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API
4.0
For C++ developers
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API
4.0
For C++ developers
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Namespaces | |
| DebugUtilities | |
Classes | |
| class | AbstractChannel |
| One of the values of an Output. More... | |
| class | AbstractDataTable |
| AbstractDataTable is the base-class of all DataTable_(templated) allowing storage of DataTable_ templated on different types to be stored in a container like std::vector. More... | |
| class | AbstractInput |
| A specialized Socket that connects to an Output signal is an Input. More... | |
| class | AbstractOutput |
| Output formalizes the access to a value of interest computed by the owning Component. More... | |
| class | AbstractPathPoint |
| An abstract class implementing a path point interface. More... | |
| class | AbstractProperty |
| An abstract property is a serializable (name,value) pair, for which we do not know the type of the value. More... | |
| class | AbstractReporter |
| This abstract class represents a Reporter that generates a report from values generated by Components in a Model during a simulation. More... | |
| class | AbstractSocket |
| A Socket formalizes the dependency between a Component and another object (typically another Component) without owning that object. More... | |
| class | AbstractTool |
| An abstract class for specifying the interface for an investigation. More... | |
| class | AbstractValueArray |
| ValueArray (of type T) represents an array of SimTK::Value (of type T). More... | |
| class | ActivationFiberLengthMuscle |
| A base class representing a two-state muscle-tendon actuator. More... | |
| class | ActivationFiberLengthMuscle_Deprecated |
| A base class representing a muscle-tendon actuator. More... | |
| class | ActiveForceLengthCurve |
| This class serves as a serializable ActiveForceLengthCurve, commonly used to model the active element in muscle models. More... | |
| class | Actuation |
| A class for recording the basic actuator information for a model during a simulation. More... | |
| class | Actuator |
| Base class for an actuator (e.g., a torque motor, muscle, ...) that requires a generic external input (a vector of controls) to generate force. More... | |
| class | ActuatorForceProbe |
| ActuatorForceProbe is a ModelComponent Probe for computing an operation on a force or sum of forces in the model during a simulation. More... | |
| class | ActuatorForceTarget |
| A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production. More... | |
| class | ActuatorForceTargetFast |
| A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production. More... | |
| class | ActuatorPowerProbe |
| ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation. More... | |
| class | Analysis |
| An abstract class for specifying the interface for an analysis plugin. More... | |
| class | AnalysisSet |
| A class for holding and managing a set of integration callbacks for a model. More... | |
| class | AnalyticGeometry |
| Abstract class for analytical geometry (e.g. More... | |
| class | AnalyzeTool |
| An abstract class for specifying the interface for an investigation. More... | |
| class | Appearance |
| A class that holds the Appearance properties of Geometry displayed in the OpenSim Visualizer. More... | |
| class | Array |
| A class for storing an array of values of type T. More... | |
| class | ArrayPtrs |
| class | Arrow |
| Arrow is a Geometry subclass used to represent an arrow. More... | |
| class | AssemblySolver |
| Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values. More... | |
| class | BallJoint |
| A class implementing a Ball joint. More... | |
| class | Bhargava2004MuscleMetabolicsProbe |
| Bhargava2004MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation. More... | |
| class | Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameter |
| Documentation for this class has been provided with the documentation for the Bhargava2004MuscleMetabolicsProbe class. More... | |
| class | Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameterSet |
| MetabolicMuscleParameterSet is a class that holds the set of MetabolicMuscleParameters for each muscle. More... | |
| class | Body |
| An OpenSim::Body is a PhysicalFrame (reference frame) with associated inertia specified by its mass, center-of-mass located in the PhysicalFrame, and its moment of inertia tensor about the center-of-mass. More... | |
| class | BodyActuator |
| Apply a spatial force (that is, [torque, force]) on a given point of the given body. More... | |
| class | BodyKinematics |
| A class for recording the kinematics of the bodies of a model during a simulation. More... | |
| class | BodyScale |
| A class implementing a set of parameters describing how to scale a body segment. More... | |
| class | BodyScaleSet |
| A class for holding a set of body scales. More... | |
| class | BodySet |
| A class for holding a set of bodies. More... | |
| class | Brick |
| A class to represent Brick geometry. More... | |
| class | BushingForce |
| A class implementing a Bushing Force. More... | |
| class | C3DFileAdapter |
| class | ClutchedPathSpring |
| The ClutchedPathSpring is an actuator that has passive path spring behavior only when the clutch is engaged. More... | |
| class | CMC |
| Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and governed by differential equations (and so have delays in force production). More... | |
| class | CMC_Joint |
| A class for specifying the tracking task for a joint. More... | |
| class | CMC_Orientation |
| A class for tracking the orientation of a body. More... | |
| class | CMC_Point |
| A class for specifying and computing parameters for tracking a point. More... | |
| class | CMC_Task |
| An abstract base class for specifying a task objective for a dynamic simulation. More... | |
| class | CMC_TaskSet |
| An class for holding and managing a set of tasks. More... | |
| class | CMCTool |
| An abstract class for specifying the interface for an investigation. More... | |
| class | ColumnIndexOutOfRange |
| class | Component |
| The abstract Component class defines the interface used to add computational elements to the underlying SimTK::System (MultibodySystem). More... | |
| class | ComponentAlreadyPartOfOwnershipTree |
| class | ComponentFilter |
A class to specify a filter to be used to iterate through components. More... | |
| class | ComponentFilterAbsolutePathNameContainsString |
| A component is considered a match if its absolute path name contains the given string. More... | |
| class | ComponentFilterMatchAll |
ComponentFilterMatchAll is a trivial Filter that matches all components. More... | |
| class | ComponentHasNoName |
| Component Exceptions. More... | |
| class | ComponentHasNoSystem |
| class | ComponentIsAnOrphan |
| class | ComponentIsRootWithNoSubcomponents |
