API
4.5
For C++ developers
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A Frame is an OpenSim representation of a reference frame. More...
OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (single-value) | |
FrameGeometry | frame_geometry |
"The geometry used to display the axes of this Frame." More... | |
Properties (list) | |
Geometry | attached_geometry |
"List of geometry attached to this Frame. Note, the geometry " "are treated as fixed to the frame and they share the transform " "of the frame when visualized" More... | |
Outputs | |
SimTK::Vec3 | position |
Provides the value of getPositionInGround() and is available at stage SimTK::Stage::Position . More... | |
SimTK::Rotation | rotation |
Provides the value of getRotationInGround() and is available at stage SimTK::Stage::Position . More... | |
SimTK::Transform | transform |
Provides the value of getTransformInGround() and is available at stage SimTK::Stage::Position . More... | |
SimTK::SpatialVec | velocity |
Provides the value of getVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
SimTK::Vec3 | angular_velocity |
Provides the value of getAngularVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
SimTK::Vec3 | linear_velocity |
Provides the value of getLinearVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
SimTK::SpatialVec | acceleration |
Provides the value of getAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
SimTK::Vec3 | angular_acceleration |
Provides the value of getAngularAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
SimTK::Vec3 | linear_acceleration |
Provides the value of getLinearAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component | |
Component | components |
"List of components that this component owns and serializes." More... | |
Public Member Functions | |
Frame () | |
virtual | ~Frame () |
void | attachGeometry (OpenSim::Geometry *geom) |
Attach Geometry to this Frame and have this Frame take ownership of it by adding it to this Frame's <attached_geometry> property list. More... | |
void | scaleAttachedGeometry (const SimTK::Vec3 &scaleFactors) |
void | extendScale (const SimTK::State &s, const ScaleSet &scaleSet) override |
Scales Geometry components that reside in the Frame's attached_geometry list property. More... | |
Property-related functions | |
const FrameGeometry & | get_frame_geometry () const |
Get the value of the frame_geometry property. More... | |
FrameGeometry & | upd_frame_geometry () |
Get a writable reference to the frame_geometry property. More... | |
void | set_frame_geometry (const FrameGeometry &value) |
Set the value of the frame_geometry property. More... | |
const Geometry & | get_attached_geometry (int i) const |
Get the value of the i-th element of the attached_geometry property. More... | |
Geometry & | upd_attached_geometry (int i) |
Get a writable reference to the i-th element of the attached_geometry property. More... | |
void | set_attached_geometry (int i, const Geometry &value) |
Set the value of the i-th element of attached_geometry property. More... | |
int | append_attached_geometry (const Geometry &value) |
Append an element to the attached_geometry property. More... | |
Spatial Operations for Frames | |
These methods allow access to the frame's transform and some convenient operations that could be performed with this transform. | |
const SimTK::Transform & | getTransformInGround (const SimTK::State &state) const |
Get the transform of this frame (F) relative to the ground frame (G). More... | |
const SimTK::SpatialVec & | getVelocityInGround (const SimTK::State &state) const |
The spatial velocity V_GF {omega; v} of this Frame, measured with respect to and expressed in the ground frame. More... | |
const SimTK::Vec3 & | getAngularVelocityInGround (const SimTK::State &state) const |
The angular velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getVelocityInGround()). More... | |
const SimTK::Vec3 & | getLinearVelocityInGround (const SimTK::State &state) const |
The linear velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getVelocityInGround()). More... | |
const SimTK::SpatialVec & | getAccelerationInGround (const SimTK::State &state) const |
The spatial acceleration A_GF {alpha; a} of this Frame, measured with respect to and expressed in the ground frame. More... | |
const SimTK::Vec3 & | getAngularAccelerationInGround (const SimTK::State &state) const |
The angular acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getAccelerationInGround()). More... | |
const SimTK::Vec3 & | getLinearAccelerationInGround (const SimTK::State &state) const |
The linear acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getAccelerationInGround()). More... | |
SimTK::Transform | findTransformBetween (const SimTK::State &state, const Frame &otherFrame) const |
Find the transform that describes this frame (F) relative to another frame (A). More... | |
SimTK::Vec3 | expressVectorInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &vec_F, const Frame &otherFrame) const |
Take a vector expressed in this frame (F) and re-express the same vector in another frame (A). More... | |
SimTK::Vec3 | expressVectorInGround (const SimTK::State &state, const SimTK::Vec3 &vec_F) const |
Take a vector in this frame (F) and re-express the same vector in Ground (G). More... | |
SimTK::Vec3 | findStationLocationInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &station_F, const Frame &otherFrame) const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in another frame (A). More... | |
SimTK::Vec3 | findStationLocationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in Ground (G). More... | |
SimTK::Vec3 | findStationVelocityInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its velocity relative to and expressed in Ground (G). More... | |
SimTK::Vec3 | findStationAccelerationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its acceleration relative to and expressed in Ground (G). More... | |
Advanced: A Frame's Base Frame and Transform | |
A base Frame is the most ancestral Frame (itself, its parent, grandparent, great-grandparent, etc, down the family tree) whose angular velocity is identical to this Frame. That is they belong to the same rigid spatial entity. For example, anatomical frames may be used to identify points of interest (muscle attachments) and joint connections on a body in a convenient way, but their movement is dictated by the body. That body, in this case, would be a base frame for any of the anatomical frames attached to the body including frames subsequently attached to the anatomical frames and so on. | |
