Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and governed by differential equations (and so have delays in force production). More...

Inheritance diagram for OpenSim::CMC:

Public Member Functions
	CMC ()

	CMC (Model aModel, CMC_TaskSet aTaskSet)

	CMC (const CMC &aCmc)

	CMC (const std::string &aFileName, bool aUpdateFromXMLNode=true)

virtual	~CMC ()

void	setNull ()

CMC &	operator= (const CMC &aCmc)

void	copyData (const CMC &aCmc)

Array< int > *	getParameterList ()

SimTK::Optimizer *	getOptimizer () const

OptimizationTarget *	setOptimizationTarget (OptimizationTarget aTarget, SimTK::Optimizer aOptimizer)

OptimizationTarget *	getOptimizationTarget () const

void	setDT (double aDT)

double	getDT () const

void	setTargetTime (double aTime)

double	getTargetTime () const

void	setTargetDT (double aDT)

double	getTargetDT () const

void	setCheckTargetTime (bool aTrueFalse)

bool	getCheckTargetTime () const

void	setActuatorForcePredictor (VectorFunctionForActuators *aPredictor)

VectorFunctionForActuators *	getActuatorForcePredictor ()

Storage *	getPositionErrorStorage () const

Storage *	getVelocityErrorStorage () const

Storage *	getStressTermWeightStorage () const

bool	getUseReflexes () const

void	setUseVerbosePrinting (bool aTrueFalse)

bool	getUseVerbosePrinting () const

void	setUseCurvatureFilter (bool aTrueFalse)

bool	getUseCurvatureFilter () const

const CMC_TaskSet &	getTaskSet () const

CMC_TaskSet &	updTaskSet () const

ControlSet &	updControlSet ()

void	restoreConfiguration (SimTK::State &s, const SimTK::State &initialState)

void	obtainActuatorEquilibrium (SimTK::State &s, double tiReal, double dtReal, const Array< double > &x, bool hold)

void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const override
	Controller interface. More...

virtual void	computeInitialStates (SimTK::State &s, double &rTI)

virtual void	computeControls (SimTK::State &s, ControlSet &rX)
	CMC algorithm. More...

virtual void	setupProperties ()

Public Member Functions inherited from OpenSim::TrackingController
	TrackingController ()
	Default constructor. More...

virtual	~TrackingController ()
	Destructor. More...

virtual void	setDesiredStatesStorage (const Storage *aYDesStore)
	Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method. More...

virtual const Storage &	getDesiredStatesStorage () const

Public Member Functions inherited from OpenSim::Controller
	OpenSim_DECLARE_LIST_SOCKET (actuators, Actuator, "The list of Actuators that this controller will control.")

	Controller ()

	~Controller () noexcept override

	Controller (const Controller &)

Controller &	operator= (Controller const &)

	Controller (Controller &&)

Controller &	operator= (Controller &&)

bool	isEnabled () const
	Get whether or not this controller is enabled. More...

void	setEnabled (bool enableFlag)
	Enable this controller. More...

void	setActuators (const Set< Actuator > &actuators)
	Replace the current set of actuators with the provided set. More...

void	setActuators (const ComponentList< const Actuator > &actuators)

void	addActuator (const Actuator &actuator)
	Add to the current set of actuators. More...

int	getNumControls () const
	Get the number of controls this controller computes. More...

int	getNumActuators () const
	Get the number of actuators that this controller is connected to. More...

const bool &	get_enabled () const
	Get the value of the enabled property. More...

bool &	upd_enabled ()
	Get a writable reference to the enabled property. More...

void	set_enabled (const bool &value)
	Set the value of the enabled property. More...

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

Array< std::string >	getDiscreteVariableNames () const
	Get the names of discrete state variables maintained by the Component and its subcomponents. More...

Array< std::string >	getModelingOptionNames () const
	Get the names of the modeling options maintained by the Component and its subcomponents. 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...

template<typename T >
const T &	getConnectee (const std::string &name, int index) const
	Get the "connectee" object at the provided index 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 Object &	getConnectee (const std::string &name, int index) const
	Get the connectee at the provided index as an Object. More...

const AbstractSocket *	tryGetSocket (const std::string &name) const
	Returns a pointer to the AbstractSocket with a given socket name, or `nullptr` if the socket with the given name does not exist on the component. More...

const AbstractSocket &	getSocket (const std::string &name) const
	Get an AbstractSocket for the given socket name. More...

const AbstractSocket *	tryUpdSocket (const std::string &name)
	Returns a writable pointer to the AbstractSocket with a given socket name, or `nullptr` if the socket with the given name does not exist on the component. 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...

int	getModelingOption (const SimTK::State &state, const std::string &path) const
	Based on a specified path, get the value of a modeling option. More...

int	getModelingOption (const SimTK::State &state, const ComponentPath &path) const

void	setModelingOption (SimTK::State &state, const std::string &path, int flag) const
	Based on a specified path, set the value of a modeling option. More...

void	setModelingOption (SimTK::State &state, const ComponentPath &path, int flag) const

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	getStateVariableDerivativeValue (const SimTK::State &state, const ComponentPath &path) const
	Get the value of a state variable derivative computed by this Component. 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 *	tryGetOutput (const std::string &name) const
	If it exists on the component, returns a pointer to the named `Output`; otherwise, returns a `nullptr`. More...

const AbstractOutput &	getOutput (const std::string &name) const
	Get the Output provided by this Component by name. More...