| class | ComponentList |
Collection (linked list) of components to iterate through. More... | |
| class | ComponentListIterator |
| Class used to iterate over subcomponents of a specific type (by default, any Component). More... | |
| class | ComponentNotFound |
| class | ComponentNotFoundOnSpecifiedPath |
| class | ComponentPath |
| A class for handling Paths for Components, deriving from Path. More... | |
| class | ComponentSet |
| A class for holding a set of miscellaneous model components. More... | |
| class | Condition |
| A parent class for implementing an OpenSim Condition. More... | |
| class | ConditionalPathPoint |
| A class implementing a conditional path point, which is a point that is active only for a specified range of a coordinate. More... | |
| class | Cone |
| A class to represent a Cone geometry. More... | |
| class | ConnecteeNotSpecified |
| class | ConsoleReporter_ |
| A reporter that simply prints quantities to the console (command window or terminal), perhaps to monitor the progress of a simulation as it executes. More... | |
| class | Constant |
| A class for representing a constant value. More... | |
| class | ConstantDistanceConstraint |
| A class implementing a constraint that maintains a constant distance between between two points on separate PhysicalFrames. More... | |
| class | ConstantMuscleActivation |
| This constant muscle activation model simply holds activation at the value that was provided most recently, and can be used to generate an activation signal without relying on an excitation signal. More... | |
| class | Constraint |
| A parent class for implementing a Simbody Constraint. More... | |
| class | ConstraintSet |
| A class for holding a set of constraints. More... | |
| class | ContactGeometry |
| This class represents the physical shape of an object for use in contact modeling. More... | |
| class | ContactGeometrySet |
| A class for holding a set of ContactGeometry components. More... | |
| class | ContactHalfSpace |
| This class represents a half space (that is, everything to one side of an infinite plane) for use in contact modeling. More... | |
| class | ContactMesh |
| This class represents a polygonal mesh for use in contact modeling. More... | |
| class | ContactSphere |
| This class represents a spherical object for use in contact modeling. More... | |
| class | Control |
| A class that represents a control in a dynamic simulation. More... | |
| class | ControlConstant |
| A class that represents a constant control curve. More... | |
| class | Controller |
| Controller is an abstract ModelComponent that defines the interface for an OpenSim Controller. More... | |
| class | ControllerSet |
| A class for holding and managing a set of controllers for a model. More... | |
| class | ControlLinear |
| A class that represents a piece-wise linear control curve. More... | |
| class | ControlLinearNode |
| A control node used to reconstruct a piecewise linear control. More... | |
| class | ControlSet |
| A class for holding and managing a set of controls for a dynamic simulation. More... | |
| class | ControlSetController |
| ControlSetController that simply assigns controls from a ControlSet. More... | |
| class | Coordinate |
| A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized). More... | |
| class | CoordinateActuator |
| An actuator that applies a generalized force in the direction of a generalized coordinate. More... | |
| class | CoordinateCouplerConstraint |
| class | CoordinateLimitForce |
| Generate a force that acts to limit the range of motion of a coordinate. More... | |
| class | CoordinateReference |
| Reference value to be achieved for a specified coordinate that will be used via optimization and/or tracking. More... | |
| class | CoordinateSet |
| A class for holding a set of coordinates. More... | |
| class | CorrectionController |
| This is a simple feedback controller to be used in generating a forward dynamic simulation. More... | |
| class | CSVFileAdapter |
| CSVFileAdapter is a DelimFileAdapter that presets the delimiters appropriately for CSV files. More... | |
| class | CustomJoint |
A class implementing a custom joint. More... | |
| class | Cylinder |
| A class to represent a Cylinder geometry. More... | |
| class | DataAdapter |
| DataAdapter is an abstract class defining an interface for reading/writing in/out the contents of a DataTable. More... | |
| class | DataAdapterAlreadyRegistered |
| class | DataTable_ |
| DataTable_ is an in-memory storage container for data with support for holding metadata (using the base class AbstractDataTable). More... | |
| class | DataTypeMismatch |
| class | DelimFileAdapter |
| DelimFileAdapter is a FileAdapter that reads and writes text files with given delimiters. More... | |
| class | Delp1990Muscle_Deprecated |
| A class implementing a SIMM muscle. More... | |
| class | DynamicsTool |
| An abstract Tool for defining tools for performing a dynamics analysis with a given model. More... | |
| class | ElasticFoundationForce |
| This Force subclass implements an elastic foundation contact model. More... | |
| class | Ellipsoid |
| A class to represent an Ellipsoid geometry. More... | |
| class | EllipsoidJoint |
| A class implementing a Ellipsoid joint. More... | |
| class | EmptyFileName |
| class | EmptyTable |
| struct | Event |
| Struct representing an event extracted from a C3D file. More... | |
| class | Exception |
| A class for basic exception functionality. More... | |
| class | ExpressionBasedBushingForce |
| A class implementing a bushing force specified by expressions of the deflection between two bushing frames. More... | |
| class | ExpressionBasedCoordinateForce |
| class | ExpressionBasedPointToPointForce |
| A point-to-point Force who's force magnitude is determined by a user-defined expression, with the distance (d) and its time derivative (ddot) as variables. More... | |
| class | ExternalForce |
| An ExternalForce is a Force class specialized at applying an external force and/or torque to a body as described by arrays (columns) of a Storage object. More... | |
| class | ExternalLoads |
| A convenience class for managing ExternaForce(s) to be applied to a model. More... | |
| class | FiberCompressiveForceCosPennationCurve |
This class serves as a serializable FiberCompressiveForceCosPennationCurve, which is used to ensure that the pennation angle approaches but never reaches an angle of 90 degrees. More... | |
| class | FiberCompressiveForceLengthCurve |
This class serves as a serializable FiberCompressiveForceLengthCurve, which is used to ensure that the fiber cannot generate force at, nor shorten beyond a minimum normalized length. More... | |
| class | FiberForceLengthCurve |
| This class serves as a serializable FiberForceLengthCurve, commonly used to model the parallel elastic element in muscle models. More... | |
| class | FileAdapter |