const Frame & | findBaseFrame () const |
Find this Frame's base Frame. More... | |
SimTK::Transform | findTransformInBaseFrame () const |
Find the equivalent Transform of this Frame (F) in its base (B) Frame. More... | |
SimTK::Vec3 | getPositionInGround (const SimTK::State &state) const |
Accessor for position of the origin of the Frame in Ground. More... | |
SimTK::Rotation_< double > | getRotationInGround (const SimTK::State &state) const |
Accessor for Rotation matrix of the Frame in Ground. More... | |
Public Member Functions inherited from OpenSim::ModelComponent | |
ModelComponent () | |
Default constructor. More... | |
ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
Construct ModelComponent from an XML file. More... | |
ModelComponent (SimTK::Xml::Element &aNode) | |
Construct ModelComponent from a specific node in an XML document. More... | |
virtual | ~ModelComponent () |
Destructor is virtual to allow concrete model component cleanup. More... | |
void | connectToModel (Model &model) |
Connect this ModelComponent to its aggregate- a Model. More... | |
const Model & | getModel () const |
Get a const reference to the Model this component is part of. More... | |
Model & | updModel () |
Get a modifiable reference to the Model this component is part of. More... | |
bool | hasModel () const |
Does this ModelComponent have a Model associated with it? More... | |
void | preScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More... | |
void | scale (const SimTK::State &s, const ScaleSet &scaleSet) |
Scale the ModelComponent. More... | |
void | postScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Public Member Functions inherited from OpenSim::Component | |
Component () | |
Default constructor. More... | |
Component (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
Construct Component from an XML file. More... | |
Component (SimTK::Xml::Element &aNode) | |
Construct Component from a specific node in an XML document. More... | |
Component (const Component &)=default | |
Use default copy constructor and assignment operator. More... | |
Component & | operator= (const Component &)=default |
virtual | ~Component ()=default |
Destructor is virtual to allow concrete Component to cleanup. More... | |
virtual void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More... | |
const SimTK::MultibodySystem & | getSystem () const |
Get the underlying MultibodySystem that this component is connected to. More... | |
bool | hasSystem () const |
Check if this component has an underlying MultibodySystem. More... | |
bool | isComponentInOwnershipTree (const Component *component) const |
Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More... | |
void | addComponent (Component *subcomponent) |
Add a Component (as a subcomponent) of this component. More... | |
template<typename T = Component> | |
ComponentList< const T > | getComponentList () const |
Get an iterator through the underlying subcomponents that this component is composed of. More... | |
template<typename T = Component> | |
ComponentList< T > | updComponentList () |
Similar to getComponentList(), except the resulting list allows one to modify the components. More... | |
template<typename T = Component> | |
unsigned | countNumComponents () const |
Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More... | |
std::string | getAbsolutePathString () const |
Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More... | |
ComponentPath | getAbsolutePath () const |
Return a ComponentPath of the absolute path of this Component. More... | |
std::string | getRelativePathString (const Component &wrt) const |
Get the relative path of this Component with respect to another Component, as a string. More... | |
ComponentPath | getRelativePath (const Component &wrt) const |
Get the relative path of this Component with respect to another Component. More... | |
bool | hasComponent (const std::string &pathname) const |
Query if there is a component (of any type) at the specified path name. More... | |
template<class C = Component> | |
bool | hasComponent (const std::string &pathname) const |
Query if there is a component of a given type at the specified path name. More... | |
template<class C = Component> | |
const C & | getComponent (const std::string &pathname) const |
Get a unique subcomponent of this Component by its path name and type 'C'. More... | |
template<class C = Component> | |
const C & | getComponent (const ComponentPath &pathname) const |
const Component & | getComponent (const std::string &pathname) const |
Similar to the templatized getComponent(), except this returns the component as the generic Component type. More... | |
template<class C = Component> | |
C & | updComponent (const std::string &name) |
Get a writable reference to a subcomponent. More... | |
template<class C = Component> | |
C & | updComponent (const ComponentPath &name) |
Component & | updComponent (const std::string &pathname) |
Similar to the templatized updComponent(), except this returns the component as the generic Component type. More... | |
unsigned | printComponentsMatching (const std::string &substring) const |
Print a list to the console of all components whose absolute path name contains the given string. More... | |
int | getNumStateVariables () const |
Get the number of "continuous" state variables maintained by the Component and its subcomponents. More... | |
Array< std::string > | getStateVariableNames () const |
Get the names of "continuous" state variables maintained by the Component and its subcomponents. More... | |
template<class C = Component> | |
const C * | findComponent (const ComponentPath &pathToFind) const |
Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More... | |
template<class C = Component> | |
const C * | findComponent (const std::string &pathToFind) const |
Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More... | |
const StateVariable * | traverseToStateVariable (const std::string &pathName) const |
Get a StateVariable anywhere in the Component tree, given a StateVariable path. More... | |
const StateVariable * | traverseToStateVariable (const ComponentPath &path) const |
Get a StateVariable anywhere in the Component tree, given a StateVariable path. More... | |
void | finalizeFromProperties () |
Define a Component's internal data members and structure according to its properties. More... | |