AbstractOutput *	tryUpdOutput (const std::string &name)
	If it exists on the component returns a writable pointer to the named `Output`; otherwise, returns a `nullptr` 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...

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

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

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

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

Public Types inherited from OpenSim::Controller
typedef Controller	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...

Static Public Member Functions
static void	FilterControls (const SimTK::State &s, const ControlSet &aControlSet, double aDT, OpenSim::Array< double > &rControls, bool aVerbosePrinting)

Static Public Member Functions inherited from OpenSim::Controller
static Controller *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "Controller". More...

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...

Protected Member Functions
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

Protected Member Functions inherited from OpenSim::Controller
void	setNumControls (int numControls)
	Only a Controller can set its number of controls based on its actuators. More...

void	updateFromXMLNode (SimTK::Xml::Element &node, int versionNumber) override
	Use this method to deserialize an object from a SimTK::Xml::Element. 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	extendScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Scale the ModelComponent. 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
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

void	extendFinalizeFromProperties () override

Protected Member Functions inherited from OpenSim::Component
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...

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 *)
	Unconditionally set the XMLDocument associated with this object. More...

const XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object. More...

XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object. More...

Protected Attributes
SimTK::Optimizer *	_optimizer
	Optimizer. More...

OptimizationTarget *	_target
	Optimization target for computing the controls. More...

double	_dt
	Next integration step size that is to be taken by the integrator. More...

double	_lastDT
	Last integration step size that was taken before a new integration step size was set in order to step exactly to the target time. More...

bool	_restoreDT
	Flag indicating when the last integration step size should be restored. More...

double	_tf
	The target time is the time in the future (in normalized units) for which the controls have been calculated. More...

double	_targetDT
	The step size used to generate a new target time, once the old target time has been reached. More...

bool	_checkTargetTime
	Whether or not to check the target time. More...

std::shared_ptr< Storage >	_pErrStore
	Storage object for the position errors. More...

std::shared_ptr< Storage >	_vErrStore
	Storage object for the velocity errors. More...

std::shared_ptr< Storage >	_stressTermWeightStore
	Storage object for the stress term weight. More...

ControlSet	_controlSet

Array< int >	_paramList
	List of parameters in the control set that are serving as the controls in the optimization problem. More...

bool	_verbose
	Flag to indicate whether to use verbose printing. More...

bool	_useCurvatureFilter

CMC_TaskSet *	_taskSet

VectorFunctionForActuators *	_predictor
	Vector function for estimating actuator forces over a specified time interval. More...

Array< double >	_f
	Array of actuator forces for achieving the desired accelerations. 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...

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

static const std::string &	getClassName ()
	This returns "CMC". More...

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

CMC *	clone () 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
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Controller
bool	enabled
	"Flag (true or false) indicating whether or not the controller is " "enabled." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component
Component	components
	"List of components that this component owns and serializes." 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 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...

Detailed Description

Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and governed by differential equations (and so have delays in force production).

The canonical example of such a dynamic system is the musculoskeletal system (human or animal), hence the name Computed Muscle Control.

For a complete description of the CMC algorithm consult the following references:

Anderson FC (2004). Method and system for dynamically filtering the motion of articulated bodies. Realistic Dynamics, Inc., US Patent No. 6,750,866 (Issue date: June 15, 2004).

Thelen DG, Anderson FC (2006). Using computed muscle control to generate forward dynamic simulations of human walking from experimental data. J Biomech 39: 1107-15.

Thelen DG, Anderson FC, Delp SL (2003). Generating forward dynamic simulations of movement using computed muscle control. J Biomech 36: 321-8.

Author: Frank C. Anderson

Version: 1.0

Member Typedef Documentation

◆ Self

typedef CMC OpenSim::CMC::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef TrackingController OpenSim::CMC::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

◆ CMC() [1/4]

OpenSim::CMC::CMC ( )

◆ CMC() [2/4]

OpenSim::CMC::CMC	(	Model *	aModel,
		CMC_TaskSet *	aTaskSet
	)

◆ CMC() [3/4]

OpenSim::CMC::CMC ( const CMC & aCmc )

◆ CMC() [4/4]

OpenSim::CMC::CMC	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

◆ ~CMC()

virtual OpenSim::CMC::~CMC ( )

virtual

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type CMC.

