A class that represents a piece-wise linear control curve. More...

Inheritance diagram for OpenSim::ControlLinear:

Public Member Functions
	ControlLinear ()

	ControlLinear (const ControlLinear &aControl)

virtual	~ControlLinear ()

void	copyData (const ControlLinear &aControl)
	Copy the member variables of the specified ControlLinear over to this ControlLinear. More...

ControlLinear &	operator= (const ControlLinear &aControl)

void	setUseSteps (bool aTrueFalse)
	Sets whether or not step functions are used between control nodes or linear interpolation. More...

bool	getUseSteps () const

void	setKp (double aKp)
	Sets the position gain for PD follower filter. More...

double	getKp () const

void	setKv (double aKv)
	Sets the velocity gain for PD follower filter. More...

double	getKv () const

int	getNumParameters () const override
	Returns the number of parameters that are used to specify the control curve. More...

void	setParameterMin (int aI, double aMin) override
	Sets the minimum value that a control parameter can take on. More...

double	getParameterMin (int aI) const override

void	setParameterMax (int aI, double aMax) override
	Set the maximum value that a control parameter can take on. More...

double	getParameterMax (int aI) const override

double	getParameterTime (int aI) const override
	Get the time at which a parameter (control curve value) is specified. More...

void	getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const override

int	getParameterList (double aT, Array< int > &rList) override

int	getParameterList (double aT1, double aT2, Array< int > &rList) override
	Gets the list of parameters that affect the control curve between two specified times and that do NOT affect the control curve below the lower of these two times. More...

void	setParameterValue (int aI, double aP) override

double	getParameterValue (int aI) const override

void	setControlValue (double aT, double aX) override
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing ControlLinearNode, in which case the parameters of that control node are changed. More...

double	getControlValue (double aT) override
	Gets the value of this control at time aT. More...

double	getControlValueMin (double aT=0.0) override
	Gets the minimum allowed value of this control at time aT. More...

void	setControlValueMin (double aT, double aX) override
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...

double	getControlValueMax (double aT=0.0) override
	Gets the maximum allowed value of this control at time aT. More...

void	setControlValueMax (double aT, double aX) override
	This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...

void	clearControlNodes ()

ArrayPtrs< ControlLinearNode > &	getControlValues ()

ArrayPtrs< ControlLinearNode > &	getControlMinValues ()

ArrayPtrs< ControlLinearNode > &	getControlMaxValues ()

void	insertNewValueNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

void	insertNewMinNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

void	insertNewMaxNode (int index, const ControlLinearNode &newNode)
	Called from GUI to work around early garbage collection. More...

const double	getFirstTime () const override
	The time corresponding to the first ControlLinearNode. More...

const double	getLastTime () const override
	The time corresponding to the last ControlLinearNode. More...

void	simplify (const PropertySet &aProperties) override
	The number of control nodes is reduced by first applying a lowpass filter to the sequence of control nodes using a specified cutoff frequency and then removing nodes that keep the curve within a specified distance to the low-pass filtered curve. More...

bool	simplify (const double &cutoffFrequency, const double &distance)
	Another interface to simplify that: (1) does not require properties, and (2) returns bool on failure for a more graceful batch simplification. More...

void	filter (double aT) override
	Filter the control curve at a particular time using a PD follower filter. More...

Public Member Functions inherited from OpenSim::Control
	Control (const char *aName="UNKNOWN")

	Control (const Control &aControl)

virtual	~Control ()

Control &	operator= (const Control &aControl)

void	setIsModelControl (bool aTrueFalse)
	Sets whether or not this control is a model control. More...

bool	getIsModelControl () const

void	setExtrapolate (bool aTrueFalse)
	Sets whether or not to extrapolate for control curve evaluations that are outside the region of confidence for a control. More...

bool	getExtrapolate () const

void	setFilterOn (bool aTrueFalse)
	Sets whether or not to apply a PD (proportional-derivative) filter to the control values. More...

bool	getFilterOn () const

void	setDefaultParameterMin (double aMin)
	Sets the default minimum value of a control parameter. More...

double	getDefaultParameterMin () const

void	setDefaultParameterMax (double aMax)
	Sets the default maximum value of a control parameter. More...

double	getDefaultParameterMax () const

void	assign (Object &aObject) override
	This allows copy assignment in the Java GUI. More...