void | finalizeConnections (Component &root) |
Satisfy the Component's connections specified by its Sockets and Inputs. More... | |
void | clearConnections () |
Disconnect/clear this Component from its aggregate component. More... | |
void | addToSystem (SimTK::MultibodySystem &system) const |
Have the Component add itself to the underlying computational System. More... | |
void | initStateFromProperties (SimTK::State &state) const |
Initialize Component's state variable values from its properties. More... | |
void | setPropertiesFromState (const SimTK::State &state) |
Set Component's properties given a state. More... | |
int | getNumSockets () const |
Get the number of Sockets in this Component. More... | |
std::vector< std::string > | getSocketNames () const |
Collect and return the names of the sockets in this component. More... | |
template<typename T > | |
const T & | getConnectee (const std::string &name) const |
Get the "connectee" object that the Component's Socket is bound to. More... | |
const Object & | getConnectee (const std::string &name) const |
Get the connectee as an Object. More... | |
const AbstractSocket & | getSocket (const std::string &name) const |
Get an AbstractSocket for the given socket name. More... | |
AbstractSocket & | updSocket (const std::string &name) |
Get a writable reference to the AbstractSocket for the given socket name. More... | |
template<typename T > | |
const Socket< T > & | getSocket (const std::string &name) const |
Get a const reference to the concrete Socket provided by this Component by name. More... | |
template<typename T > | |
Socket< T > & | updSocket (const std::string &name) |
Get a writable reference to the concrete Socket provided by this Component by name. More... | |
void | printSubcomponentInfo () const |
List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More... | |
void | printSocketInfo () const |
List all the Sockets of this component and whether or not they are connected. More... | |
void | printInputInfo () const |
List all the inputs of this component and whether or not they are connected. More... | |
template<typename C > | |
void | printSubcomponentInfo () const |
void | printOutputInfo (const bool includeDescendants=true) const |
Print outputs of this component and optionally, those of all subcomponents. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
int | getNumInputs () const |
Access the number of Inputs that this component has. More... | |
int | getNumOutputs () const |
Access the number of Outputs that this component has. More... | |
std::vector< std::string > | getInputNames () const |
Collect and return the names of Inputs in this component as an std::vector. More... | |
std::vector< std::string > | getOutputNames () const |
Collect and return the names of Outputs in this component as an std::vector. More... | |
const AbstractInput & | getInput (const std::string &name) const |
Get an Input provided by this Component by name. More... | |
AbstractInput & | updInput (const std::string &name) |
Get a writable reference to an Input provided by this Component by name. More... | |
template<typename T > | |
const Input< T > & | getInput (const std::string &name) const |
Get a concrete Input that you can directly ask for its values. More... | |
const AbstractOutput & | getOutput (const std::string &name) const |
Get the Output provided by this Component by name. More... | |
AbstractOutput & | updOutput (const std::string &name) |
Get a writable reference to an Output provided by this Component by name. More... | |
SimTK::IteratorRange< OutputConstIterator > | getOutputs () const |
Iterate through all Outputs of this component. More... | |
int | getModelingOption (const SimTK::State &state, const std::string &name) const |
Get a ModelingOption flag for this Component by name. More... | |
void | setModelingOption (SimTK::State &state, const std::string &name, int flag) const |
Set the value of a ModelingOption flag for this Component. More... | |
template<typename T > | |
const T & | getInputValue (const SimTK::State &state, const std::string &name) const |
Get the Input value that this component is dependent on. More... | |
template<typename T > | |
const T & | getOutputValue (const SimTK::State &state, const std::string &name) const |
Get the Output value provided by this Component by name. More... | |
double | getStateVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a state variable allocated by this Component. More... | |
double | getStateVariableValue (const SimTK::State &state, const ComponentPath &path) const |
Get the value of a state variable allocated by this Component. More... | |
void | setStateVariableValue (SimTK::State &state, const std::string &name, double value) const |
Set the value of a state variable allocated by this Component by name. More... | |
SimTK::Vector | getStateVariableValues (const SimTK::State &state) const |
Get all values of the state variables allocated by this Component. More... | |
void | setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const |
Set all values of the state variables allocated by this Component. More... | |
double | getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const |
Get the value of a state variable derivative computed by this Component. More... | |
double | getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a discrete variable allocated by this Component by name. More... | |
void | setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const |
Set the value of a discrete variable allocated by this Component by name. More... | |
template<class T > | |
SimTK::CacheEntryIndex | getCacheVariableIndex (const CacheVariable< T > &cv) const |
Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
SimTK::CacheEntryIndex | getCacheVariableIndex (const std::string &name) const |
Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
template<class T > | |
const T & | getCacheVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a cache variable allocated by this Component by name. More... | |
template<class T > | |
const T & | getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
Get the value of a cache variable allocated by this Component. More... | |
template<typename T > | |
void | setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const |
Set the value of a cache variable, identified by name , to a new value and mark the cache variable as valid. More... | |
template<typename T > | |
void | setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const |
