API  4.5
For C++ developers
OpenSim::ControlLinear Class Reference

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

+ Inheritance diagram for OpenSim::ControlLinear:

Public Member Functions

 ControlLinear ()
 
 ControlLinear (const ControlLinear &aControl)
 
virtual ~ControlLinear ()
 
void copyData (const ControlLinear &aControl)
 Copy the member variables of the specified ControlLinear over to this ControlLinear. More...
 
ControlLinearoperator= (const ControlLinear &aControl)
 
void setUseSteps (bool aTrueFalse)
 Sets whether or not step functions are used between control nodes or linear interpolation. More...
 
bool getUseSteps () const
 
void setKp (double aKp)
 Sets the position gain for PD follower filter. More...
 
double getKp () const
 
void setKv (double aKv)
 Sets the velocity gain for PD follower filter. More...
 
double getKv () const
 
int getNumParameters () const override
 Returns the number of parameters that are used to specify the control curve. More...
 
void setParameterMin (int aI, double aMin) override
 Sets the minimum value that a control parameter can take on. More...
 
double getParameterMin (int aI) const override
 
void setParameterMax (int aI, double aMax) override
 Set the maximum value that a control parameter can take on. More...
 
double getParameterMax (int aI) const override
 
double getParameterTime (int aI) const override
 Get the time at which a parameter (control curve value) is specified. More...
 
void getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const override
 
int getParameterList (double aT, Array< int > &rList) override
 
int getParameterList (double aT1, double aT2, Array< int > &rList) override
 Gets the list of parameters that affect the control curve between two specified times and that do NOT affect the control curve below the lower of these two times. More...
 
void setParameterValue (int aI, double aP) override
 
double getParameterValue (int aI) const override
 
void setControlValue (double aT, double aX) override
 This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing ControlLinearNode, in which case the parameters of that control node are changed. More...
 
double getControlValue (double aT) override
 Gets the value of this control at time aT. More...
 
double getControlValueMin (double aT=0.0) override
 Gets the minimum allowed value of this control at time aT. More...
 
void setControlValueMin (double aT, double aX) override
 This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...
 
double getControlValueMax (double aT=0.0) override
 Gets the maximum allowed value of this control at time aT. More...
 
void setControlValueMax (double aT, double aX) override
 This method adds a set of control parameters at the specified time unless the specified time equals the time of an existing control node, in which case the parameters of that control node are changed. More...
 
void clearControlNodes ()
 
ArrayPtrs< ControlLinearNode > & getControlValues ()
 
ArrayPtrs< ControlLinearNode > & getControlMinValues ()
 
ArrayPtrs< ControlLinearNode > & getControlMaxValues ()
 
void insertNewValueNode (int index, const ControlLinearNode &newNode)
 Called from GUI to work around early garbage collection. More...
 
void insertNewMinNode (int index, const ControlLinearNode &newNode)
 Called from GUI to work around early garbage collection. More...
 
void insertNewMaxNode (int index, const ControlLinearNode &newNode)
 Called from GUI to work around early garbage collection. More...
 
double getFirstTime () const override
 The time corresponding to the first ControlLinearNode. More...
 
double getLastTime () const override
 The time corresponding to the last ControlLinearNode. More...
 
void simplify (const PropertySet &aProperties) override
 The number of control nodes is reduced by first applying a lowpass filter to the sequence of control nodes using a specified cutoff frequency and then removing nodes that keep the curve within a specified distance to the low-pass filtered curve. More...
 
bool simplify (const double &cutoffFrequency, const double &distance)
 Another interface to simplify that: (1) does not require properties, and (2) returns bool on failure for a more graceful batch simplification. More...
 
void filter (double aT) override
 Filter the control curve at a particular time using a PD follower filter. More...
 
