A class that represents a control in a dynamic simulation. More...

Inheritance diagram for OpenSim::Control:

Public Member Functions
	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

virtual int	getNumParameters () const =0
	Returns the number of parameters that are used to specify the control curve. More...

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

virtual void	setParameterMin (int aI, double aMin)=0
	Sets the minimum value that a control parameter can take on. More...

virtual double	getParameterMin (int aI) const =0

virtual void	setParameterMax (int aI, double aMax)=0
	Set the maximum value that a control parameter can take on. More...

virtual double	getParameterMax (int aI) const =0

virtual double	getParameterTime (int aI) const =0
	Gets the time at which a parameter is specified. More...

virtual void	getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const =0
	Gets the time neighborhood (i.e., the lower and upper bounds of time) in which a control parameter affects the value of the control curve. More...

virtual int	getParameterList (double aT, Array< int > &rList)=0
	Gets the list of parameters that affect the control curve at a specified time. More...

virtual int	getParameterList (double aTLower, double aTUpper, Array< int > &rList)=0
	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...

virtual double	getParameterValue (int aI) const =0

virtual void	setParameterValue (int aI, double aX)=0
	Sets the value of a control parameter. More...

virtual double	getControlValue (double aT=0.0)=0
	Gets the value of this control at time aT. More...

virtual void	setControlValue (double aT, double aX)=0
	Sets the value of this control curve at time aT. More...

virtual double	getControlValueMin (double aT=0.0)=0
	Gets the minimum allowed value of this control at time aT. More...

virtual void	setControlValueMin (double aT, double aMin)=0
	Sets the minimum value of this control curve at time aT. More...

virtual double	getControlValueMax (double aT=0.0)=0
	Gets the maximum allowed value of this control at time aT. More...

virtual void	setControlValueMax (double aT, double aMax)=0
	Sets the maximum value of this control curve at time aT. More...

virtual double	getFirstTime () const
	Gets the first time for which a parameter is specified. More...

virtual double	getLastTime () const
	Gets the last time for which a parameter is specified. More...

virtual void	simplify (const PropertySet &aProperties)
	Simplify the control (e.g., reduce the number of points in the control curve) based on a set of specified properties. More...

virtual void	filter (double aT)
	Filter the control curve at a particular time. 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 () const
	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 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...

Protected Member Functions
virtual void	setupProperties ()

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...

template<class T >
void	checkPropertyValueIsPositive (const Property< T > &p) const
	Throw an exception if any of the property's values are not positive. More...

template<class T >
void	checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
	Throw an exception if any of the property's values are not in the provided set. More...

template<class T >
void	checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
	Throw an exception if any of the property's values are neither in the provided range nor in the provided set. 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	_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 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...

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

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

const std::string &	getConcreteClassName () const override=0
	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 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 amount of logging output. More...

static int	getDebugLevel ()
	Get the current setting of debug level. More...

static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

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

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 control in a dynamic simulation.

This class is intended to be the base class for different types of controls, so many of its methods are virtual.

In general, a control consists of a set of parameters. These parameters are used to reconstruct a control curve. For example, a control may be represented by a constant, a series of step functions, a set of linearly interpolated values, a set of spline control points, coefficients in a Fourier series, etc.

Because there is not necessarily a 1-to-1 correspondence between the parameters used to represent a control curve and the value of the control curve, there are two basic ways to access the content of a control: getParameter() gets the value of a parameter, and getValue() gets the value at a particular time.

A distinction is also made between controls that control a model and controls that control some other aspect of a simulation. For example, a control for the excitation level of a muscle is a "model" control. The value of this type of control is queried during the course of a simulation. On the other hand, a control for the final time of a simulation is not usually a "model" control. Nor is a control for the initial value of a state variable, even if that state variable is the initial value of a muscle activation. These "non-model" controls are used to set things before a simulation ever begins and are not queried during the course of a simulation. The number of model controls can be queried by a call to Model::getNumControls().

Author: Frank C. Anderson

Version: 1.0

Member Typedef Documentation

◆ Self

typedef Control OpenSim::Control::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef Object OpenSim::Control::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

◆ Control() [1/2]

OpenSim::Control::Control ( const char * aName = "UNKNOWN" )

◆ Control() [2/2]

OpenSim::Control::Control ( const Control & aControl )

◆ ~Control()

virtual OpenSim::Control::~Control ( )

virtual

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type Control.

◆ clone()

Control* OpenSim::Control::clone ( ) const

overridepure virtual

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::Object.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ copyData()

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

protected

Copy the member variables of the specified Control over to this Control instance.

◆ filter()

virtual void OpenSim::Control::filter ( double aT )

virtual

Filter the control curve at a particular time.

Parameters

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

Reimplemented in OpenSim::ControlLinear.

◆ getClassName()

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

inlinestatic

This returns "Control".