Set the value of a cache variable to a new value and mark the cache variable as valid. More... | |
template<typename T > | |
T & | updCacheVariableValue (const SimTK::State &state, const std::string &name) const |
Returns a mutable reference to the value of a cache variable identified by name . More... | |
template<typename T > | |
T & | updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
Returns a mutable reference to the value of a cache variable. More... | |
bool | isCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Returns true if the cache variable, identified by name , is valid. More... | |
template<class T > | |
bool | isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Returns true if the cache variable is valid. More... | |
void | markCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name , as valid. More... | |
template<typename T > | |
void | markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Marks the value of a cache variable as valid. More... | |
void | markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name , as invalid. More... | |
template<class T > | |
void | markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Marks the value of a cache variable as invalid. More... | |
const Component & | getOwner () const |
Access the owner of this Component. More... | |
bool | hasOwner () const |
(For advanced users) Check if this Component has an owner. More... | |
const Component & | getRoot () const |
Obtain the root Component, which is this component if it is orphaned. 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 > | |
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... | |
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 Frame | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef ModelComponent | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::ModelComponent | |
typedef ModelComponent | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef Component | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::Component | |
typedef Component | 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... | |
typedef std::map< std::string, SimTK::ClonePtr< AbstractOutput > >::const_iterator | OutputConstIterator |
Define OutputConstIterator for convenience. More... | |
Protected Member Functions | |
Extension of calculations of Frame kinematics. | |
virtual SimTK::Transform | calcTransformInGround (const SimTK::State &state) const =0 |
Calculate the transform related to this Frame with respect to ground. More... | |
virtual SimTK::SpatialVec | calcVelocityInGround (const SimTK::State &state) const =0 |
The spatial velocity {omega; v} of this Frame in ground. More... | |
virtual SimTK::SpatialVec | calcAccelerationInGround (const SimTK::State &state) const =0 |
The spatial acceleration {alpha; a} for this Frame in ground. More... | |
Component Extension methods. | |
void | extendConnectToModel (Model &model) override |
Perform any necessary initializations required to connect the component into the Model, and check for error conditions. More... | |
void | extendAddToSystem (SimTK::MultibodySystem &system) const override |
Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More... | |
Protected Member Functions inherited from OpenSim::ModelComponent | |
const SimTK::Vec3 & | getScaleFactors (const ScaleSet &scaleSet, const Frame &frame) const |
Get the scale factors corresponding to the base OpenSim::Body of the specified Frame. More... | |
virtual void | extendPreScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More... | |
virtual void | extendPostScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More... | |
void | updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber) override |
Handle a change in XML syntax for Sockets. More... | |
void | extendFinalizeFromProperties () override |
Perform any time-invariant calculations, data structure initializations, or other configuration based on the component's properties to form a functioning (but not yet connected) component. More... | |
Protected Member Functions inherited from OpenSim::Component | |
SimTK_DEFINE_UNIQUE_INDEX_TYPE (MemberSubcomponentIndex) | |
template<class C = Component> | |
MemberSubcomponentIndex | constructSubcomponent (const std::string &name) |
Construct a subcomponent as a data member of this Component. More... | |
template<class C = Component> | |
const C & | getMemberSubcomponent (MemberSubcomponentIndex ix) const |
template<class C = Component> | |
C & | updMemberSubcomponent (MemberSubcomponentIndex ix) |
void | adoptSubcomponent (Component *subcomponent) |
Adopt a component as a subcomponent of this Component. More... | |
size_t | getNumImmediateSubcomponents () const |
Get the number of Subcomponents immediately owned by this Component. More... | |
size_t | getNumMemberSubcomponents () const |
Get the number of Subcomponents that are data members of this Component. More... | |
size_t | getNumPropertySubcomponents () const |
Get the number of Subcomponents that are properties of this Component. More... | |
size_t | getNumAdoptedSubcomponents () const |
Get the number of Subcomponents adopted by this Component. More... | |
std::vector< SimTK::ReferencePtr< const Component > > | getImmediateSubcomponents () const |
Access this Component's immediate subcomponents (not those owned by subcomponents) More... | |
template<class C > | |
const C * | traversePathToComponent (ComponentPath path) const |
void | setNextSubcomponentInSystem (const Component &sub) const |
Helper method to enable Component makers to specify the order of their subcomponents to be added to the System during addToSystem(). More... | |
void | resetSubcomponentOrder () |
resetSubcomponentOrder clears this Component's list of ordered subcomponents (but otherwise leaves subcomponents untouched). More... | |
const Component & | get_components (int i) const |
Get the value of the i-th element of the components property. More... | |
Component & | upd_components (int i) |
Get a writable reference to the i-th element of the components property. More... | |
void | set_components (int i, const Component &value) |
Set the value of the i-th element of components property. More... | |
int | append_components (const Component &value) |
Append an element to the components property. More... | |
virtual void | extendAddComponent (Component *subcomponent) |
Perform any secondary operations, e.g. More... | |
void | initComponentTreeTraversal (const Component &root) const |