◆ clone()

CMC* OpenSim::CMC::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::Controller.

◆ computeControls() [1/2]

void OpenSim::CMC::computeControls	(	const SimTK::State &	s,
		SimTK::Vector &	controls
	)		const

overridevirtual

Controller interface.

Implements OpenSim::Controller.

◆ computeControls() [2/2]

virtual void OpenSim::CMC::computeControls	(	SimTK::State &	s,
		ControlSet &	rX
	)

virtual

CMC algorithm.

◆ computeInitialStates()

virtual void OpenSim::CMC::computeInitialStates	(	SimTK::State &	s,
		double &	rTI
	)

virtual

◆ copyData()

void OpenSim::CMC::copyData ( const CMC & aCmc )

◆ extendAddToSystem()

void OpenSim::CMC::extendAddToSystem ( SimTK::MultibodySystem & system ) const

overrideprotected

◆ extendConnectToModel()

void OpenSim::CMC::extendConnectToModel ( Model & model )

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:

void MyComponent::extendConnectToModel(Model& model) {
    Super::extendConnectToModel(model); // invoke parent class method
    // ... your code goes here
}

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.

Parameters

[in,out] model The Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::Controller.

◆ FilterControls()

static void OpenSim::CMC::FilterControls	(	const SimTK::State &	s,
		const ControlSet &	aControlSet,
		double	aDT,
		OpenSim::Array< double > &	rControls,
		bool	aVerbosePrinting
	)

static

◆ getActuatorForcePredictor()

VectorFunctionForActuators* OpenSim::CMC::getActuatorForcePredictor ( )

◆ getCheckTargetTime()

bool OpenSim::CMC::getCheckTargetTime ( ) const

◆ getClassName()

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

inlinestatic

This returns "CMC".

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::CMC::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::Controller.

◆ getDT()

double OpenSim::CMC::getDT ( ) const

◆ getOptimizationTarget()

OptimizationTarget* OpenSim::CMC::getOptimizationTarget ( ) const

◆ getOptimizer()

SimTK::Optimizer* OpenSim::CMC::getOptimizer ( ) const

◆ getParameterList()

Array<int>* OpenSim::CMC::getParameterList ( )

◆ getPositionErrorStorage()

Storage* OpenSim::CMC::getPositionErrorStorage ( ) const

◆ getStressTermWeightStorage()

Storage* OpenSim::CMC::getStressTermWeightStorage ( ) const

◆ getTargetDT()

double OpenSim::CMC::getTargetDT ( ) const

◆ getTargetTime()

double OpenSim::CMC::getTargetTime ( ) const

◆ getTaskSet()

const CMC_TaskSet& OpenSim::CMC::getTaskSet ( ) const

◆ getUseCurvatureFilter()

bool OpenSim::CMC::getUseCurvatureFilter ( ) const

◆ getUseReflexes()

bool OpenSim::CMC::getUseReflexes ( ) const

◆ getUseVerbosePrinting()

bool OpenSim::CMC::getUseVerbosePrinting ( ) const

◆ getVelocityErrorStorage()

Storage* OpenSim::CMC::getVelocityErrorStorage ( ) const

◆ obtainActuatorEquilibrium()

void OpenSim::CMC::obtainActuatorEquilibrium	(	SimTK::State &	s,
		double	tiReal,
		double	dtReal,
		const Array< double > &	x,
		bool	hold
	)

◆ operator=()

CMC& OpenSim::CMC::operator= ( const CMC & aCmc )

◆ restoreConfiguration()

void OpenSim::CMC::restoreConfiguration	(	SimTK::State &	s,
		const SimTK::State &	initialState
	)

◆ safeDownCast()

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

inlinestatic

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

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

◆ setActuatorForcePredictor()

void OpenSim::CMC::setActuatorForcePredictor ( VectorFunctionForActuators * aPredictor )

◆ setCheckTargetTime()

void OpenSim::CMC::setCheckTargetTime ( bool aTrueFalse )

◆ setDT()

void OpenSim::CMC::setDT ( double aDT )

◆ setNull()

void OpenSim::CMC::setNull ( )

◆ setOptimizationTarget()

OptimizationTarget* OpenSim::CMC::setOptimizationTarget	(	OptimizationTarget *	aTarget,
		SimTK::Optimizer *	aOptimizer
	)

◆ setTargetDT()

void OpenSim::CMC::setTargetDT ( double aDT )

◆ setTargetTime()

void OpenSim::CMC::setTargetTime ( double aTime )

◆ setupProperties()

virtual void OpenSim::CMC::setupProperties ( )

virtual

◆ setUseCurvatureFilter()

void OpenSim::CMC::setUseCurvatureFilter ( bool aTrueFalse )

◆ setUseVerbosePrinting()

void OpenSim::CMC::setUseVerbosePrinting ( bool aTrueFalse )

◆ updControlSet()

ControlSet& OpenSim::CMC::updControlSet ( )

inline

◆ updTaskSet()

CMC_TaskSet& OpenSim::CMC::updTaskSet ( ) const

Member Data Documentation

◆ _checkTargetTime

bool OpenSim::CMC::_checkTargetTime

protected

Whether or not to check the target time.