- Public Member Functions inherited from OpenSim::Control
 Control (const char *aName="UNKNOWN")
 
 Control (const Control &aControl)
 
virtual ~Control ()
 
Controloperator= (const Control &aControl)
 
void setIsModelControl (bool aTrueFalse)
 Sets whether or not this control is a model control. More...
 
bool getIsModelControl () const
 
void setExtrapolate (bool aTrueFalse)
 Sets whether or not to extrapolate for control curve evaluations that are outside the region of confidence for a control. More...
 
bool getExtrapolate () const
 
void setFilterOn (bool aTrueFalse)
 Sets whether or not to apply a PD (proportional-derivative) filter to the control values. More...
 
bool getFilterOn () const
 
void setDefaultParameterMin (double aMin)
 Sets the default minimum value of a control parameter. More...
 
double getDefaultParameterMin () const
 
void setDefaultParameterMax (double aMax)
 Sets the default maximum value of a control parameter. More...
 
double getDefaultParameterMax () const
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
const Property< T > & getPropertyByName (const std::string &name) 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...
 
template<class T >
Property< T > & updPropertyByName (const std::string &name)
 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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Public Types

typedef ControlLinear Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Control Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Control
typedef Control Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Object Super
 Use this typedef to refer to the superclass of this class. More...
 

Static Public Member Functions

static double Interpolate (double aX1, double aY1, double aX2, double aY2, double aX)
 Linearly interpolate or extrapolate given two points. More...
 
- Static Public Member Functions inherited from OpenSim::Control
static ControlsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Control". More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static 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 ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 

Protected Member Functions

void setupProperties () override
 Connect properties to local pointers. More...
 
- Protected Member Functions inherited from OpenSim::Control
void copyData (const Control &aControl)
 Copy the member variables of the specified Control over to this Control instance. More...
 
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 The default constructor is only for use by constructors of derived types. More...
 
 Object (const std::string &fileName, bool aUpdateFromXMLNode=true)
 Constructor from a file, to be called from other constructors that take a file as input. More...
 
 Object (const Object &source)
 Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...
 
 Object (SimTK::Xml::Element &aElement)
 Construct the base class portion of an Object from a given Xml element that describes this Object. More...
 
template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...
 
template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...
 
PropertyIndex getPropertyIndex (const std::string &name) const
 Look up a property by name and return its PropertyIndex if it is found. More...
 
template<class T >
PropertyIndex getPropertyIndex () const
 Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...
 
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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Protected Attributes

PropertyBool _propUseSteps
 Flag that indicates whether or not to linearly interpolate between nodes or use step functions. More...
 
PropertyObjArray< ControlLinearNode_propXNodes
 Array of control nodes. More...
 
PropertyObjArray< ControlLinearNode_propMinNodes
 
PropertyObjArray< ControlLinearNode_propMaxNodes
 
PropertyDbl _propKp
 Position gain for PD follower filter. More...
 
PropertyDbl _propKv
 Velocity gain for PD follower filter. More...
 
bool & _useSteps
 
ArrayPtrs< ControlLinearNode > & _xNodes
 
ArrayPtrs< ControlLinearNode > & _minNodes
 
ArrayPtrs< ControlLinearNode > & _maxNodes
 
double & _kp
 
double & _kv
 
ControlLinearNode _searchNode
 Utility node for speeding up searches for control values in getControlValue() and elsewhere. More...
 
- Protected Attributes inherited from OpenSim::Control
PropertyBool _propIsModelControl
 Flag that specifies whether or not this control is a model control. More...
 
PropertyBool _propExtrapolate
 Flag that specifies whether or not this control should use extrapolation for times outside the time range of the control parameters. More...
 
PropertyDbl _propDefaultMin
 Default parameter minimum. More...
 
PropertyDbl _propDefaultMax
 Default parameter maximum. More...
 