Build the tree of Components from this component through its descendants. More... | |
virtual void | extendAddToSystemAfterSubcomponents (SimTK::MultibodySystem &system) const |
Add appropriate Simbody elements (if needed) to the System after your component's subcomponents have had a chance to add themselves to the system. More... | |
virtual void | extendInitStateFromProperties (SimTK::State &state) const |
Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More... | |
virtual void | extendSetPropertiesFromState (const SimTK::State &state) |
Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property. More... | |
virtual void | computeStateVariableDerivatives (const SimTK::State &s) const |
If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states. More... | |
void | setStateVariableDerivativeValue (const SimTK::State &state, const std::string &name, double deriv) const |
Set the derivative of a state variable by name when computed inside of this Component's computeStateVariableDerivatives() method. More... | |
virtual void | extendRealizeTopology (SimTK::State &state) const |
Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology. More... | |
virtual void | extendRealizeModel (SimTK::State &state) const |
Obtain and name state resources (like state variables allocated by an underlying Simbody component) that may be needed, depending on modeling options. More... | |
virtual void | extendRealizeInstance (const SimTK::State &state) const |
Perform computations that depend only on instance variables, like lengths and masses. More... | |
virtual void | extendRealizeTime (const SimTK::State &state) const |
Perform computations that depend only on time and earlier stages. More... | |
virtual void | extendRealizePosition (const SimTK::State &state) const |
Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time). More... | |
virtual void | extendRealizeVelocity (const SimTK::State &state) const |
Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time). More... | |
virtual void | extendRealizeDynamics (const SimTK::State &state) const |
Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces. More... | |
virtual void | extendRealizeAcceleration (const SimTK::State &state) const |
Perform computations that may depend on applied forces. More... | |
virtual void | extendRealizeReport (const SimTK::State &state) const |
Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior. More... | |
void | addModelingOption (const std::string &optionName, int maxFlagValue) const |
Add a modeling option (integer flag stored in the State) for use by this Component. More... | |
void | addStateVariable (const std::string &stateVariableName, const SimTK::Stage &invalidatesStage=SimTK::Stage::Dynamics, bool isHidden=false) const |
Add a continuous system state variable belonging to this Component, and assign a name by which to refer to it. More... | |
void | addStateVariable (Component::StateVariable *stateVariable) const |
The above method provides a convenient interface to this method, which automatically creates an 'AddedStateVariable' and allocates resources in the SimTK::State for this variable. More... | |
void | addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const |
Add a system discrete variable belonging to this Component, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed. More... | |
SimTK::MultibodySystem & | updSystem () const |
Get writable reference to the MultibodySystem that this component is connected to. More... | |
int | getStateIndex (const std::string &name) const |
Get the index of a Component's continuous state variable in the Subsystem for allocations. More... | |
SimTK::SystemYIndex | getStateVariableSystemIndex (const std::string &stateVariableName) const |
Get the System Index of a state variable allocated by this Component. More... | |
const SimTK::DiscreteVariableIndex | getDiscreteVariableIndex (const std::string &name) const |
Get the index of a Component's discrete variable in the Subsystem for allocations. More... | |
template<typename T > | |
PropertyIndex | constructSocket (const std::string &name, const std::string &propertyComment) |
Construct a specialized Socket for this Component's dependence on another Component. More... | |
template<typename T , typename CompType = Component> | |
bool | constructOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration) |
Construct an output for a member function of the same component. More... | |
template<typename T , typename CompType = Component> | |
bool | constructOutput (const std::string &name, const T &(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration) |
This variant handles component member functions that return the output value by const reference (const T&). More... | |
template<typename T , typename CompType > | |
bool | constructListOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &, const std::string &channel) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration) |
Construct an output that can have multiple channels. More... | |
bool | constructOutputForStateVariable (const std::string &name) |
Construct an Output for a StateVariable. More... | |
template<typename T > | |
PropertyIndex | constructInput (const std::string &name, bool isList, const std::string &propertyComment, const SimTK::Stage &requiredAtStage=SimTK::Stage::Instance) |
Construct an Input (socket) for this Component's dependence on an Output signal. More... | |
template<class T > | |
CacheVariable< T > | addCacheVariable (std::string name, T variablePrototype, SimTK::Stage dependsOnStage) const |
Add a state cache entry belonging to this Component to hold calculated values that must be automatically invalidated when certain state values change. More... | |
void | setOwner (const Component &owner) |
Set this Component's reference to its owning Component 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... | |
Auto-generated functions | |
static Frame * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Frame". More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Frame * | 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::ModelComponent | |
static ModelComponent * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "ModelComponent". More... | |
Static Public Member Functions inherited from OpenSim::Component | |
static Component * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Component". More... | |
Static Public Member Functions inherited from OpenSim::Object | |