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

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

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

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

void	updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
	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...

int	getDocumentFileVersion () const
	If there is a document associated with this object then return its version number. More...

void	setAllPropertiesUseDefault (bool aUseDefault)

bool	print (const std::string &fileName) const
	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...

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

Public Types
typedef ControlLinear	Self
	This typedef might be useful within the member functions of this class. More...

typedef Control	Super
	Use this typedef to refer to the superclass of this class. More...

Public Types inherited from OpenSim::Control
typedef Control	Self
	This typedef might be useful within the member functions of this class. More...

typedef Object	Super
	Use this typedef to refer to the superclass of this class. More...

Static Public Member Functions
static double	Interpolate (double aX1, double aY1, double aX2, double aY2, double aX)
	Linearly interpolate or extrapolate given two points. More...

Static Public Member Functions inherited from OpenSim::Control
static Control *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "Control". More...

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 bool	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
	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...

Protected Member Functions
void	setupProperties () override
	Connect properties to local pointers. More...

Protected Member Functions inherited from OpenSim::Control
void	copyData (const Control &aControl)
	Copy the member variables of the specified Control over to this Control instance. 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)
	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	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...

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

void	makeObjectNamesConsistentWithProperties ()
	Make sure the name of an object is consistent with its property type. 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
PropertyBool	_propUseSteps
	Flag that indicates whether or not to linearly interpolate between nodes or use step functions. More...

PropertyObjArray< ControlLinearNode >	_propXNodes
	Array of control nodes. More...

PropertyObjArray< ControlLinearNode >	_propMinNodes

PropertyObjArray< ControlLinearNode >	_propMaxNodes

PropertyDbl	_propKp
	Position gain for PD follower filter. More...

PropertyDbl	_propKv
	Velocity gain for PD follower filter. More...

bool &	_useSteps

ArrayPtrs< ControlLinearNode > &	_xNodes

ArrayPtrs< ControlLinearNode > &	_minNodes

ArrayPtrs< ControlLinearNode > &	_maxNodes

double &	_kp

double &	_kv

ControlLinearNode	_searchNode
	Utility node for speeding up searches for control values in getControlValue() and elsewhere. More...

Protected Attributes inherited from OpenSim::Control
PropertyBool	_propIsModelControl
	Flag that specifies whether or not this control is a model control. More...

PropertyBool	_propExtrapolate
	Flag that specifies whether or not this control should use extrapolation for times outside the time range of the control parameters. More...

PropertyDbl	_propDefaultMin
	Default parameter minimum. More...

PropertyDbl	_propDefaultMax
	Default parameter maximum. More...

PropertyBool	_propFilterOn
	Flat that indicates whether PD follower filter is on. More...

bool &	_isModelControl
	Reference to the value of the IsModelControl property. More...

bool &	_extrapolate
	Reference to the value of the Extrapolate flag. More...

double &	_defaultMin
	Reference to the value of the DefaultMin property. More...

double &	_defaultMax
	Reference to the value of the DefaultMax property. More...

bool &	_filterOn
	Reference to the value of the PropFilterOn property. More...

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

Auto-generated functions
static ControlLinear *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "ControlLinear". More...

void	assign (Object &aObject) override
	This allows copy assignment in the Java GUI. More...

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

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

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

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

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

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

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

Detailed Description

A class that represents a piece-wise linear control curve.

The curve is specified by an array of control nodes (see class ControlLinearNode) that occur at monotonically increasing times. The value of the control curve is computed by linearly interpolating the values of the appropriate control nodes.

For this Control, parameters are the values of the ControlLinearNode's.