PropertyBool _propFilterOn
 Flat that indicates whether PD follower filter is on. More...
 
bool & _isModelControl
 Reference to the value of the IsModelControl property. More...
 
bool & _extrapolate
 Reference to the value of the Extrapolate flag. More...
 
double & _defaultMin
 Reference to the value of the DefaultMin property. More...
 
double & _defaultMax
 Reference to the value of the DefaultMax property. More...
 
bool & _filterOn
 Reference to the value of the PropFilterOn property. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Auto-generated functions

static ControlLinearsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ControlLinear". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
ControlLinearclone () const override
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 

Additional Inherited Members

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

Detailed Description

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

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

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

Author
Frank C. Anderson
Version
1.0

Member Typedef Documentation

◆ Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

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

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ ControlLinear() [1/2]

OpenSim::ControlLinear::ControlLinear ( )

◆ ControlLinear() [2/2]

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

◆ ~ControlLinear()

virtual OpenSim::ControlLinear::~ControlLinear ( )
virtual

Member Function Documentation

◆ assign()

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

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type ControlLinear.

◆ clearControlNodes()

void OpenSim::ControlLinear::clearControlNodes ( )

◆ clone()

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

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

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

Implements OpenSim::Control.

◆ copyData()

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

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

◆ filter()

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

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

See also
setFilterOn()
Parameters
aTTime at which to compute a new, filtered control value

Reimplemented from OpenSim::Control.

◆ getClassName()

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

This returns "ControlLinear".

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

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

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

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

See also
getClassName()

Implements OpenSim::Control.

◆ getControlMaxValues()

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

◆ getControlMinValues()

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

◆ getControlValue()

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

Gets the value of this control at time aT.

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

Parameters
aTTime at which to get the control.

Implements OpenSim::Control.

◆ getControlValueMax()

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

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

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

Implements OpenSim::Control.

◆ getControlValueMin()

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

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

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

Implements OpenSim::Control.

◆ getControlValues()

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

◆ getFirstTime()

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

The time corresponding to the first ControlLinearNode.

Reimplemented from OpenSim::Control.

◆ getKp()

double OpenSim::ControlLinear::getKp ( ) const
See also
setKp()

◆ getKv()

double OpenSim::ControlLinear::getKv ( ) const
See also
setKv()

◆ getLastTime()

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

The time corresponding to the last ControlLinearNode.

Reimplemented from OpenSim::Control.

◆ getNumParameters()

int OpenSim::ControlLinear::getNumParameters ( ) const
overridevirtual

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

Implements OpenSim::Control.

◆ getParameterList() [1/2]

int OpenSim::ControlLinear::getParameterList ( double  aT,
Array< int > &  rList 
)
overridevirtual
Parameters
aTtime
rListIf aT lies between two nodes, the indices of these two nodes are returned; if aT equals the time at which a node occurs, the index of that node is returned; if aT is less than the time of the first node in the array, the index of the first node (i.e., 0) is returned; if aT is greater than the time of the last node, the index of the last node (i.e., size-1) is returned.

Implements OpenSim::Control.

◆ getParameterList() [2/2]

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

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

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

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

Parameters
aTLowerLower time bound.
aTUpperUpper time bound.
rListList of indices of the control parameters that affect the curve between aTLower and aTUpper but not before aTLower.
Returns
Length of rList.

Implements OpenSim::Control.

◆ getParameterMax()

double OpenSim::ControlLinear::getParameterMax ( int  aI) const
overridevirtual
See also
setParameterMax()
Parameters
aIIndex of the parameter.
Exceptions
Exceptionif aI is invalid.

Implements OpenSim::Control.

◆ getParameterMin()

double OpenSim::ControlLinear::getParameterMin ( int  aI) const
overridevirtual
See also
setParameterMin()
Parameters
aIIndex of the parameter for which the minimum value is desired.
Exceptions
Exceptionif aI is invalid.

Implements OpenSim::Control.

◆ getParameterNeighborhood()

void OpenSim::ControlLinear::getParameterNeighborhood ( int  aI,
double &  rTLower,
double &  rTUpper 
) const
overridevirtual
Parameters
aIIndex of the parameter.
rTLowerThe time of parameter aI-1 or of aI if there is no parameter aI-1. If there are no ControlLinearNode's at all or if aI is invalid, rTLower is given the value SimTK::NaN.
rTUpperThe time of parameter aI+1 or of aI if there is no parameter aI+1. If there are no ControlLinearNode's at all or if aI is invalid, rTUpper is given the value SimTK::NaN.