static void | registerType (const Object &defaultObject) |
Register an instance of a class; if the class is already registered it will be replaced. More... | |
static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
Support versioning by associating the current Object type with an old name. More... | |
static const Object * | getDefaultInstanceOfType (const std::string &concreteClassName) |
Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More... | |
template<class T > | |
static bool | isObjectTypeDerivedFrom (const std::string &concreteClassName) |
Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More... | |
static Object * | newInstanceOfType (const std::string &concreteClassName) |
Create a new instance of the concrete Object type whose class name is given as concreteClassName. More... | |
static void | getRegisteredTypenames (Array< std::string > &typeNames) |
Retrieve all the typenames registered so far. More... | |
template<class T > | |
static void | getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray) |
Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More... | |
static bool | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true) |
Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More... | |
static bool | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true) |
Same as the other signature but the class name and property name are provided as two separate strings. More... | |
static Object * | makeObjectFromFile (const std::string &fileName) |
Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More... | |
static const std::string & | getClassName () |
Return the name of this class as a string; i.e., "Object". More... | |
static void | setSerializeAllDefaults (bool shouldSerializeDefaults) |
Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More... | |
static bool | getSerializeAllDefaults () |
Report the value of the "serialize all defaults" flag. More... | |
static bool | isKindOf (const char *type) |
Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More... | |
static void | setDebugLevel (int newLevel) |
Set the 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... | |
Static Protected Member Functions inherited from OpenSim::Component | |
static void | prependComponentPathToConnecteePath (Component &subcomponent) |
For internal use. More... | |
Protected Attributes inherited from OpenSim::ModelComponent | |
SimTK::ReferencePtr< Model > | _model |
The model this component belongs to. More... | |
Protected Attributes inherited from OpenSim::Object | |
PropertySet | _propertySet |
OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More... | |
Static Protected Attributes inherited from OpenSim::ModelComponent | |
static const SimTK::Vec3 | InvalidScaleFactors |
Returned by getScaleFactors() if the ScaleSet does not contain scale factors for the base Body associated with the specified Frame. 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... | |
A Frame is an OpenSim representation of a reference frame.
It consists of a right-handed set of three orthogonal axes and an origin point. Frames are intended to provide convenient reference frames for locating physical structures (such as joints and muscle attachments) as well as provide a convenient basis for performing spatial calculations. For example, if your system involves contact, you might define a Frame that is aligned with the normal direction of a contact surface and whose origin is at the center-of-pressure.
Every Frame is capable of providing its SimTK::Transform (translation of the origin and the orientation of its axes) in the Ground frame as a function of the Model's (SimTK::MultibodySystem's) state.
The Frame class also provides convenience methods for re-expressing vectors from one Frame to another.
As already noted, Frames are useful for locating physical structures such as bodies, their joints, and the locations where constraints can be connected and forces can be applied. It is perhaps less evident that Frames can be extremely useful for relating a multitude of reference frames together to form chains and trees. For example, a Frame to specify muscle attachments (M) and a Frame to specify a joint location (J) could themselves be specified in an anatomical Frame (A) defined by bony landmarks identified by surface markers or tagged on CT or MRI images. The body (B), to which the anatomical frame (A) is attached, can be thought of as a "Base" frame or a root of a tree from which a set of descendant frames arise. In particular, a Base frame and all its descendants have the property that they share the same angular velocity, since they are affixed to the same underlying Frame (in this case a Body).
M---muscle points / B---A \ J---joint axes
Therefore, a useful concept is that of a Base frame, and a Frame can always provide a Base frame. If a Frame is not affixed to another frame, its Base frame is itself.
typedef Frame OpenSim::Frame::Self |
This typedef might be useful within the member functions of this class.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
typedef ModelComponent OpenSim::Frame::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.
OpenSim::Frame::Frame | ( | ) |
|
inlinevirtual |
|
inline |
Append an element to the attached_geometry property.
|
inlineoverride |
void OpenSim::Frame::attachGeometry | ( | OpenSim::Geometry * | geom | ) |
|
protectedpure virtual |
The spatial acceleration {alpha; a} for this Frame in ground.
Implemented in OpenSim::OffsetFrame< PhysicalFrame >.
|
protectedpure virtual |
Calculate the transform related to this Frame with respect to ground.
This method returns the transform X_GF, converting quantities expressed in this frame, F, to quantities expressed in the ground, G, frame. This is mathematically stated as: vec_G = X_GF*vec_F
Implemented in OpenSim::OffsetFrame< PhysicalFrame >.
|
protectedpure virtual |
The spatial velocity {omega; v} of this Frame in ground.
Implemented in OpenSim::OffsetFrame< PhysicalFrame >.
|
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::ModelComponent.
Implemented in OpenSim::OffsetFrame< PhysicalFrame >, OpenSim::PhysicalFrame, OpenSim::PhysicalOffsetFrame, OpenSim::ExperimentalFrame, OpenSim::Body, and OpenSim::Ground.
SimTK::Vec3 OpenSim::Frame::expressVectorInAnotherFrame | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | vec_F, | ||
const Frame & | otherFrame | ||
) | const |
Take a vector expressed in this frame (F) and re-express the same vector in another frame (A).