Author: Frank C. Anderson

Version: 1.0

Member Typedef Documentation

◆ Self

typedef ControlLinear OpenSim::ControlLinear::Self

This typedef might be useful within the member functions of this class.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef Control OpenSim::ControlLinear::Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ ControlLinear() [1/2]

OpenSim::ControlLinear::ControlLinear ( )

◆ ControlLinear() [2/2]

OpenSim::ControlLinear::ControlLinear ( const ControlLinear & aControl )

◆ ~ControlLinear()

virtual OpenSim::ControlLinear::~ControlLinear ( )

virtual

Member Function Documentation

◆ assign()

void OpenSim::ControlLinear::assign ( Object & aObject )

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type ControlLinear.

◆ clearControlNodes()

void OpenSim::ControlLinear::clearControlNodes ( )

◆ clone()

ControlLinear* OpenSim::ControlLinear::clone ( ) const

inlineoverridevirtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Control.

◆ copyData()

void OpenSim::ControlLinear::copyData ( const ControlLinear & aControl )

Copy the member variables of the specified ControlLinear over to this ControlLinear.

◆ filter()

void OpenSim::ControlLinear::filter ( double aT )

overridevirtual

Filter the control curve at a particular time using a PD follower filter.

See also: setFilterOn()

Parameters

aT	Time at which to compute a new, filtered control value

Reimplemented from OpenSim::Control.

◆ getClassName()

static const std::string& OpenSim::ControlLinear::getClassName ( )

inlinestatic

This returns "ControlLinear".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

const std::string& OpenSim::ControlLinear::getConcreteClassName ( ) const

inlineoverridevirtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also: getClassName()

Implements OpenSim::Control.

◆ getControlMaxValues()

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMaxValues ( )

inline

◆ getControlMinValues()

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlMinValues ( )

inline

◆ getControlValue()

double OpenSim::ControlLinear::getControlValue ( double aT )

overridevirtual

Gets the value of this control at time aT.

If the value of the curve is not defined, SimTK::NaN is returned. If the control is set to extrapolate, (see getExtrapolate()), and the time is before that of the first node or after that of the last node, then an extrapolation is performed to determine the value of the control curve. Otherwise, the value of either the first control node or last control node is returned.

Parameters

aT	Time at which to get the control.

Implements OpenSim::Control.

◆ getControlValueMax()

double OpenSim::ControlLinear::getControlValueMax ( double aT = 0.0 )

overridevirtual

Gets the maximum allowed value of this control at time aT.

Parameters

aT	Time at which to get the control.

Returns: Maximum allowed control value. If the value of the curve is not defined, _defaultMax is returned. If the control is set to extrapolate, getExtraplate, and the time is before the first node or after the last node, then an extrapolation is performed to determine the value of the control curve. Otherwise, the value of either the first control node or last control node is returned.

Implements OpenSim::Control.

◆ getControlValueMin()

double OpenSim::ControlLinear::getControlValueMin ( double aT = 0.0 )

overridevirtual

Gets the minimum allowed value of this control at time aT.

Parameters

aT	Time at which to get the control.

Returns: Minimum allowed control value. If the value of the curve is not defined, _defaultMin is returned. If the control is set to extrapolate, (see getExtraplate()), and the time is before the first node or after the last node, then an extrapolation is performed to determine the value of the control curve. Otherwise, the value of either the first control node or last control node is returned.

Implements OpenSim::Control.

◆ getControlValues()

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::getControlValues ( )

inline

◆ getFirstTime()

const double OpenSim::ControlLinear::getFirstTime ( ) const

overridevirtual

The time corresponding to the first ControlLinearNode.

Reimplemented from OpenSim::Control.

◆ getKp()

double OpenSim::ControlLinear::getKp ( ) const

See also: setKp()

◆ getKv()

double OpenSim::ControlLinear::getKv ( ) const

See also: setKv()

◆ getLastTime()

const double OpenSim::ControlLinear::getLastTime ( ) const

overridevirtual

The time corresponding to the last ControlLinearNode.