| FileAdapter is a DataAdapter that reads and writes files with methods readFile and writeFile respectively. More... | |
| class | FileDoesNotExist |
| class | FileExtensionNotFound |
| class | FileIsEmpty |
| class | FirstOrderMuscleActivationDynamics |
| Computes muscle activation using a modified version of the first-order dynamic models used by Thelen (2003) and Winters (1995). More... | |
| class | Force |
| This abstract class represents a force applied to bodies or generalized coordinates during a simulation. More... | |
| class | ForceAdapter |
| This acts as an adapter to allow a Force or Actuator to be used as a SimTK::Force. More... | |
| class | ForceReporter |
| A class for recording the Forces applied to a model during a simulation. More... | |
| class | ForceSet |
| A class for holding and managing a set of forces for a model. More... | |
| class | ForceVelocityCurve |
| This class serves as a serializable ForceVelocityCurve for use in muscle models. More... | |
| class | ForceVelocityInverseCurve |
| This class serves as a serializable ForceVelocityInverseCurve for use in equilibrium muscle models. More... | |
| class | ForwardTool |
| A concrete tool for performing forward dynamics simulations. More... | |
| class | Frame |
| A Frame is an OpenSim representation of a reference frame. More... | |
| class | FrameGeometry |
| A class to represent Frame geometry. More... | |
| class | FreeJoint |
| A class implementing a Free joint. More... | |
| class | Function |
| An abstract class for representing a function. More... | |
| class | FunctionBasedBushingForce |
| A class implementing a bushing force specified by functions of the frame deflections. More... | |
| class | FunctionSet |
| A class for holding a set of functions. More... | |
| class | FunctionThresholdCondition |
| FunctionThresholdCondition is a concrete implementation of a Condition. More... | |
| class | GCVSpline |
| A class for representing a smooth function with a generalized cross-validation spline. More... | |
| class | GCVSplineSet |
| A class for holding a set of generalized cross-validated splines. More... | |
| class | GenericModelMaker |
| A class implementing a set of parameters describing a generic musculoskeletal model. More... | |
| class | Geometry |
Class Geometry is intended to be used as the base class for all geometry that needs to be represented in the system, including mesh files, and built in analytic shapes. More... | |
| class | GeometryPath |
| A base class representing a path (muscle, ligament, etc.). More... | |
| class | GimbalJoint |
A class implementing a Gimbal joint. More... | |
| class | Ground |
| Ground is an inertial reference frame in which the motion of all Frames and points may conveniently and efficiently be expressed. More... | |
| class | HuntCrossleyForce |
| This force subclass implements a Hunt-Crossley contact model. More... | |
| class | IKCoordinateTask |
| class | IKMarkerTask |
| class | IKTask |
| class | IKTaskSet |
| class | IncorrectMetaDataLength |
| class | IncorrectNumColumnLabels |
| class | IncorrectNumColumns |
| class | IncorrectNumMetaDataKeys |
| class | IncorrectNumRows |
| class | IncorrectNumTokens |
| class | IncorrectTableType |
| class | IndexOutOfRange |
| class | InducedAccelerations |
| A class to perform an Induced Accelerations analysis using a constraint- method of replacing external (contact) forces in order to determine the contributions of actuators to external reaction forces and thus model accelerations including that of the center-of-mass. More... | |
| class | InducedAccelerationsSolver |
A Solver to compute the induced accelerations of an applied "force" acting on the model. More... | |
| class | Input |
| An Input<Y> must be connected by an Output<Y> More... | |
| class | InputNotConnected |
| ComponentSocket Exceptions. More... | |
| class | InputNotFound |
| class | InvalidArgument |
| class | InvalidCall |
| class | InvalidColumn |
| class | InvalidColumnLabel |
| class | InvalidComponentName |
| class | InvalidPropertyValue |
| Property Exceptions. More... | |
| class | InvalidRow |
| class | InvalidTable |
| class | InvalidTemplateArgument |
| class | InvalidTimeRange |
| class | InvalidTimestamp |
| class | InverseDynamicsSolver |
| Solve for the generalized coordinate forces (1 per degree-of- freedom) that satisfy the unconstrained equations of motion given kinematics: q, u, u_dot. More... | |
| class | InverseDynamicsTool |
| A Tool that performs an Inverse Dynamics analysis with a given model. More... | |
| class | InverseKinematicsSolver |
| Solve for the coordinates (degrees of freedom) of the model that satisfy the set of constraints imposed on the model and the set of desired coordinate values. More... | |
| class | InverseKinematicsTool |
| A Tool that performs an Inverse Kinematics analysis with a given model. More... | |
| class | IO |
| A class for performing input and output with OpenSim API. More... | |
| class | IOError |
| class | Joint |
An OpenSim Joint is an OpenSim::ModelComponent which connects two PhysicalFrames together and specifies their relative permissible motion as described in internal coordinates. More... | |
| class | JointFramesAreTheSame |
| class | JointFramesHaveSameBaseFrame |
| class | JointHasNoCoordinates |
| class | JointInternalPowerProbe |
| JointInternalPowerProbe is a ModelComponent Probe for computing an operation on internal joint power or sum of joint powers in the model during a simulation. More... | |
| class | JointReaction |
| An analysis for reporting the joint reaction loads from a model. More... | |
| class | JointSet |
| A class for holding a set of joints. More... | |
| class | KeyExists |
| class | KeyMissing |
| class | KeyNotFound |
| class | Kinematics |
| A class for recording the kinematics of the generalized coordinates of a model during a simulation. More... | |
| class | Ligament |
| A class implementing a ligament. More... | |
| class | LinearFunction |
| A class for representing a LinearFunction. More... | |
| class | LineGeometry |
| LineGeometry is a utility class used to abstract a line segment. More... | |
| class | Manager |
| A class that manages the execution of a simulation. More... | |
| class | Marker |
| A class implementing a Mocap marker. More... | |
| class | MarkerData |
| A class implementing a sequence of marker frames from a TRC/TRB file. More... | |
| class | MarkerFrame |
| A class implementing a frame of marker data from a TRC/TRB file. More... | |
| class | MarkerPair |
| A class for holding the names of a pair of markers (for making measurements on a model). More... | |
| class | MarkerPairSet |
| A class for holding a set of SimmMarkerPairs. More... | |
| class | MarkerPlacer |
| A class implementing a set of parameters describing how to place markers on a model (presumably after it has been scaled to fit a subject). More... | |
