An OffsetFrame is a Frame whose transform (translation and orientation) with respect to another (parent) Frame is constant in time. More...

Inheritance diagram for OpenSim::OffsetFrame< C >:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
SimTK::Vec3	translation
	"Translational offset (in meters) of this frame's origin from the parent " "frame's origin, expressed in the parent frame." More...

SimTK::Vec3	orientation
	"Orientation offset (in radians) of this frame in its parent frame, " "expressed as a frame-fixed x-y-z rotation sequence." More...

Sockets
C	parent
	"The parent frame to this frame." More...

Public Member Functions
	OffsetFrame ()
	By default, the frame is not connected to any parent frame, and its transform is an identity transform. More...

	OffsetFrame (const C &parent, const SimTK::Transform &offset)
	A convenience constructor that initializes the parent connection and offset Transform in the parent frame. More...

	OffsetFrame (const std::string &name, const C &parent, const SimTK::Transform &offset)
	A convenience constructor that initializes the parent connection by name and of the offset Transform in the parent frame. More...

	OffsetFrame (const std::string &name, const std::string &parentName, const SimTK::Transform &offset)
	A convenience constructor that initializes the parent connection by name and of the offset Transform in the parent frame. More...

void	setParentFrame (const C &parent)
	Sets the parent reference frame. More...

const C &	getParentFrame () const
	Get the parent reference frame. More...

const SimTK::Transform &	getOffsetTransform () const
	Get the transform that describes the translational and rotational offset of this frame (F frame) relative to its parent frame (B frame). More...

void	setOffsetTransform (const SimTK::Transform &offset)
	Sets the transform the translates and rotates this frame (F frame) from its parent frame (P frame). More...

void	extendScale (const SimTK::State &s, const ScaleSet &scaleSet) override
	Scale the offset given scale factors for spatial (XYZ) dimensions. More...

Property-related functions
const SimTK::Vec3 &	get_translation () const
	Get the value of the translation property. More...

SimTK::Vec3 &	upd_translation ()
	Get a writable reference to the translation property. More...

void	set_translation (const SimTK::Vec3 &value)
	Set the value of the translation property. More...

const SimTK::Vec3 &	get_orientation () const
	Get the value of the orientation property. More...

SimTK::Vec3 &	upd_orientation ()
	Get a writable reference to the orientation property. More...

void	set_orientation (const SimTK::Vec3 &value)
	Set the value of the orientation property. More...

Socket-related functions
void	connectSocket_parent (const OpenSim::Object &object)
	Connect the 'parent' Socket to an object of type C. More...

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

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

Protected Member Functions
const Frame &	extendFindBaseFrame () const override final
	Extend how OffsetFrame determines its base Frame. More...

SimTK::Transform	extendFindTransformInBaseFrame () const override final
	Extend how OffsetFrame determines its transform in its base Frame. More...

SimTK::Transform	calcTransformInGround (const SimTK::State &state) const override final

SimTK::SpatialVec	calcVelocityInGround (const SimTK::State &state) const override final

SimTK::SpatialVec	calcAccelerationInGround (const SimTK::State &state) const override final

Component Interface
These methods adhere to the Component Interface
void	extendFinalizeFromProperties () override

void	extendConnectToModel (Model &model) override

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

static const std::string &	getClassName ()
	This returns "OffsetFrame_<T>_". More...

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

OffsetFrame *	clone () const override=0

const std::string &	getConcreteClassName () const override=0

Detailed Description

template<class C = Frame>
class OpenSim::OffsetFrame< C >

An OffsetFrame is a Frame whose transform (translation and orientation) with respect to another (parent) Frame is constant in time.

It acts as an extension of the parent Frame type so that an OffsetFrame<PhysicalFrame>, for example, can be treated as a PhysicalFrame. This enables Frames to be filtered by their type (e.g. Physical or not), regardless of whether or not the Frame is also an OffsetFrame. (A class whose super class is a template parameter is called a mixin class.)

OffsetFrames also have the property that if they form a chain or a tree, each OffsetFrame shares the same Base which is the parent of the first/root OffsetFrame in the tree. This allows Solvers and algorithms to work directly with the Base which can be more efficient.

OffsetFrame is an abstract class. Derive concrete subclasses in order to accommodate new Frame types that require their offsets to retain the same type as the parent. For example:

class PhysicalOffsetFrame : public OffsetFrame<PhysicalFrame>

See also: PhysicalOffsetFrame.

Template Parameters

C	The type of the parent frame, as well as the super class. Must be of type Frame.