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::Control::getConcreteClassName ( ) const

overridepure virtual

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::Object.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getControlValue()

virtual double OpenSim::Control::getControlValue ( double aT = 0.0 )

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getControlValueMax()

virtual double OpenSim::Control::getControlValueMax ( double aT = 0.0 )

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getControlValueMin()

virtual double OpenSim::Control::getControlValueMin ( double aT = 0.0 )

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getDefaultParameterMax()

double OpenSim::Control::getDefaultParameterMax ( ) const

See also: setDefaultParameterMax()

◆ getDefaultParameterMin()

double OpenSim::Control::getDefaultParameterMin ( ) const

See also: setDefaultParameterMin()

◆ getExtrapolate()

bool OpenSim::Control::getExtrapolate ( ) const

See also: setExtrapolate()

◆ getFilterOn()

bool OpenSim::Control::getFilterOn ( ) const

See also: setFilterOn()

◆ getFirstTime()

virtual double OpenSim::Control::getFirstTime ( ) const

virtual

Gets the first time for which a parameter is specified.

Should be overridden by derived classes that have a defined min time.

Returns: 0.

Reimplemented in OpenSim::ControlLinear.

◆ getIsModelControl()

bool OpenSim::Control::getIsModelControl ( ) const

See also: setIsModelControl()

◆ getLastTime()

virtual double OpenSim::Control::getLastTime ( ) const

virtual

Gets the last time for which a parameter is specified.

Should be overridden by derived classes that have a defined max time.

Returns: 0.

Reimplemented in OpenSim::ControlLinear.

◆ getNumParameters()

virtual int OpenSim::Control::getNumParameters ( ) const

pure virtual

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

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterList() [1/2]

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

pure virtual

Gets the list of parameters that affect the control curve at a specified time.

Parameters

aT	Time in question.
rList	The returned list of parameters.

Returns: Length of rList.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterList() [2/2]

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

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterMax()

virtual double OpenSim::Control::getParameterMax ( int aI ) const

pure virtual

See also: setParameterMax()

Parameters

aI	Index of the parameter.

Exceptions

Exception if aI is invalid.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterMin()

virtual double OpenSim::Control::getParameterMin ( int aI ) const

pure virtual

See also: setParameterMin()

Parameters

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

Exceptions

Exception if aI is invalid.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterNeighborhood()

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

pure virtual

Gets the time neighborhood (i.e., the lower and upper bounds of time) in which a control parameter affects the value of the control curve.

Changes in the specified parameter are guaranteed not to change the value of the control curve below the lower bound time or above the upper bound time. If a parameter influences the value of the control curve for all times, -SimTK::Infinity and SimTK::Infinity are returned for the upper and lower bound times, respectively.

Parameters

aI	Index of the parameter.
rTLower	Time below which the curve is not affected by the specified parameter.
rTUpper	Time above which the curve is not affected by the specified parameter.

Exceptions

Exception if aI is invalid.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterTime()

virtual double OpenSim::Control::getParameterTime ( int aI ) const

pure virtual

Gets the time at which a parameter is specified.

Parameters for some types of control curves do not have a time at which they are specified. For example, in a Fourier series the control parameters are the coefficients in the expansion, and each term in the expansion corresponds not to a specific time but to a frequency. Another example is a constant that has the same value for all times. In these cases, this method returns SimTK::NaN.

Parameters

aI	Index of the parameter.

Exceptions

Exception if aI is invalid.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ getParameterValue()

virtual double OpenSim::Control::getParameterValue ( int aI ) const

pure virtual

See also: setParameterValue()

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ operator=()

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

◆ safeDownCast()

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

inlinestatic

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

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

◆ setControlValue()

virtual void OpenSim::Control::setControlValue	(	double	aT,
		double	aX
	)

pure virtual

Sets the value of this control curve at time aT.

Parameters

aT	Time at which to set the control.
aX	Control value.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setControlValueMax()

virtual void OpenSim::Control::setControlValueMax	(	double	aT,
		double	aMax
	)

pure virtual

Sets the maximum value of this control curve at time aT.

Parameters

aT	Time at which to set the control.
aMax	Maximum allowed control value.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setControlValueMin()

virtual void OpenSim::Control::setControlValueMin	(	double	aT,
		double	aMin
	)

pure virtual

Sets the minimum value of this control curve at time aT.

Parameters

aT	Time at which to set the control.
aMin	Minimum allowed control value at time aT.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setDefaultParameterMax()

void OpenSim::Control::setDefaultParameterMax ( double aMax )

Sets the default maximum value of a control parameter.

The default maximum is used when no maximum value is specified.

Parameters

aMax	Maximum value.

◆ setDefaultParameterMin()

void OpenSim::Control::setDefaultParameterMin ( double aMin )

Sets the default minimum value of a control parameter.

The default minimum is used when no minimum value is specified.

Parameters

aMin	Minimum value.

◆ setExtrapolate()

void OpenSim::Control::setExtrapolate ( bool aTrueFalse )

Sets whether or not to extrapolate for control curve evaluations that are outside the region of confidence for a control.

