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

A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis. More...

+ Inheritance diagram for OpenSim::TransformAxis:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (list)

The "coordinates" property holds a list of strings representing the generalized coordinate names that serve as the independent variables of the transform function.

std::string coordinates
 "Names of the coordinates that serve as the independent variables \ of the transform function." More...
 
Properties (single-value)

The "function" property holds the transform function of the generalized coordinate(s) used to represent the amount of displacement about/along the specified axis.

If none is specified a Constant function is applied.

SimTK::Vec3 axis
 "Rotation or translation axis for the transform." More...
 
Function function
 "Transform function of the generalized coordinates used to \ represent the amount of displacement along a specified axis." More...
 

Public Member Functions

 TransformAxis ()
 
 TransformAxis (const Array< std::string > &coordNames, const SimTK::Vec3 &axis)
 
 TransformAxis (SimTK::Xml::Element &node)
 
void setCoordinateNames (const Array< std::string > &coordNames)
 Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object. More...
 
const Property< std::string > & getCoordinateNames () const
 Get the generalized coordinate names associated with this object. More...
 
Array< std::string > getCoordinateNamesInArray () const
 Copy the coordinate names into an OpenSim::Array for convenience. More...
 
void setAxis (const SimTK::Vec3 &axis)
 Set the value of the "axis" property. More...
 
const SimTK::Vec3 & getAxis () const
 Return the current value of the "axis" property. More...
 
void getAxis (SimTK::Vec3 &axis) const
 Alternate signature that writes the axis value to its argument. More...
 
double getAxis (int which) const
 Get one component (0,1, or 2) of the axis vector. More...
 
bool hasFunction () const
 Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis. More...
 
const FunctiongetFunction () const
 Get the custom function that maps between the generalized coordinates and the amount of displacement along the specified axis. More...
 
FunctionupdFunction ()
 Get writable access to the transform function. More...
 
void setFunction (Function *function)
 Set the custom function that maps between the generalized coordinates and the amount of displacement about/along the specified axis. More...
 
void setFunction (const Function &function)
 Set the custom function that maps between the generalized coordinates and the amount of transformation about/along the specified axis. More...
 
const JointgetJoint () const
 Return a reference to the Joint to which this TransformAxis applies. More...
 
double getValue (const SimTK::State &s)
 
void connectToJoint (const Joint &owningJoint)
 Connect the TransformAxis to its owning Joint after the model has been deserialized or copied. More...
 
Property-related functions
const std::string & get_coordinates (int i) const
 Get the value of the i-th element of the coordinates property. More...
 
std::string & upd_coordinates (int i)
 Get a writable reference to the i-th element of the coordinates property. More...
 
void set_coordinates (int i, const std::string &value)
 Set the value of the i-th element of coordinates property. More...
 
int append_coordinates (const std::string &value)
 Append an element to the coordinates property. More...
 
const SimTK::Vec3 & get_axis () const
 Get the value of the axis property. More...
 
SimTK::Vec3 & upd_axis ()
 Get a writable reference to the axis property. More...
 
void set_axis (const SimTK::Vec3 &value)
 Set the value of the axis property. More...
 
const Functionget_function () const
 Get the value of the function property. More...
 
Functionupd_function ()
 Get a writable reference to the function property. More...
 
void set_function (const Function &value)
 Set the value of the function property. 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...
 
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 TransformAxis 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...
 

Auto-generated functions

static TransformAxissafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "TransformAxis". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
TransformAxisclone () 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 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...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. 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 inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Detailed Description

A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis.

The TransformAxis function specified the spatial displacement that is achieved as a function of the generalized coordinate(s).

Author
Peter Loan, Frank C. Anderson, Jeffrey A. Reinbolt, Ajay Seth, Michael Sherman

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

◆ TransformAxis() [1/3]

OpenSim::TransformAxis::TransformAxis ( )

◆ TransformAxis() [2/3]

OpenSim::TransformAxis::TransformAxis ( const Array< std::string > &  coordNames,
const SimTK::Vec3 &  axis 
)

◆ TransformAxis() [3/3]

OpenSim::TransformAxis::TransformAxis ( SimTK::Xml::Element &  node)
explicit

Member Function Documentation

◆ append_coordinates()

int OpenSim::TransformAxis::append_coordinates ( const std::string &  value)
inline

Append an element to the coordinates property.

◆ assign()

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

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type TransformAxis.

◆ clone()

TransformAxis* OpenSim::TransformAxis::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::Object.

◆ connectToJoint()

void OpenSim::TransformAxis::connectToJoint ( const Joint owningJoint)

Connect the TransformAxis to its owning Joint after the model has been deserialized or copied.

◆ get_axis()

const SimTK::Vec3& OpenSim::TransformAxis::get_axis ( ) const
inline

Get the value of the axis property.