| class | MarkerSet |
| A class for holding a set of markers. More... | |
| class | MarkersReference |
| Reference values to be achieved for specified Markers that will be used via optimization and/or tracking. More... | |
| class | MarkerWeight |
| class | McKibbenActuator |
| McKibben Pneumatic Actuator Model based on the simple cylindrical formulation described in J. More... | |
| class | Measurement |
| A class implementing a measurement (the distance between one or more pairs of markers, used to scale a model). More... | |
| class | MeasurementSet |
| A class for holding a set of measurements. More... | |
| class | Mesh |
| A class to represent Mesh geometry that comes from a file. More... | |
| class | MetaDataLengthMismatch |
| class | Millard2012AccelerationMuscle |
This class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocities) curves can be employed. More... | |
| class | Millard2012EquilibriumMuscle |
This class implements a configurable equilibrium muscle model, as described in Millard et al. (2013). More... | |
| class | MissingHeader |
| class | MissingMetaData |
| class | Model |
| A concrete class that specifies the interface to a musculoskeletal model. More... | |
| class | ModelComponent |
| This defines the abstract ModelComponent class, which is used to specify components of a musculoskeletal model and the elements they add to the underlying computational SimTK::System (MultibodySystem). More... | |
| class | ModelComponentSet |
| class | ModelDisplayHints |
| This class captures information indicating user or programmer preferences to guide automatic display geometry generation by a Model. More... | |
| class | ModelHasNoSystem |
| Model Exceptions. More... | |
| class | ModelScaler |
| A class for scaling a model. More... | |
| class | ModelVisualizer |
| This class manages runtime visualization of a Model that is being manipulated through the OpenSim API. More... | |
| class | ModelVisualPreferences |
A class that holds the Visual Preferences of a full OpenSim Model displayed in Visualizer. More... | |
| class | MomentArmSolver |
| Solve for the effective moment arms at all degrees-of-freedom due to one or more point forces. More... | |
| class | MovingPathPoint |
| A class implementing a moving muscle point, which is a muscle point that moves in a body's reference frame as a function of a coordinate. More... | |
| class | MultiplierFunction |
| A class implementing a Function and a scale factor for the function's value. More... | |
| class | Muscle |
| A base class for modeling a muscle-tendon actuator. More... | |
| class | MuscleActivationDynamics |
| An abstract class for modeling muscle activation dynamics. More... | |
| class | MuscleActiveFiberPowerProbe |
MuscleActiveFiberPowerProbe is a ModelComponent probe for computing an operation on the active fiber power of a muscle. More... | |
| class | MuscleAnalysis |
| A class for recording and computing basic quantities (length, shortening velocity, tendon length, ...) for muscles during a simulation. More... | |
| class | MuscleCannotEquilibrate |
| class | MuscleFirstOrderActivationDynamicModel |
| This is a muscle modeling utility class that computes the time derivative of activation using a first-order dynamic model. More... | |
| class | MuscleFixedWidthPennationModel |
| This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model. More... | |
| class | MuscleSecondOrderActivationDynamicModel |
This function is a muscle modeling utility class that simulates dynamics of muscle force development as a function of input excitation. More... | |
| class | MuscleStateTrackingTask |
| A TrackingTask for that corresponds to a muscle state variable. More... | |
| class | NoColumnLabels |
| class | NoRegisteredDataAdapter |
| class | NoTableFound |
| class | Object |
| This is the base class for all OpenSim objects that are serializable (meaning they can be written to and read back from files). More... | |
| struct | Object_GetClassName |
| struct | Object_GetClassName< bool > |
| struct | Object_GetClassName< char > |
| struct | Object_GetClassName< double > |
| struct | Object_GetClassName< float > |
| struct | Object_GetClassName< int > |
| struct | Object_GetClassName< long double > |
| struct | Object_GetClassName< long int > |
| struct | Object_GetClassName< long long int > |
| struct | Object_GetClassName< short int > |
| struct | Object_GetClassName< signed char > |
| struct | Object_GetClassName< SimTK::SpatialVec > |
| struct | Object_GetClassName< SimTK::Transform > |
| struct | Object_GetClassName< SimTK::Vec2 > |
| struct | Object_GetClassName< SimTK::Vec3 > |
| struct | Object_GetClassName< SimTK::Vec6 > |
| struct | Object_GetClassName< SimTK::Vector_< SimTK::Real > > |
| struct | Object_GetClassName< SimTK::Vector_< SimTK::SpatialVec > > |
| struct | Object_GetClassName< SimTK::Vector_< SimTK::Vec3 > > |
| struct | Object_GetClassName< SimTK::Vector_< SimTK::Vec6 > > |
| struct | Object_GetClassName< std::string > |
| struct | Object_GetClassName< unsigned char > |
| struct | Object_GetClassName< unsigned int > |
| struct | Object_GetClassName< unsigned long int > |
| struct | Object_GetClassName< unsigned long long int > |
| struct | Object_GetClassName< unsigned short int > |
| class | ObjectGroup |
| A class implementing an object group. More... | |
| class | ObjectProperty |
| class | OffsetFrame |
| An OffsetFrame is a Frame whose transform (translation and orientation) with respect to another (parent) Frame is constant in time. More... | |
| class | OptimizationTarget |
| This class provides an interface specification for optimizing redundant systems. More... | |
| class | Output |
| class | OutputNotFound |
| class | OutputReporter |
| The OutputReporter Analysis is a wrapper for a TableReporter. More... | |
| class | Path |
| An abstract class for handling a Path. More... | |
| class | PathActuator |
| This is the base class for actuators that apply controllable tension along a geometry path. More... | |
| class | PathPoint |
| A path point that is stationary with respect to parent's PhysicalFrame. More... | |
| class | PathPointSet |
| A class for holding a set of path points. More... | |
| class | PathSpring |
| A class implementing a PathSpring. More... | |
| class | PhysicalFrame |
| A PhysicalFrame is a Frame that locates a physical element of the multi- body system that underlies a Model. More... | |
| class | PhysicalOffsetFrame |
| A PhysicalOffsetFrame is a PhysicalFrame whose transform is specified as a constant offset from another PhysicalFrame. More... | |
| class | PhysicalOffsetFramesFormLoop |
| class | PiecewiseConstantFunction |
| A class implementing a step function. More... | |
| class | PiecewiseLinearFunction |
| A class implementing a linear function. More... | |
| class | PinJoint |
| A Class implementing a Pin joint. More... | |
| class | PlanarJoint |
