies."   
)

These are three functions providing the x,y,z measure numbers of the torque vector being applied to the body.

The coordinate frame in which this vector is interpreted depends on the "torqueIsGlobal" property.

void OpenSim::PrescribedForce::setBodyName ( const std::string &  aBodyName)
inline
void OpenSim::PrescribedForce::setForceFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)
void OpenSim::PrescribedForce::setForceFunctions ( Function forceX,
Function forceY,
Function forceZ 
)

Set the functions which specify the force to apply.

By default the force is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
forceXa function of time which calculates the X component of the force to apply
forceYa function of time which calculates the Y component of the force to apply
forceZa function of time which calculates the Z component of the force to apply
void OpenSim::PrescribedForce::setForceIsInGlobalFrame ( bool  isGlobal)
inline

Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

void OpenSim::PrescribedForce::setPointFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)
void OpenSim::PrescribedForce::setPointFunctions ( Function pointX,
Function pointY,
Function pointZ 
)

Set the functions which specify the point at which to apply the force.

By default the point is specified in the body's local coordinates. This can be changed by calling setPointIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
pointXa function of time which calculates the X coordinate of the point at which to apply the force
pointYa function of time which calculates the Y coordinate of the point at which to apply the force
pointZa function of time which calculates the Z coordinate of the point at which to apply the force
void OpenSim::PrescribedForce::setPointIsInGlobalFrame ( bool  isGlobal)
inline

Set whether the point is specified in inertial coordinates or in the body's local coordinates.

void OpenSim::PrescribedForce::setTorqueFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)
void OpenSim::PrescribedForce::setTorqueFunctions ( Function torqueX,
Function torqueY,
Function torqueZ 
)

Set the functions which specify the torque to apply.

By default the torque is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
torqueXa function of time which calculates the X component of the torque to apply
torqueYa function of time which calculates the Y component of the torque to apply
torqueZa function of time which calculates the Z component of the torque to apply
virtual void OpenSim::PrescribedForce::updateFromXMLNode ( SimTK::Xml::Element aNode,
int  versionNumber = -1 
)
virtual

Copy in properties from XML.

Reimplemented from OpenSim::Object.

FunctionSet& OpenSim::PrescribedForce::updForceFunctions ( )
inline
FunctionSet& OpenSim::PrescribedForce::updPointFunctions ( )
inline
FunctionSet& OpenSim::PrescribedForce::updTorqueFunctions ( )
inline

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