◆ get_coordinates()

const std::string& OpenSim::TransformAxis::get_coordinates ( int  i) const
inline

Get the value of the i-th element of the coordinates property.

◆ get_function()

const Function& OpenSim::TransformAxis::get_function ( ) const
inline

Get the value of the function property.

◆ getAxis() [1/3]

const SimTK::Vec3& OpenSim::TransformAxis::getAxis ( ) const
inline

Return the current value of the "axis" property.

◆ getAxis() [2/3]

void OpenSim::TransformAxis::getAxis ( SimTK::Vec3 &  axis) const
inline

Alternate signature that writes the axis value to its argument.

References getAxis().

Referenced by getAxis().

◆ getAxis() [3/3]

double OpenSim::TransformAxis::getAxis ( int  which) const
inline

Get one component (0,1, or 2) of the axis vector.

◆ getClassName()

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

This returns "TransformAxis".

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::TransformAxis::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::Object.

◆ getCoordinateNames()

const Property<std::string>& OpenSim::TransformAxis::getCoordinateNames ( ) const
inline

Get the generalized coordinate names associated with this object.

The returned value is a references to the Property<string> that contains the list of coordinate names.

See also
get_coordinates()

◆ getCoordinateNamesInArray()

Array<std::string> OpenSim::TransformAxis::getCoordinateNamesInArray ( ) const
inline

Copy the coordinate names into an OpenSim::Array for convenience.

References OpenSim::Array< T >::append().

◆ getFunction()

const Function& OpenSim::TransformAxis::getFunction ( ) const

Get the custom function that maps between the generalized coordinates and the amount of displacement along the specified axis.

If no function has been specified, this throws an exception; check first with hasFunction() if you aren't sure.

◆ getJoint()

const Joint& OpenSim::TransformAxis::getJoint ( ) const
inline

Return a reference to the Joint to which this TransformAxis applies.

◆ getValue()

double OpenSim::TransformAxis::getValue ( const SimTK::State &  s)

◆ hasFunction()

bool OpenSim::TransformAxis::hasFunction ( ) const
inline

Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.

◆ safeDownCast()

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

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

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

◆ set_axis()

void OpenSim::TransformAxis::set_axis ( const SimTK::Vec3 &  value)
inline

Set the value of the axis property.

◆ set_coordinates()

void OpenSim::TransformAxis::set_coordinates ( int  i,
const std::string &  value 
)
inline

Set the value of the i-th element of coordinates property.

◆ set_function()

void OpenSim::TransformAxis::set_function ( const Function value)
inline

Set the value of the function property.

◆ setAxis()

void OpenSim::TransformAxis::setAxis ( const SimTK::Vec3 &  axis)
inline

Set the value of the "axis" property.

◆ setCoordinateNames()

void OpenSim::TransformAxis::setCoordinateNames ( const Array< std::string > &  coordNames)
inline

Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object.

Parameters
coordNamesNames of the generalized coordinates.

◆ setFunction() [1/2]

void OpenSim::TransformAxis::setFunction ( Function function)

Set the custom function that maps between the generalized coordinates and the amount of displacement about/along the specified axis.

This object adopts ownership of the Function object, don't delete it yourself! It will be deleted when this TransformAxis object is deleted.

◆ setFunction() [2/2]

void OpenSim::TransformAxis::setFunction ( const Function function)

Set the custom function that maps between the generalized coordinates and the amount of transformation about/along the specified axis.

This method creates a copy of the supplied Function object, which is unaffected. Use the other signature if you want this TransformAxis to take over ownership of the Function object.

◆ upd_axis()

SimTK::Vec3& OpenSim::TransformAxis::upd_axis ( )
inline

Get a writable reference to the axis property.

◆ upd_coordinates()

std::string& OpenSim::TransformAxis::upd_coordinates ( int  i)
inline

Get a writable reference to the i-th element of the coordinates property.

◆ upd_function()

Function& OpenSim::TransformAxis::upd_function ( )
inline

Get a writable reference to the function property.

◆ updFunction()

Function& OpenSim::TransformAxis::updFunction ( )

Get writable access to the transform function.

OpenSim Property, Socket, Output, Input Documentation

◆ axis

SimTK::Vec3 OpenSim::TransformAxis::axis

"Rotation or translation axis for the transform."

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

See also
get_axis(), upd_axis(), set_axis()

◆ coordinates

std::string OpenSim::TransformAxis::coordinates

"Names of the coordinates that serve as the independent variables \ of the transform function."

This property appears in XML files under the tag <coordinates>. 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.

See also
get_coordinates(), upd_coordinates(), set_coordinates(), append_coordinates()

◆ function

Function OpenSim::TransformAxis::function

"Transform function of the generalized coordinates used to \ represent the amount of displacement along a specified axis."

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

See also
get_function(), upd_function(), set_function()

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