A class implementing a Planar joint. More... | |
| class | Point |
| A Point is an OpenSim abstraction for any location in space. More... | |
| class | PointActuator |
| A class that implements a point actuator acting on the model. More... | |
| class | PointConstraint |
| A class implementing a Point Constraint. More... | |
| class | PointForceDirection |
| Convenience class for a generic representation of geometry of a complex Force (or any other object) with multiple points of contact through which forces are applied to bodies. More... | |
| class | PointKinematics |
| A class for recording the kinematics of a point on a body of a model during a simulation. More... | |
| class | PointOnLineConstraint |
| A class implementing a Point On Line Constraint. More... | |
| class | PointToPointActuator |
| A class that implements a force actuator acting between two points on two bodies. More... | |
| class | PointToPointSpring |
| A simple point to point spring with a resting length and stiffness. More... | |
| class | PolynomialFunction |
| A class for representing a Polynomial of x. More... | |
| class | PrescribedController |
| PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time. More... | |
| class | PrescribedForce |
| This applies to a PhysicalFrame a force and/or torque that is specified as a function of time. More... | |
| class | Probe |
| This class represents a Probe which is designed to query a Vector of model values given system state. More... | |
| class | ProbeReporter |
| A class for reporting the outputs of all model-connected Probes to file during a simulation. More... | |
| class | ProbeSet |
| A class for holding a set of probes. More... | |
| class | Property |
| A Property<T> is a serializable (name, list-of-values) pair, where each value is of type T. More... | |
| class | Property_Deprecated |
| class | PropertyBool |
| Class PropertyBool extends class Property. More... | |
| class | PropertyBoolArray |
| Class PropertyBoolArray extends class Property. More... | |
| class | PropertyDbl |
| Class PropertyDbl extends class Property. More... | |
| class | PropertyDblArray |
| Class PropertyDblArray extends class Property. More... | |
| class | PropertyDblVec_ |
| Class PropertyDblVec_ extends class Property. More... | |
| class | PropertyGroup |
| A class implementing a property group. More... | |
| class | PropertyInt |
| Class PropertyInt extends class Property. More... | |
| class | PropertyIntArray |
| Class PropertyIntArray extends class Property. More... | |
| class | PropertyObj |
| Class PropertyObj extends class Property. More... | |
| class | PropertyObjArray |
| Class PropertyObjArray extends class Property. More... | |
| class | PropertyObjPtr |
| Class PropertyObjPtr extends class Property. More... | |
| class | PropertySet |
| A property set is simply a set of properties. More... | |
| class | PropertyStr |
| Class PropertyStr extends class Property. More... | |
| class | PropertyStrArray |
| Class PropertyStrArray extends class Property. More... | |
| class | PropertyTable |
| A property table is the container that an OpenSim Object uses to hold its properties (each derived from base class AbstractProperty). More... | |
| class | PropertyTransform |
| Class PropertyTransform extends class Property. More... | |
| class | Reference_ |
| This base (abstract) class defines the interface for a Reference signals to be achieved/tracked via optimization and/or tracking controller. More... | |
| class | Reporter |
| This is an abstract Reporter with a single list Input named "inputs" whose type is templated (InputT). More... | |
| class | RigidTendonMuscle |
| A class implementing a RigidTendonMuscle actuator with no states. More... | |
| class | RollingOnSurfaceConstraint |
| A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface. More... | |
| class | RootSolver |
| A class for finding the N roots of N one-dimensional non-linear equations. More... | |
| class | RowIndexOutOfRange |
| class | RowLengthMismatch |
| class | RRATool |
| An abstract class for specifying the interface for an investigation. More... | |
| class | ScalarActuator |
| This is a derived class from the base class actuator (e.g., a torque motor, muscle, ...) that requires exactly one external input (control) to generate a scalar value force, such as a torque/force magnitude or a tension. More... | |
| class | Scale |
| class | ScaleSet |
| class | ScaleTool |
| A class implementing a set of parameters describing how to scale a model to fit a subject, place markers on it, and do IK on one or more motion trials. More... | |
| class | Schutte1993Muscle_Deprecated |
| A class implementing a SIMM muscle. More... | |
| class | SegmentedQuinticBezierToolkit |
This is a low level Quintic Bezier curve class that contains functions to design continuous sets of 'C' shaped Bezier curves, and to evaluate their values and derivatives. More... | |
| class | Set |
| A class for holding a set of pointers to objects. More... | |
| class | Signal |
| A class for signal processing. More... | |
| class | SignalGenerator |
| SignalGenerator is a type of Component with no inputs and only one output. More... | |
| class | SimbodyEngine |
| A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim. More... | |
| class | SimmSpline |
| A class implementing a smooth function with a cubic spline as implemented in SIMM. More... | |
| class | SimpleProperty |
| class | Sine |
| A class for representing a Sine function. More... | |
| class | SliderJoint |
A class implementing a Slider joint. More... | |
| class | SMC_Joint |
| A class for specifying the tracking task for a joint. More... | |
| class | SmoothSegmentedFunction |
This class contains the quintic Bezier curves, x(u) and y(u), that have been created by SmoothSegmentedFunctionFactory to follow a physiologically meaningful muscle characteristic. More... | |
| class | SmoothSegmentedFunctionFactory |
This is a class that acts as a user friendly wrapper to QuinticBezerCurveSet to build specific kinds of physiologically plausible muscle curves using C2 continuous sets of quintic Bezier curves. More... | |
| class | Socket |
| class | SocketNotFound |
| class | Solver |
| The base (abstract) class for a family of objects responsible for solving system equations (statics, dynamic, kinematics, muscle, etc...) given by a model for values of interest. More... | |
| class | SpatialTransform |
| A class encapsulating the spatial transformation between two bodies that defines the behavior of a custom joint. More... | |
| class | Sphere |
| A class to represent Sphere geometry. More... | |
| class | SpringGeneralizedForce |
| A Force that exerts a generalized force based on spring-like characteristics (stiffness and viscosity). More... | |
| class | StatesReporter |
| A class for recording the states of a model during a simulation. More... | |
| class | StatesTrajectory |