This re-expression accounts for the difference in orientation between the frames. This is mathematically stated as: vec_A = R_AF*vec_F which does not translate the vector. This is intended to re-express physical vector quantities such as a frame's angular velocity or an applied force, from one frame to another without changing the physical quantity. If you have a position vector and want to change the point from which the position is measured, you want findStationLocationInAnotherFrame().
state | The state of the model. |
vec_F | The vector to be re-expressed. |
otherFrame | The frame in which the vector will be re-expressed |
SimTK::Vec3 OpenSim::Frame::expressVectorInGround | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | vec_F | ||
) | const |
Take a vector in this frame (F) and re-express the same vector in Ground (G).
This method is equivalent to expressVectorInAnotherFrame() where the "other Frame" is always Ground.
state | The state of the model. |
vec_F | The vector to be re-expressed. |
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overrideprotectedvirtual |
Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.
extendAddToSystem() is called when the Simbody System is being created to represent a completed system (model) for computation. That is, connect() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within extendAddToSystem() only.
Note that this method is const; you may not modify your model component or the containing model during this call. Any modifications you need should instead be performed in finalizeFromProperties() or at the latest connect(), which are non-const. The only exception is that you may need to record access information for resources you create in the system, such as an index number. For most Components, OpenSim base classes either provide convenience methods or handle indices automatically. Otherwise, you must declare indices as mutable data members so that you can set them here.
If you override this method, be sure to invoke the base class method at the beginning, using code like this:
This method assumes that this Component's addToSystem will be invoked before its subcomponents. If you need your subcomponents to be added to the system, first (e.g. require of a Force to be anchored to a SimTK::MobilizedBody specified by subcomponents) then you must implement: extendAddToSystemAfterSubcomponents(). It is possible to implement both method to add system elements before and then after your subcomponents have added themselves. Caution is required that Simbody elements are not added twice especially when order is unimportant.
[in,out] | system | The MultibodySystem being added to. |
Reimplemented from OpenSim::Component.
Reimplemented in OpenSim::PhysicalOffsetFrame, and OpenSim::Ground.
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overrideprotectedvirtual |
Perform any necessary initializations required to connect the component into the Model, and check for error conditions.
extendConnectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.
If you override this method, be sure to invoke the base class method first, using code like this:
Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.
[in,out] | model | The Model currently being constructed to which this ModelComponent should be connected. |
Reimplemented from OpenSim::ModelComponent.
Reimplemented in OpenSim::PhysicalFrame, OpenSim::OffsetFrame< PhysicalFrame >, and OpenSim::Body.
|
overridevirtual |
Scales Geometry components that reside in the Frame's attached_geometry
list property.
Note that Geometry residing elsewhere (e.g., in the components
list property of a Frame or any other Component) will not be scaled. Note also that ContactGeometry derives from ModelComponent so the classes derived from ContactGeometry are responsible for scaling themselves. (However, scale()
is not currently implemented on ContactGeometry or classes derived therefrom so they will not scale with the Model.)
Reimplemented from OpenSim::ModelComponent.
Reimplemented in OpenSim::OffsetFrame< PhysicalFrame >, and OpenSim::Body.
const Frame& OpenSim::Frame::findBaseFrame | ( | ) | const |
SimTK::Vec3 OpenSim::Frame::findStationAccelerationInGround | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | station_F | ||
) | const |
Take a station located and expressed in this frame (F) and determine its acceleration relative to and expressed in Ground (G).
Note that if you have added an OpenSim::Station, you should use the Station's getAccelerationInGround() method instead.
state | The state of the model. |
station_F | The position Vec3 from frame F's origin to the station. |
SimTK::Vec3 OpenSim::Frame::findStationLocationInAnotherFrame | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | station_F, | ||
const Frame & | otherFrame | ||
) | const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in another frame (A).
The transform accounts for the difference in orientation and translation between the frames. This is mathematically stated as: loc_A = X_AF*station_F
state | The state of the model. |
station_F | The position Vec3 from frame F's origin to the station. |
otherFrame | The frame (A) in which the station's location will be relative to and expressed. |
SimTK::Vec3 OpenSim::Frame::findStationLocationInGround | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | station_F | ||
) | const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in Ground (G).
This method is equivalent to findStationLocationInAnotherFrame() where the "other Frame" is always Ground.
Note that if you have added an OpenSim::Station, you should use the Station's getLocationInGround() method instead.
state | The state of the model. |
station_F | The position Vec3 from frame F's origin to the station. |
SimTK::Vec3 OpenSim::Frame::findStationVelocityInGround | ( | const SimTK::State & | state, |
const SimTK::Vec3 & | station_F | ||
) | const |
Take a station located and expressed in this frame (F) and determine its velocity relative to and expressed in Ground (G).
Note that if you have added an OpenSim::Station, you should use the Station's getVelocityInGround() method instead.
state | The state of the model. |
station_F | The position Vec3 from frame F's origin to the station. |
SimTK::Transform OpenSim::Frame::findTransformBetween | ( | const SimTK::State & | state, |
const Frame & | otherFrame | ||
) | const |
Find the transform that describes this frame (F) relative to another frame (A).