Parameters

aTrueFalse If true, extrapolate when needed and possible to determine the value of the control curve.

◆ setFilterOn()

void OpenSim::Control::setFilterOn ( bool aTrueFalse )

Sets whether or not to apply a PD (proportional-derivative) filter to the control values.

Parameters

aTrueFalse If true, will apply a filter to the control values. If false, a filter will not be used.

◆ setIsModelControl()

void OpenSim::Control::setIsModelControl ( bool aTrueFalse )

Sets whether or not this control is a model control.

A model control is a control that is expected by a model. Controls that are not model controls may be, for example, controls that are used to set up a simulation. Such examples might include an initial state of a model (e.g., joint angle, joint angular velocity, ...) or the final time of a simulation.

Parameters

aTrueFalse If true, the control is treated as a model control. If false, the control is not treated as a model control.

◆ setParameterMax()

virtual void OpenSim::Control::setParameterMax	(	int	aI,
		double	aMax
	)

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setParameterMin()

virtual void OpenSim::Control::setParameterMin	(	int	aI,
		double	aMin
	)

pure virtual

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.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setParameterValue()

virtual void OpenSim::Control::setParameterValue	(	int	aI,
		double	aX
	)

pure virtual

Sets the value of a control parameter.

Parameters

aI	Index of the parameter.
aX	Value of the parameter. Meaning depends on the subclass.

Exceptions

Exception if aI is invalid.

Implemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ setupProperties()

virtual void OpenSim::Control::setupProperties ( )

protectedvirtual

Reimplemented in OpenSim::ControlLinear, and OpenSim::ControlConstant.

◆ simplify()

virtual void OpenSim::Control::simplify ( const PropertySet & aProperties )

virtual

Simplify the control (e.g., reduce the number of points in the control curve) based on a set of specified properties.

Each implementation is free to require whatever properties are needed to perform the simplification. Refer to the documentation in derived classes to see what properties are required.

Parameters

aProperties PropertySet used to perform the simplify operation.

Exceptions

Exception This method does nothing. It must be overridden in derived classes.

Reimplemented in OpenSim::ControlLinear.

Member Data Documentation

◆ _defaultMax

double& OpenSim::Control::_defaultMax

protected

Reference to the value of the DefaultMax property.

◆ _defaultMin

double& OpenSim::Control::_defaultMin

protected

Reference to the value of the DefaultMin property.

◆ _extrapolate

bool& OpenSim::Control::_extrapolate

protected

Reference to the value of the Extrapolate flag.

◆ _filterOn

bool& OpenSim::Control::_filterOn

protected

Reference to the value of the PropFilterOn property.

◆ _isModelControl

bool& OpenSim::Control::_isModelControl

protected

Reference to the value of the IsModelControl property.

◆ _propDefaultMax

PropertyDbl OpenSim::Control::_propDefaultMax

protected

Default parameter maximum.

◆ _propDefaultMin

PropertyDbl OpenSim::Control::_propDefaultMin

protected

Default parameter minimum.

◆ _propExtrapolate

PropertyBool OpenSim::Control::_propExtrapolate

protected

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

◆ _propFilterOn

PropertyBool OpenSim::Control::_propFilterOn

protected

Flat that indicates whether PD follower filter is on.

◆ _propIsModelControl

PropertyBool OpenSim::Control::_propIsModelControl

protected

Flag that specifies whether or not this control is a model control.

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

OpenSim/Simulation/Control/Control.h

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ Control() [1/2]

◆ Control() [2/2]

◆ ~Control()

Member Function Documentation

◆ assign()

◆ clone()

◆ copyData()

◆ filter()

◆ getClassName()

◆ getConcreteClassName()

◆ getControlValue()

◆ getControlValueMax()

◆ getControlValueMin()

◆ getDefaultParameterMax()

◆ getDefaultParameterMin()

◆ getExtrapolate()

◆ getFilterOn()

◆ getFirstTime()

◆ getIsModelControl()

◆ getLastTime()

◆ getNumParameters()

◆ getParameterList() [1/2]

◆ getParameterList() [2/2]

◆ getParameterMax()

◆ getParameterMin()

◆ getParameterNeighborhood()

◆ getParameterTime()

◆ getParameterValue()

◆ operator=()

◆ safeDownCast()

◆ setControlValue()

◆ setControlValueMax()

◆ setControlValueMin()

◆ setDefaultParameterMax()

◆ setDefaultParameterMin()

◆ setExtrapolate()

◆ setFilterOn()

◆ setIsModelControl()

◆ setParameterMax()

◆ setParameterMin()

◆ setParameterValue()

◆ setupProperties()

◆ simplify()

Member Data Documentation

◆ _defaultMax

◆ _defaultMin

◆ _extrapolate

◆ _filterOn

◆ _isModelControl

◆ _propDefaultMax

◆ _propDefaultMin

◆ _propExtrapolate

◆ _propFilterOn

◆ _propIsModelControl