| This class holds a sequence of SimTK::States. More... | |
| class | StatesTrajectoryReporter |
| Stores the states during a simulation in a StatesTrajectory. More... | |
| class | StateTrackingTask |
| A tracking task objective that corresponds to a state variable of a Force component (e.g. More... | |
| class | StateVector |
| A class which stores a vector of states or data at a specified time. More... | |
| class | StaticOptimization |
| This class implements static optimization to compute Muscle Forces and activations. More... | |
| class | StaticOptimizationTarget |
| This class provides an interface specification for static optimization Objective Function. More... | |
| class | Station |
| A Station is a Point fixed to and located on a PhysicalFrame, which can be a Body, Ground or any PhysicalOffsetFrame. More... | |
| class | StepFunction |
| A class for representing a StepFunction. More... | |
| class | STODataTypeNotSupported |
| class | STOFileAdapter_ |
| STOFileAdapter is a DelimFileAdapter that presets the delimiters appropriately for STO files. More... | |
| class | Storage |
| A class for storing an array of statevectors. More... | |
| class | StorageCreator |
| class | StorageFactory |
| class | StorageInterface |
| class | SubcomponentsWithDuplicateName |
| class | SurfaceProperties |
SurfaceProperties class holds the appearance properties of a piece of Geometry displayed in the OpenSim visualizer or GUI as a surface. More... | |
| class | SystemEnergyProbe |
| SystemEnergyProbe is a ModelComponent Probe for computing an operation on a total system energy during a simulation. More... | |
| class | TableMissingHeader |
| class | TableReporter_ |
| This concrete Reporter class collects and reports Output<InputT>s within a TimeSeriesTable_. More... | |
| class | TableSource_ |
| Component representing a source of data from a TimeSeriesTable_. More... | |
| class | TendonForceLengthCurve |
| This class serves as a serializable TendonForceLengthCurve for use in muscle models. More... | |
| class | Thelen2003Muscle |
Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors. More... | |
| class | Thelen2003Muscle_Deprecated |
| A class implementing a SIMM muscle. More... | |
| class | TimeColumnNotIncreasing |
| class | TimeOutOfRange |
| class | TimeSeriesTable_ |
| TimeSeriesTable_ is a DataTable_ where the independent column is time of type double. More... | |
| class | TimestampGreaterThanEqualToNext |
| class | TimestampLessThanEqualToPrevious |
| class | Tool |
| A Tool is an OpenSim abstraction that encapsulates an analysis or series of modeling and analysis steps. More... | |
| class | TorqueActuator |
| A TorqueActuator applies equal and opposite torques on the two bodies (bodyA and B) that it connects. More... | |
| class | Torus |
A class to represent Torus geometry. More... | |
| class | TrackingController |
| TrackingController is an abstract class from which all tracking type of controllers should be derived. More... | |
| class | TrackingTask |
| An abstract base class for specifying a target for a tracking problem. More... | |
| class | TransformAxis |
| A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis. More... | |
| class | TRCFileAdapter |
| TRCFileAdapter is a FileAdapter that reads and writes TRC files. More... | |
| class | TwoFrameLinker |
| TwoFrameLinker is a utility class to extend a Component such that it connects two Frames. More... | |
| class | Umberger2010MuscleMetabolicsProbe |
| Umberger2010MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation. More... | |
| class | Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameter |
| Documentation for this class has been provided with the documentation for the Umberger2010MuscleMetabolicsProbe class. More... | |
| class | Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameterSet |
| MetabolicMuscleParameterSet is an internal container class containing the set of MetabolicMuscleParameters for each muscle that is probed. More... | |
| class | UnexpectedColumnLabel |
| class | UnexpectedMetaDataKey |
| class | UnilateralConstraint |
| An abstract class defining an OpenSim UnilateralConstraint. More... | |
| class | Units |
| A class implementing various units for measuring quantities. More... | |
| class | UniversalJoint |
| A class implementing a Universal joint. More... | |
| class | UnsupportedFileType |
| class | ValueArray |
| class | ValueArrayDictionary |
| ValueArrayDictionary represents an associative array mapping from a string to an AbstractValueArray. More... | |
| class | VectorFunction |
| An abstract class for representing a vector function. More... | |
| class | VectorFunctionForActuators |
| An abstract class for representing a vector function. More... | |
| class | VectorFunctionUncoupledNxN |
| An abstract class for representing a vector function. More... | |
| class | WeldConstraint |
| A class implementing a Weld Constraint. More... | |
| class | WeldJoint |
A class implementing a Weld joint. More... | |
| class | XMLDocument |
| class | ZerothOrderMuscleActivationDynamics |
| This zeroth-order muscle activation dynamic model simply sets activation to excitation, and can be used when activation dynamics are being ignored. More... | |
Typedefs | |
| typedef DataTable_< double, double > | DataTable |
| See DataTable_ for details on the interface. More... | |
| typedef DataTable_< double, SimTK::Vec3 > | DataTableVec3 |
| See DataTable_ for details on the interface. More... | |
| typedef PropertyDblVec_< 2 > | PropertyDblVec2 |
| typedef PropertyDblVec_< 3 > | PropertyDblVec3 |
| typedef PropertyDblVec_< 4 > | PropertyDblVec4 |
| typedef PropertyDblVec_< 5 > | PropertyDblVec5 |
| typedef PropertyDblVec_< 6 > | PropertyDblVec6 |
| typedef STOFileAdapter_< double > | STOFileAdapter |
| typedef STOFileAdapter_< SimTK::Vec3 > | STOFileAdapterVec3 |
| typedef std::map< std::string, std::string, std::less< std::string > > | MapKeysToValues |
| typedef std::map< std::string, OpenSim::StorageCreator *, std::less< std::string > > | mapExtensionsToCreators |
| typedef TableSource_< SimTK::Real > | TableSource |
| This TableSource_ can hold a TimeSeriesTable_<SimTK::Real> and so its list-output 'column' will have channels of type SimTK::Real (double). More... | |
| typedef TableSource_< SimTK::Vec3 > | TableSourceVec3 |
| This TableSource_ can hold a TimeSeriesTable_<SimTK::Vec3> and so its list-output 'column' will have channels of type SimTK::Vec3. More... | |
| typedef TimeSeriesTable_< SimTK::Real > | TimeSeriesTable |
| See TimeSeriesTable_ for details on the interface. More... | |
| typedef TimeSeriesTable_< SimTK::Vec3 > | TimeSeriesTableVec3 |
| See TimeSeriesTable_ for details on the interface. More... | |
| using | VisualRepresentation = SimTK::DecorativeGeometry::Representation |
VisualRepresentation is the OpenSim name used across the OpenSim API, it is an that describes in what form is Geometry displayed: DrawPoints, DrawWireframe, DrawSurface are supported. More... | |