It transforms quantities expressed in F to quantities expressed in A. This is mathematically stated as: vec_A = X_AF*vec_F , where X_AF is the transform returned by this method.
state | The state applied to the model when determining the transform. |
otherFrame | a second frame |
SimTK::Transform OpenSim::Frame::findTransformInBaseFrame | ( | ) | const |
Find the equivalent Transform of this Frame (F) in its base (B) Frame.
That is find X_BF, such that vecB = X_BF*vecF For a Frame that is itself a base, this returns the identity Transform.
Referenced by OpenSim::IMU::generateDecorations().
|
inline |
Get the value of the i-th element of the attached_geometry property.
|
inline |
Get the value of the frame_geometry property.
const SimTK::SpatialVec& OpenSim::Frame::getAccelerationInGround | ( | const SimTK::State & | state | ) | const |
The spatial acceleration A_GF {alpha; a} of this Frame, measured with respect to and expressed in the ground frame.
It can also be used to compute the acceleration of any stationary point on F, located at r_F (Vec3), in ground, G, as: a_G = A_GF[1] + SimTK::cross(A_GF[0], r_F) + SimTK::cross(V_GF[0], SimTK::cross(V_GF[0], r_F)); Is only valid at Stage::Acceleration or higher.
const SimTK::Vec3& OpenSim::Frame::getAngularAccelerationInGround | ( | const SimTK::State & | state | ) | const |
The angular acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getAccelerationInGround()).
const SimTK::Vec3& OpenSim::Frame::getAngularVelocityInGround | ( | const SimTK::State & | state | ) | const |
The angular velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getVelocityInGround()).
|
inlinestatic |
This returns "Frame".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
|
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.
Implements OpenSim::ModelComponent.
Implemented in OpenSim::OffsetFrame< PhysicalFrame >, OpenSim::PhysicalFrame, OpenSim::PhysicalOffsetFrame, OpenSim::ExperimentalFrame, OpenSim::Body, and OpenSim::Ground.
const SimTK::Vec3& OpenSim::Frame::getLinearAccelerationInGround | ( | const SimTK::State & | state | ) | const |
The linear acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getAccelerationInGround()).
const SimTK::Vec3& OpenSim::Frame::getLinearVelocityInGround | ( | const SimTK::State & | state | ) | const |
The linear velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getVelocityInGround()).
|
inline |
|
inline |
const SimTK::Transform& OpenSim::Frame::getTransformInGround | ( | const SimTK::State & | state | ) | const |
Get the transform of this frame (F) relative to the ground frame (G).
It transforms quantities expressed in F into quantities expressed in G. This is mathematically stated as: vec_G = X_GF*vec_F , where X_GF is the transform returned by getTransformInGround.
state | The state applied to the model when determining the transform. |
const SimTK::SpatialVec& OpenSim::Frame::getVelocityInGround | ( | const SimTK::State & | state | ) | const |
The spatial velocity V_GF {omega; v} of this Frame, measured with respect to and expressed in the ground frame.
It can be used to compute the velocity of any stationary point on F, located at r_F (Vec3), in ground, G, as: v_G = V_GF[1] + SimTK::cross(V_GF[0], r_F); Is only valid at Stage::Velocity or higher.
|
inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = Frame.safeDownCast(obj)
. This is equivalent to dynamic_cast<Frame*>(obj)
in C++.
void OpenSim::Frame::scaleAttachedGeometry | ( | const SimTK::Vec3 & | scaleFactors | ) |
|
inline |
Set the value of the i-th element of attached_geometry property.
|
inline |
Set the value of the frame_geometry property.
|
inline |
Get a writable reference to the i-th element of the attached_geometry property.
|
inline |
Get a writable reference to the frame_geometry property.
SimTK::SpatialVec OpenSim::Frame::acceleration |
Provides the value of getAccelerationInGround() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Vec3 OpenSim::Frame::angular_acceleration |
Provides the value of getAngularAccelerationInGround() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Vec3 OpenSim::Frame::angular_velocity |
Provides the value of getAngularVelocityInGround() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
Geometry OpenSim::Frame::attached_geometry |
"List of geometry attached to this Frame. Note, the geometry " "are treated as fixed to the frame and they share the transform " "of the frame when visualized"
This property appears in XML files under the tag <attached_geometry>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.
FrameGeometry OpenSim::Frame::frame_geometry |
"The geometry used to display the axes of this Frame."
This property appears in XML files under the tag <frame_geometry>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
SimTK::Vec3 OpenSim::Frame::linear_acceleration |
Provides the value of getLinearAccelerationInGround() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Vec3 OpenSim::Frame::linear_velocity |
Provides the value of getLinearVelocityInGround() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Vec3 OpenSim::Frame::position |
Provides the value of getPositionInGround() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Rotation OpenSim::Frame::rotation |
Provides the value of getRotationInGround() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::Transform OpenSim::Frame::transform |
Provides the value of getTransformInGround() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::SpatialVec OpenSim::Frame::velocity |
Provides the value of getVelocityInGround() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.