Reimplemented from OpenSim::Control.

◆ getNumParameters()

int OpenSim::ControlLinear::getNumParameters ( ) const

overridevirtual

Returns the number of parameters that are used to specify the control curve.

Implements OpenSim::Control.

◆ getParameterList() [1/2]

int OpenSim::ControlLinear::getParameterList	(	double	aT,
		Array< int > &	rList
	)

overridevirtual

Parameters

aT	time
rList	If aT lies between two nodes, the indices of these two nodes are returned; if aT equals the time at which a node occurs, the index of that node is returned; if aT is less than the time of the first node in the array, the index of the first node (i.e., 0) is returned; if aT is greater than the time of the last node, the index of the last node (i.e., size-1) is returned.

Implements OpenSim::Control.

◆ getParameterList() [2/2]

int OpenSim::ControlLinear::getParameterList	(	double	aTLower,
		double	aTUpper,
		Array< int > &	rList
	)

overridevirtual

Gets the list of parameters that affect the control curve between two specified times and that do NOT affect the control curve below the lower of these two times.

This method is useful when solving for a set of controls for a dynamic simulation. When solving for a set of controls, one always wants to go forward in time. Therefore, one does not want to change control parameters that affect the control curve at past times.

A control parameter is included in the list only if it affects the control curve in the specified time interval AND does NOT affect the control curve below the lower bound of the specified time interval. So, it is possible that some of the parameters on the returned list could affect the control curve at times greater than the upper bound of the specified time interval.

Parameters

aTLower	Lower time bound.
aTUpper	Upper time bound.
rList	List of indices of the control parameters that affect the curve between aTLower and aTUpper but not before aTLower.

Returns: Length of rList.

Implements OpenSim::Control.

◆ getParameterMax()

double OpenSim::ControlLinear::getParameterMax ( int aI ) const

overridevirtual

See also: setParameterMax()

Parameters

aI	Index of the parameter.

Exceptions

Exception if aI is invalid.

Implements OpenSim::Control.

◆ getParameterMin()

double OpenSim::ControlLinear::getParameterMin ( int aI ) const

overridevirtual

See also: setParameterMin()

Parameters

aI	Index of the parameter for which the minimum value is desired.

Exceptions

Exception if aI is invalid.

Implements OpenSim::Control.

◆ getParameterNeighborhood()

void OpenSim::ControlLinear::getParameterNeighborhood	(	int	aI,
		double &	rTLower,
		double &	rTUpper
	)		const

overridevirtual

Parameters

aI	Index of the parameter.
rTLower	The time of parameter aI-1 or of aI if there is no parameter aI-1. If there are no ControlLinearNode's at all or if aI is invalid, rTLower is given the value SimTK::NaN.
rTUpper	The time of parameter aI+1 or of aI if there is no parameter aI+1. If there are no ControlLinearNode's at all or if aI is invalid, rTUpper is given the value SimTK::NaN.

Implements OpenSim::Control.

◆ getParameterTime()

double OpenSim::ControlLinear::getParameterTime ( int aI ) const

overridevirtual

Get the time at which a parameter (control curve value) is specified.

Not for minimum or maximum values of parameters; only for specified values of the control curve, as set via setParameterValue() or setControlValue().

Parameters

aI	Index of the parameter.

Exceptions

Exception if aI is invalid.

Implements OpenSim::Control.

◆ getParameterValue()

double OpenSim::ControlLinear::getParameterValue ( int aI ) const

overridevirtual

See also: setParameterValue()

Implements OpenSim::Control.