Author: Matt DeMers; Ajay Seth

Member Typedef Documentation

◆ Self

template<class C = Frame>

typedef OffsetFrame OpenSim::OffsetFrame< C >::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

template<class C = Frame>

typedef C OpenSim::OffsetFrame< C >::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

◆ OffsetFrame() [1/4]

template<class C >

OpenSim::OffsetFrame< C >::OffsetFrame ( )

By default, the frame is not connected to any parent frame, and its transform is an identity transform.

◆ OffsetFrame() [2/4]

template<class C>

OpenSim::OffsetFrame< C >::OffsetFrame	(	const C &	parent,
		const SimTK::Transform &	offset
	)

A convenience constructor that initializes the parent connection and offset Transform in the parent frame.

Parameters

[in]	parent	The parent reference frame.
[in]	offset	The offset transform between this frame and its parent

◆ OffsetFrame() [3/4]

template<class C>

OpenSim::OffsetFrame< C >::OffsetFrame	(	const std::string &	name,
		const C &	parent,
		const SimTK::Transform &	offset
	)

A convenience constructor that initializes the parent connection by name and of the offset Transform in the parent frame.

Parameters

[in]	name	The name of this OffsetFrame.
[in]	parent	The parent reference frame.
[in]	offset	The offset Transform between this frame and its parent

◆ OffsetFrame() [4/4]

template<class C>

OpenSim::OffsetFrame< C >::OffsetFrame	(	const std::string &	name,
		const std::string &	parentName,
		const SimTK::Transform &	offset
	)

A convenience constructor that initializes the parent connection by name and of the offset Transform in the parent frame.

Parameters

[in]	name	The name of this OffsetFrame.
[in]	parentName	The name of the parent reference Frame.
[in]	offset	The offset Transform between this frame and its parent

Member Function Documentation

◆ assign()

template<class C = Frame>

void OpenSim::OffsetFrame< C >::assign ( Object & aObject )

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type OffsetFrame.

◆ calcAccelerationInGround()

template<class C >

SimTK::SpatialVec OpenSim::OffsetFrame< C >::calcAccelerationInGround ( const SimTK::State & state ) const

finaloverrideprotected

◆ calcTransformInGround()

template<class C >

SimTK::Transform OpenSim::OffsetFrame< C >::calcTransformInGround ( const SimTK::State & state ) const

finaloverrideprotected

◆ calcVelocityInGround()

template<class C >

SimTK::SpatialVec OpenSim::OffsetFrame< C >::calcVelocityInGround ( const SimTK::State & state ) const

finaloverrideprotected

◆ clone()

template<class C = Frame>

OffsetFrame* OpenSim::OffsetFrame< C >::clone ( ) const

overridepure virtual

Implemented in OpenSim::PhysicalOffsetFrame.

◆ connectSocket_parent()

template<class C = Frame>

void OpenSim::OffsetFrame< C >::connectSocket_parent ( const OpenSim::Object & object )

inline

Connect the 'parent' Socket to an object of type C.

Call finalizeConnections() afterwards to update the socket's connectee path property. The reference to the connectee set here takes precedence over the connectee path property.

◆ extendConnectToModel()

template<class C >

void OpenSim::OffsetFrame< C >::extendConnectToModel ( Model & model )

overrideprotected

◆ extendFinalizeFromProperties()

template<class C >

void OpenSim::OffsetFrame< C >::extendFinalizeFromProperties ( )

overrideprotected

◆ extendFindBaseFrame()

template<class C >

const Frame & OpenSim::OffsetFrame< C >::extendFindBaseFrame ( ) const

finaloverrideprotected

Extend how OffsetFrame determines its base Frame.

◆ extendFindTransformInBaseFrame()

template<class C >

SimTK::Transform OpenSim::OffsetFrame< C >::extendFindTransformInBaseFrame ( ) const

finaloverrideprotected

Extend how OffsetFrame determines its transform in its base Frame.

◆ extendScale()

template<class C >

void OpenSim::OffsetFrame< C >::extendScale	(	const SimTK::State &	s,
		const ScaleSet &	scaleSet
	)

inlineoverride

Scale the offset given scale factors for spatial (XYZ) dimensions.

◆ get_orientation()

template<class C = Frame>

const SimTK::Vec3& OpenSim::OffsetFrame< C >::get_orientation ( ) const

inline

Get the value of the orientation property.

◆ get_translation()

template<class C = Frame>

const SimTK::Vec3& OpenSim::OffsetFrame< C >::get_translation ( ) const

inline

Get the value of the translation property.

◆ getClassName()

template<class C = Frame>

static const std::string& OpenSim::OffsetFrame< C >::getClassName ( )

inlinestatic

This returns "OffsetFrame_<T>_".