◆ _controlSet

ControlSet OpenSim::CMC::_controlSet

protected

◆ _dt

double OpenSim::CMC::_dt

protected

Next integration step size that is to be taken by the integrator.

◆ _f

Array<double> OpenSim::CMC::_f

protected

Array of actuator forces for achieving the desired accelerations.

◆ _lastDT

double OpenSim::CMC::_lastDT

protected

Last integration step size that was taken before a new integration step size was set in order to step exactly to the target time.

◆ _optimizer

SimTK::Optimizer* OpenSim::CMC::_optimizer

protected

Optimizer.

◆ _paramList

Array<int> OpenSim::CMC::_paramList

protected

List of parameters in the control set that are serving as the controls in the optimization problem.

◆ _pErrStore

std::shared_ptr<Storage> OpenSim::CMC::_pErrStore

protected

Storage object for the position errors.

◆ _predictor

VectorFunctionForActuators* OpenSim::CMC::_predictor

protected

Vector function for estimating actuator forces over a specified time interval.

◆ _restoreDT

bool OpenSim::CMC::_restoreDT

protected

Flag indicating when the last integration step size should be restored.

Normally it is restored only following a change to the integration step size that was made to step exactly to the end of a target interval.

◆ _stressTermWeightStore

std::shared_ptr<Storage> OpenSim::CMC::_stressTermWeightStore

protected

Storage object for the stress term weight.

◆ _target

OptimizationTarget* OpenSim::CMC::_target

protected

Optimization target for computing the controls.

◆ _targetDT

double OpenSim::CMC::_targetDT

protected

The step size used to generate a new target time, once the old target time has been reached.

◆ _taskSet

CMC_TaskSet* OpenSim::CMC::_taskSet

protected

◆ _tf

double OpenSim::CMC::_tf

protected

The target time is the time in the future (in normalized units) for which the controls have been calculated.

If an integrator is taking steps prior to the target time, the controls should not have to be computed again.

◆ _useCurvatureFilter

bool OpenSim::CMC::_useCurvatureFilter

protected

◆ _verbose

bool OpenSim::CMC::_verbose

protected

Flag to indicate whether to use verbose printing.

◆ _vErrStore

std::shared_ptr<Storage> OpenSim::CMC::_vErrStore

protected

Storage object for the velocity errors.

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

OpenSim/Tools/CMC.h

Public Member Functions

Public Types

Static Public Member Functions

Protected Member Functions

Protected Attributes

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ CMC() [1/4]

◆ CMC() [2/4]

◆ CMC() [3/4]

◆ CMC() [4/4]

◆ ~CMC()

Member Function Documentation

◆ assign()

◆ clone()

◆ computeControls() [1/2]

◆ computeControls() [2/2]

◆ computeInitialStates()

◆ copyData()

◆ extendAddToSystem()

◆ extendConnectToModel()

◆ FilterControls()

◆ getActuatorForcePredictor()

◆ getCheckTargetTime()

◆ getClassName()

◆ getConcreteClassName()

◆ getDT()

◆ getOptimizationTarget()

◆ getOptimizer()

◆ getParameterList()

◆ getPositionErrorStorage()

◆ getStressTermWeightStorage()

◆ getTargetDT()

◆ getTargetTime()

◆ getTaskSet()

◆ getUseCurvatureFilter()

◆ getUseReflexes()

◆ getUseVerbosePrinting()

◆ getVelocityErrorStorage()

◆ obtainActuatorEquilibrium()

◆ operator=()

◆ restoreConfiguration()

◆ safeDownCast()

◆ setActuatorForcePredictor()

◆ setCheckTargetTime()

◆ setDT()

◆ setNull()

◆ setOptimizationTarget()

◆ setTargetDT()

◆ setTargetTime()

◆ setupProperties()

◆ setUseCurvatureFilter()

◆ setUseVerbosePrinting()

◆ updControlSet()

◆ updTaskSet()

Member Data Documentation

◆ _checkTargetTime

◆ _controlSet

◆ _dt

◆ _f

◆ _lastDT

◆ _optimizer

◆ _paramList

◆ _pErrStore

◆ _predictor

◆ _restoreDT

◆ _stressTermWeightStore

◆ _target

◆ _targetDT

◆ _taskSet

◆ _tf

◆ _useCurvatureFilter

◆ _verbose

◆ _vErrStore