◆ getUseSteps()

bool OpenSim::ControlLinear::getUseSteps ( ) const

See also: setUseSteps()

◆ insertNewMaxNode()

void OpenSim::ControlLinear::insertNewMaxNode	(	int	index,
		const ControlLinearNode &	newNode
	)

inline

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ insertNewMinNode()

void OpenSim::ControlLinear::insertNewMinNode	(	int	index,
		const ControlLinearNode &	newNode
	)

inline

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ insertNewValueNode()

void OpenSim::ControlLinear::insertNewValueNode	(	int	index,
		const ControlLinearNode &	newNode
	)

inline

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ Interpolate()

static double OpenSim::ControlLinear::Interpolate	(	double	aX1,
		double	aY1,
		double	aX2,
		double	aY2,
		double	aX
	)

static

Linearly interpolate or extrapolate given two points.

Parameters

aX1	X coordinate of point 1.
aY1	Y coordinate of point 1.
aX2	X coordinate of point 2.
aY2	Y coordinate of point 2.
aX	X coordinate whose corresponding Y coordinate is desired.

Returns: Y value corresponding to aX.

◆ operator=()

ControlLinear& OpenSim::ControlLinear::operator= ( const ControlLinear & aControl )

◆ safeDownCast()

static ControlLinear* OpenSim::ControlLinear::safeDownCast ( OpenSim::Object * obj )

inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = ControlLinear.safeDownCast(obj). This is equivalent to dynamic_cast<ControlLinear*>(obj) in C++.

◆ setControlValue()

void OpenSim::ControlLinear::setControlValue	(	double	aT,
		double	aX
	)

overridevirtual

This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing ControlLinearNode, in which case the parameters of that control node are changed.

Implements OpenSim::Control.

◆ setControlValueMax()

void OpenSim::ControlLinear::setControlValueMax	(	double	aT,
		double	aX
	)

overridevirtual

This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed.

Implements OpenSim::Control.

◆ setControlValueMin()

void OpenSim::ControlLinear::setControlValueMin	(	double	aT,
		double	aX
	)

overridevirtual

This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed.

Implements OpenSim::Control.

◆ setKp()

void OpenSim::ControlLinear::setKp ( double aKp )

Sets the position gain for PD follower filter.

This value is relevant only if the PD follower filter will be used.

See also: setFilterOn()

Parameters

aKp	Value of position gain for the PD follower filter.

◆ setKv()

void OpenSim::ControlLinear::setKv ( double aKv )

Sets the velocity gain for PD follower filter.

This value is relevant only if the PD follower filter will be used.

See also: setFilterOn()

Parameters

aKv	Value of velocity gain for the PD follower filter.

◆ setParameterMax()

void OpenSim::ControlLinear::setParameterMax	(	int	aI,
		double	aMax
	)

overridevirtual

Set the maximum value that a control parameter can take on.

Parameters

aI	Index of the parameter.
aMax	Maximum value the parameter can have.

Exceptions

Exception if aI is invalid.

Implements OpenSim::Control.

◆ setParameterMin()

void OpenSim::ControlLinear::setParameterMin	(	int	aI,
		double	aMin
	)

overridevirtual

Sets the minimum value that a control parameter can take on.

Parameters

aI	Index of the parameter.
aMin	Minimum value the parameter can have.

Exceptions

Exception if aI is invalid.

Implements OpenSim::Control.

◆ setParameterValue()

void OpenSim::ControlLinear::setParameterValue	(	int	aI,
		double	aP
	)

overridevirtual

Parameters

aI	Index of the parameter.
aP	The parameter value is simply the value of the aI-th ControlLinearNode (which is the value of the control curve).

Implements OpenSim::Control.

◆ setupProperties()

void OpenSim::ControlLinear::setupProperties ( )

overrideprotectedvirtual

Connect properties to local pointers.

Reimplemented from OpenSim::Control.

◆ setUseSteps()

void OpenSim::ControlLinear::setUseSteps ( bool aTrueFalse )

Sets whether or not step functions are used between control nodes or linear interpolation.

When step functions are used, the value of the control curve between two nodes is the value of the node that occurs later in time.

Parameters

aTrueFalse If true, step functions will be used to determine the value between adjacent nodes. If false, linear interpolation will be used.