| template<typename T > | |
| using | SetTModelComponent = Set< T, ModelComponent > |
| This is the base class for sets of ModelComponent subclasses. More... | |
Functions | |
| template<typename ETX , typename ETY > | |
| std::ostream & | operator<< (std::ostream &outStream, const DataTable_< ETX, ETY > &table) |
| Print DataTable out to a stream. More... | |
| OSIMCOMMON_API OPENSIM_PORTABLE_HMODULE WINAPI | LoadOpenSimLibrary (const std::string &lpLibFileName, bool verbose) |
| Load an OpenSim (plugin) library, using a path to a library (relative or absolute) but without the file extension (.dll, .so, .dylib). More... | |
| OSIMCOMMON_API void | LoadOpenSimLibrary (const std::string &aLibraryName) |
| Uses LoadOpenSimLibrary(const std::string&, bool), with verbosity. More... | |
| OSIMCOMMON_API bool | LoadOpenSimLibraryExact (const std::string &exactPath, bool verbose=true) |
| Load an OpenSim (plugin) library using the exact path specified. More... | |
| OSIMCOMMON_API void | LoadOpenSimLibraries (int argc, char **argv) |
| Used to process legacy command line arguments that specify plugin libraries to load. More... | |
| SimTK_DEFINE_UNIQUE_INDEX_TYPE (PropertyIndex) | |
| bool OSIMCOMMON_API | readNonCommentStringFromStream (std::istream &aStream, std::string &rBuffer) |
| bool OSIMCOMMON_API | readStringFromStream (std::istream &aStream, std::string &rBuffer) |
| bool OSIMCOMMON_API | readStringFromString (std::string &aString, std::string &rBuffer) |
| bool OSIMCOMMON_API | readTabDelimitedStringFromString (std::string &aString, std::string &rBuffer) |
| bool OSIMCOMMON_API | readIntegerFromString (std::string &aString, int *rNumber) |
| bool OSIMCOMMON_API | readDoubleFromString (std::string &aString, double *rNumber, bool allowNaNs=false) |
| bool OSIMCOMMON_API | readVectorFromString (std::string &aString, SimTK::Vec3 &rVec) |
| bool OSIMCOMMON_API | readVectorFromString (std::string &aString, double *rVX, double *rVY, double *rVZ) |
| bool OSIMCOMMON_API | readCoordinatesFromString (std::string &aString, double rVec[3], bool allowNaNs=false) |
| int OSIMCOMMON_API | findFirstNonWhiteSpace (std::string &aString) |
| int OSIMCOMMON_API | findFirstWhiteSpace (std::string &aString) |
| void OSIMCOMMON_API | convertString (std::string &aString, bool aPrependUnderscore) |
| std::string OSIMCOMMON_API | getCurrentTimeString () |
| std::shared_ptr< DataAdapter > | createSTOFileAdapterForReading (const std::string &fileName) |
| std::shared_ptr< DataAdapter > | createSTOFileAdapterForWriting (const AbstractDataTable &table) |
| template<> | |
| SimTK::MobilizedBody::FunctionBased | CustomJoint::createMobilizedBody< SimTK::MobilizedBody::FunctionBased > (SimTK::MobilizedBody &inboard, const SimTK::Transform &inboardTransform, const SimTK::Body &outboard, const SimTK::Transform &outboardTransform, int &startingCoorinateIndex) const |
| OSIMSIMULATION_API std::unique_ptr< Storage > | updatePre40KinematicsStorageFor40MotionType (const Model &pre40Model, const Storage &kinematics) |
| Not available through scripting. More... | |
| OSIMSIMULATION_API void | updatePre40KinematicsFilesFor40MotionType (const Model &model, const std::vector< std::string > &filePaths, std::string suffix="_updated") |
| This function can be used to upgrade MOT files generated with versions before 4.0 in which some data columns are associated with coordinates that were incorrectly marked as Rotational (rather than Coupled). More... | |
| OSIMSIMULATION_API void | updateSocketConnecteesBySearch (Model &model) |
| This function attempts to update the connectee path for any Socket anywhere in the model whose connectee path does not point to an existing component. More... | |
General-purpose simulation driver for OpenSim models | |
| OSIMSIMULATION_API SimTK::State | simulate (Model &model, const SimTK::State &initialState, double finalTime, bool saveStatesFile=false) |
| Simulate a model from an initial state and return the final state. More... | |
Variables | |
| const char | ObjectDEFAULT_NAME [] = "default" |
| typedef DataTable_<double, double> OpenSim::DataTable |
See DataTable_ for details on the interface.
| typedef DataTable_<double, SimTK::Vec3> OpenSim::DataTableVec3 |
See DataTable_ for details on the interface.
| typedef std::map<std::string, OpenSim::StorageCreator*, std::less<std::string> > OpenSim::mapExtensionsToCreators |
| typedef std::map<std::string, std::string, std::less<std::string> > OpenSim::MapKeysToValues |
| typedef PropertyDblVec_<2> OpenSim::PropertyDblVec2 |
| typedef PropertyDblVec_<3> OpenSim::PropertyDblVec3 |
| typedef PropertyDblVec_<4> OpenSim::PropertyDblVec4 |
| typedef PropertyDblVec_<5> OpenSim::PropertyDblVec5 |
| typedef PropertyDblVec_<6> OpenSim::PropertyDblVec6 |
| using OpenSim::SetTModelComponent = typedef Set<T, ModelComponent> |
This is the base class for sets of ModelComponent subclasses.
It provides methods for invoking all of the ModelComponent methods on each member of the set.
| T | This must be a concrete class derived from ModelComponent. |
| typedef STOFileAdapter_<double> OpenSim::STOFileAdapter |
| typedef TableSource_<SimTK::Real> OpenSim::TableSource |
This TableSource_ can hold a TimeSeriesTable_<SimTK::Real> and so its list-output 'column' will have channels of type SimTK::Real (double).
Its other output 'row' will be of type SimTK::Vector_<SimTK::Real>.
This TableSource_ can hold a TimeSeriesTable_<SimTK::Vec3> and so its list-output 'column' will have channels of type SimTK::Vec3.
Its other output 'row' will be of type SimTK::Vector_<SimTK::Vec3>.
See TimeSeriesTable_ for details on the interface.
See TimeSeriesTable_ for details on the interface.
| void OSIMCOMMON_API OpenSim::convertString | ( | std::string & | aString, |
| bool | aPrependUnderscore | ||
| ) |
| std::shared_ptr<DataAdapter> OpenSim::createSTOFileAdapterForReading | ( | const std::string & | fileName | ) |
| std::shared_ptr<DataAdapter> OpenSim::createSTOFileAdapterForWriting | ( | const AbstractDataTable & | table | ) |
| SimTK::MobilizedBody::FunctionBased OpenSim::CustomJoint::createMobilizedBody< SimTK::MobilizedBody::FunctionBased > | ( | SimTK::MobilizedBody & | inboard, |
| const SimTK::Transform & | inboardTransform, | ||
| const SimTK::Body & | outboard, | ||
| const SimTK::Transform & | outboardTransform, | ||
| int & | startingCoorinateIndex | ||
| ) | const |
| int OSIMCOMMON_API OpenSim::findFirstNonWhiteSpace | ( | std::string & | aString | ) |
| int OSIMCOMMON_API OpenSim::findFirstWhiteSpace | ( | std::string & | aString | ) |
| std::string OSIMCOMMON_API OpenSim::getCurrentTimeString | ( | ) |
| OSIMCOMMON_API void OpenSim::LoadOpenSimLibraries | ( | int | argc, |
| char ** | argv | ||
| ) |
Used to process legacy command line arguments that specify plugin libraries to load.