Implements OpenSim::Control.

◆ getParameterTime()

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

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

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

Parameters
aIIndex of the parameter.
Exceptions
Exceptionif aI is invalid.

Implements OpenSim::Control.

◆ getParameterValue()

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

◆ getUseSteps()

bool OpenSim::ControlLinear::getUseSteps ( ) const
See also
setUseSteps()

◆ insertNewMaxNode()

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

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ insertNewMinNode()

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

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ insertNewValueNode()

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

Called from GUI to work around early garbage collection.

References OpenSim::ControlLinearNode::clone().

◆ Interpolate()

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

Linearly interpolate or extrapolate given two points.

Parameters
aX1X coordinate of point 1.
aY1Y coordinate of point 1.
aX2X coordinate of point 2.
aY2Y coordinate of point 2.
aXX coordinate whose corresponding Y coordinate is desired.
Returns
Y value corresponding to aX.

◆ operator=()

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

◆ safeDownCast()

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

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

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

◆ setControlValue()

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

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

Implements OpenSim::Control.

◆ setControlValueMax()

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

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

Implements OpenSim::Control.

◆ setControlValueMin()

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

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

Implements OpenSim::Control.

◆ setKp()

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

Sets the position gain for PD follower filter.

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

See also
setFilterOn()
Parameters
aKpValue of position gain for the PD follower filter.

◆ setKv()

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

Sets the velocity gain for PD follower filter.

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

See also
setFilterOn()
Parameters
aKvValue of velocity gain for the PD follower filter.

◆ setParameterMax()

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

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

Parameters
aIIndex of the parameter.
aMaxMaximum value the parameter can have.
Exceptions
Exceptionif aI is invalid.

Implements OpenSim::Control.

◆ setParameterMin()

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

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

Parameters
aIIndex of the parameter.
aMinMinimum value the parameter can have.
Exceptions
Exceptionif aI is invalid.

Implements OpenSim::Control.

◆ setParameterValue()

void OpenSim::ControlLinear::setParameterValue ( int  aI,
double  aP 
)
overridevirtual
Parameters
aIIndex of the parameter.
aPThe parameter value is simply the value of the aI-th ControlLinearNode (which is the value of the control curve).

Implements OpenSim::Control.

◆ setupProperties()

void OpenSim::ControlLinear::setupProperties ( )
overrideprotectedvirtual

Connect properties to local pointers.

Reimplemented from OpenSim::Control.

◆ setUseSteps()

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

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

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

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

◆ simplify() [1/2]

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

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

The PropertySet should contain:

TYPENAME
PropertyDblcutoff_frequency
PropertyDbldistance
Parameters
aPropertiesPropertySet containing the needed properties for this method.
Exceptions
Exceptionif an error is encountered.

Reimplemented from OpenSim::Control.

◆ simplify() [2/2]

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

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

Member Data Documentation

◆ _kp

double& OpenSim::ControlLinear::_kp
protected

◆ _kv

double& OpenSim::ControlLinear::_kv
protected

◆ _maxNodes

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

◆ _minNodes

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

◆ _propKp

PropertyDbl OpenSim::ControlLinear::_propKp
protected

Position gain for PD follower filter.

◆ _propKv

PropertyDbl OpenSim::ControlLinear::_propKv
protected

Velocity gain for PD follower filter.

◆ _propMaxNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMaxNodes
protected

◆ _propMinNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propMinNodes
protected

◆ _propUseSteps

PropertyBool OpenSim::ControlLinear::_propUseSteps
protected

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

◆ _propXNodes

PropertyObjArray<ControlLinearNode> OpenSim::ControlLinear::_propXNodes
protected

Array of control nodes.

◆ _searchNode

ControlLinearNode OpenSim::ControlLinear::_searchNode
protected

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

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

◆ _useSteps

bool& OpenSim::ControlLinear::_useSteps
protected

◆ _xNodes

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

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