T is the template argument for this class. See getConcreteClassName() if you want the class name of the underlying concrete object instead.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

template<class C = Frame>

const std::string& OpenSim::OffsetFrame< C >::getConcreteClassName ( ) const

overridepure virtual

Implemented in OpenSim::PhysicalOffsetFrame.

◆ getOffsetTransform()

template<class C >

const SimTK::Transform & OpenSim::OffsetFrame< C >::getOffsetTransform ( ) const

Get the transform that describes the translational and rotational offset of this frame (F frame) relative to its parent frame (B frame).

This method returns the transform converting quantities expressed in F frame to quantities expressed in the B frame. This is mathematically stated as, vec_P = X_BF*vec_F , where X_BF is the transform returned by getTransform.

This transform is computed using the translation and orientation properties of this object.

Returns: offset The transform between this frame and its parent frame.

◆ getParentFrame()

template<class C >

const C & OpenSim::OffsetFrame< C >::getParentFrame ( ) const

Get the parent reference frame.

◆ safeDownCast()

template<class C = Frame>

static OffsetFrame* OpenSim::OffsetFrame< C >::safeDownCast ( OpenSim::Object * obj )

inlinestatic

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

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

◆ set_orientation()

template<class C = Frame>

void OpenSim::OffsetFrame< C >::set_orientation ( const SimTK::Vec3 & value )

inline

Set the value of the orientation property.

◆ set_translation()

template<class C = Frame>

void OpenSim::OffsetFrame< C >::set_translation ( const SimTK::Vec3 & value )

inline

Set the value of the translation property.

◆ setOffsetTransform()

template<class C >

void OpenSim::OffsetFrame< C >::setOffsetTransform ( const SimTK::Transform & offset )

Sets the transform the translates and rotates this frame (F frame) from its parent frame (P frame).

You should provide the transform X_PF such that vec_P = X_PF*vec_F.

This transform is stored via the translation and orientation properties of this object.

Parameters

offset The transform between this frame and its parent frame.

◆ setParentFrame()

template<class C>

void OpenSim::OffsetFrame< C >::setParentFrame ( const C & parent )

Sets the parent reference frame.

◆ upd_orientation()

template<class C = Frame>

SimTK::Vec3& OpenSim::OffsetFrame< C >::upd_orientation ( )

inline

Get a writable reference to the orientation property.

◆ upd_translation()

template<class C = Frame>

SimTK::Vec3& OpenSim::OffsetFrame< C >::upd_translation ( )

inline

Get a writable reference to the translation property.

OpenSim Property, Socket, Output, Input Documentation

◆ orientation

template<class C = Frame>

SimTK::Vec3 OpenSim::OffsetFrame< C >::orientation

"Orientation offset (in radians) of this frame in its parent frame, " "expressed as a frame-fixed x-y-z rotation sequence."

This property appears in XML files under the tag <orientation>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also: get_orientation(), upd_orientation(), set_orientation()

◆ parent

template<class C = Frame>

C OpenSim::OffsetFrame< C >::parent

"The parent frame to this frame."

In an XML file, you can set this Socket's connectee path via the <socket_parent > element. This socket was generated with the OpenSim_DECLARE_SOCKET macro; see AbstractSocket for more information.

See also: connectSocket_parent()

◆ translation

template<class C = Frame>

SimTK::Vec3 OpenSim::OffsetFrame< C >::translation

"Translational offset (in meters) of this frame's origin from the parent " "frame's origin, expressed in the parent frame."

This property appears in XML files under the tag <translation>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also: get_translation(), upd_translation(), set_translation()

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

OpenSim/Simulation/Model/OffsetFrame.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Auto-generated functions

Detailed Description

template<class C = Frame> class OpenSim::OffsetFrame< C >

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ OffsetFrame() [1/4]

◆ OffsetFrame() [2/4]

◆ OffsetFrame() [3/4]

◆ OffsetFrame() [4/4]

Member Function Documentation

◆ assign()

◆ calcAccelerationInGround()

◆ calcTransformInGround()

◆ calcVelocityInGround()

◆ clone()

◆ connectSocket_parent()

◆ extendConnectToModel()

◆ extendFinalizeFromProperties()

◆ extendFindBaseFrame()

◆ extendFindTransformInBaseFrame()

◆ extendScale()

◆ get_orientation()

◆ get_translation()

◆ getClassName()

◆ getConcreteClassName()

◆ getOffsetTransform()

◆ getParentFrame()

◆ safeDownCast()

◆ set_orientation()

◆ set_translation()

◆ setOffsetTransform()

◆ setParentFrame()

◆ upd_orientation()

◆ upd_translation()

OpenSim Property, Socket, Output, Input Documentation

◆ orientation

◆ parent

◆ translation

template<class C = Frame>
class OpenSim::OffsetFrame< C >