Internally uses LoadOpenSimLibrary(const std::string&, bool) with verbosity.
| OSIMCOMMON_API OPENSIM_PORTABLE_HMODULE WINAPI OpenSim::LoadOpenSimLibrary | ( | const std::string & | lpLibFileName, |
| bool | verbose | ||
| ) |
Load an OpenSim (plugin) library, using a path to a library (relative or absolute) but without the file extension (.dll, .so, .dylib).
This method will prefer a debug variant of the library if OpenSim was built in debug.
In MATLAB/Python, we suggest you use LoadOpenSimLibraryExact instead of this function. If you insist on using this variant, see the examples below.
To load a plugin in MATLAB, use the following:
Do NOT use MATLAB's loadlibrary().
To load a plugin in Python, use the following:
| OSIMCOMMON_API void OpenSim::LoadOpenSimLibrary | ( | const std::string & | aLibraryName | ) |
Uses LoadOpenSimLibrary(const std::string&, bool), with verbosity.
| OSIMCOMMON_API bool OpenSim::LoadOpenSimLibraryExact | ( | const std::string & | exactPath, |
| bool | verbose = true |
||
| ) |
Load an OpenSim (plugin) library using the exact path specified.
Therefore, you must supply an exact path to the library (either relative or absolute), including the file extension (.dll, .so, .dylib). The only change that may be made to the path is to convert forward slashes to backslashes on Windows (and vice versa on UNIX).
To load a plugin in MATLAB, use the following:
Do NOT use MATLAB's loadlibrary().
To load a plugin in Python, use the following:
PATH (Windows), LD_LIBRARY_PATH (Linux), and DYLD_LIBRARY_PATH (macOS)).| std::ostream& OpenSim::operator<< | ( | std::ostream & | outStream, |
| const DataTable_< ETX, ETY > & | table | ||
| ) |
Print DataTable out to a stream.
References OpenSim::DataTable_< ETX, ETY >::toString().
| bool OSIMCOMMON_API OpenSim::readCoordinatesFromString | ( | std::string & | aString, |
| double | rVec[3], | ||
| bool | allowNaNs = false |
||
| ) |
| bool OSIMCOMMON_API OpenSim::readDoubleFromString | ( | std::string & | aString, |
| double * | rNumber, | ||
| bool | allowNaNs = false |
||
| ) |
| bool OSIMCOMMON_API OpenSim::readIntegerFromString | ( | std::string & | aString, |
| int * | rNumber | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readNonCommentStringFromStream | ( | std::istream & | aStream, |
| std::string & | rBuffer | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readStringFromStream | ( | std::istream & | aStream, |
| std::string & | rBuffer | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readStringFromString | ( | std::string & | aString, |
| std::string & | rBuffer | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readTabDelimitedStringFromString | ( | std::string & | aString, |
| std::string & | rBuffer | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readVectorFromString | ( | std::string & | aString, |
| SimTK::Vec3 & | rVec | ||
| ) |
| bool OSIMCOMMON_API OpenSim::readVectorFromString | ( | std::string & | aString, |
| double * | rVX, | ||
| double * | rVY, | ||
| double * | rVZ | ||
| ) |
| OpenSim::SimTK_DEFINE_UNIQUE_INDEX_TYPE | ( | PropertyIndex | ) |
| OSIMSIMULATION_API SimTK::State OpenSim::simulate | ( | Model & | model, |
| const SimTK::State & | initialState, | ||
| double | finalTime, | ||
| bool | saveStatesFile = false |
||
| ) |
Simulate a model from an initial state and return the final state.
If the model's useVisualizer flag is true, the user is repeatedly prompted to either begin simulating or quit. The provided state is not updated but the final state is returned at the end of the simulation, when finalTime is reached. Set saveStatesFile=true to save the states to a storage file as: "<model_name>_states.sto".
| OSIMSIMULATION_API void OpenSim::updatePre40KinematicsFilesFor40MotionType | ( | const Model & | model, |
| const std::vector< std::string > & | filePaths, | ||
| std::string | suffix = "_updated" |
||
| ) |
This function can be used to upgrade MOT files generated with versions before 4.0 in which some data columns are associated with coordinates that were incorrectly marked as Rotational (rather than Coupled).
Specific instances of the issue are the patella coordinate in the Rajagopal 2015 and leg6dof9musc models. In these cases, the patella will visualize incorrectly in the GUI when replaying the kinematics from the MOT file, and Static Optimization will yield incorrect results.
The new files are written to the same directories as the original files, but with the provided suffix (before the file extension). To overwrite your original files, set the suffix to an emtpty string.
If the file does not need to be updated, no new file is written.
Conversion of the data only occurs for files in degrees ("inDegrees=yes" in the header).
Do not use this function with MOT files generated by 4.0 or later; doing so will cause your data to be altered incorrectly. We do not detect whether or not your MOT file is pre-4.0.
In OpenSim 4.0, MotionTypes for Coordinates are now determined strictly by the coordinates' owning Joint. In older models, the MotionType, particularly for CustomJoints, were user- specified. That entailed in some cases, incorrectly labeling a Coordinate as being Rotational, for example, when it is in fact Coupled. For the above models, for example, the patella Coordinate had been user-specified to be Rotational, but the angle of the patella about the Z-axis of the patella body, is a spline function (e.g. coupled function) of the patella Coordinate. Thus, the patella Coordinate is not an angle measurement and is not classified as Rotational. Use this utility to remove any unit conversions from Coordinates that were incorrectly labeled as Rotational in the past. For these Coordinates only, the utility will undo the incorrect radians to degrees conversion.
| OSIMSIMULATION_API std::unique_ptr<Storage> OpenSim::updatePre40KinematicsStorageFor40MotionType | ( | const Model & | pre40Model, |
| const Storage & | kinematics | ||
| ) |
Not available through scripting.
| OSIMSIMULATION_API void OpenSim::updateSocketConnecteesBySearch | ( | Model & | model | ) |
This function attempts to update the connectee path for any Socket anywhere in the model whose connectee path does not point to an existing component.
The paths are updated by searching the model for a component with the correct name. For example, a connectee path like ../../some/invalid/path/to/foo will be updated to /bodyset/foo if a Body named foo exists in the Model's BodySet. If a socket specifies a Body foo and more than one Body foo exists in the model, we emit a warning and the socket that specified foo is not altered.
This method is intended for use with models loaded from version-30516 XML files to bring them up to date with the 4.0 interface.
| const char OpenSim::ObjectDEFAULT_NAME[] = "default" |
1.8.14