◆ simplify() [1/2]

void OpenSim::ControlLinear::simplify ( const PropertySet & aProperties )

overridevirtual

The number of control nodes is reduced by first applying a lowpass filter to the sequence of control nodes using a specified cutoff frequency and then removing nodes that keep the curve within a specified distance to the low-pass filtered curve.

The PropertySet should contain:

TYPE	NAME
PropertyDbl	cutoff_frequency
PropertyDbl	distance

Parameters

aProperties PropertySet containing the needed properties for this method.

Exceptions

Exception if an error is encountered.

Reimplemented from OpenSim::Control.

◆ simplify() [2/2]

bool OpenSim::ControlLinear::simplify	(	const double &	cutoffFrequency,
		const double &	distance
	)

Another interface to simplify that: (1) does not require properties, and (2) returns bool on failure for a more graceful batch simplification.

Member Data Documentation

◆ _kp

double& OpenSim::ControlLinear::_kp

protected

◆ _kv

double& OpenSim::ControlLinear::_kv

protected

◆ _maxNodes

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_maxNodes

protected

◆ _minNodes

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_minNodes

protected

◆ _propKp

PropertyDbl OpenSim::ControlLinear::_propKp

protected

Position gain for PD follower filter.

◆ _propKv

PropertyDbl OpenSim::ControlLinear::_propKv

protected

Velocity gain for PD follower filter.

◆ _propMaxNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMaxNodes

protected

◆ _propMinNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMinNodes

protected

◆ _propUseSteps

PropertyBool OpenSim::ControlLinear::_propUseSteps

protected

Flag that indicates whether or not to linearly interpolate between nodes or use step functions.

◆ _propXNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propXNodes

protected

Array of control nodes.

◆ _searchNode

ControlLinearNode OpenSim::ControlLinear::_searchNode

protected

Utility node for speeding up searches for control values in getControlValue() and elsewhere.

Without this node, a control node would need to be constructed, but this is too expensive. It is better to construct a node up front, and then just alter the time.

◆ _useSteps

bool& OpenSim::ControlLinear::_useSteps

protected

◆ _xNodes

ArrayPtrs<ControlLinearNode>& OpenSim::ControlLinear::_xNodes

protected

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

OpenSim/Simulation/Control/ControlLinear.h

Public Member Functions

Public Types

Static Public Member Functions

Protected Member Functions

Protected Attributes

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ ControlLinear() [1/2]

◆ ControlLinear() [2/2]

◆ ~ControlLinear()

Member Function Documentation

◆ assign()

◆ clearControlNodes()

◆ clone()

◆ copyData()

◆ filter()

◆ getClassName()

◆ getConcreteClassName()

◆ getControlMaxValues()

◆ getControlMinValues()

◆ getControlValue()

◆ getControlValueMax()

◆ getControlValueMin()

◆ getControlValues()

◆ getFirstTime()

◆ getKp()

◆ getKv()

◆ getLastTime()

◆ getNumParameters()

◆ getParameterList() [1/2]

◆ getParameterList() [2/2]

◆ getParameterMax()

◆ getParameterMin()

◆ getParameterNeighborhood()

◆ getParameterTime()

◆ getParameterValue()

◆ getUseSteps()

◆ insertNewMaxNode()

◆ insertNewMinNode()

◆ insertNewValueNode()

◆ Interpolate()

◆ operator=()

◆ safeDownCast()

◆ setControlValue()

◆ setControlValueMax()

◆ setControlValueMin()

◆ setKp()

◆ setKv()

◆ setParameterMax()

◆ setParameterMin()

◆ setParameterValue()

◆ setupProperties()

◆ setUseSteps()

◆ simplify() [1/2]

◆ simplify() [2/2]

Member Data Documentation

◆ _kp

◆ _kv

◆ _maxNodes

◆ _minNodes

◆ _propKp

◆ _propKv

◆ _propMaxNodes

◆ _propMinNodes

◆ _propUseSteps

◆ _propXNodes

◆ _searchNode

◆ _useSteps

◆ _xNodes