A class implementing a ConstantCurvatureJoint joint. More...

Inheritance diagram for OpenSim::ConstantCurvatureJoint:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
SimTK::Vec3	neutral_angle_x_z_y
	"The neutral angle of the endpoint as a Vec3(rX, rY, rZ)." More...

double	length
	"Length of line segment." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Joint
Coordinate	coordinates
	"List containing the generalized coordinates (q's) that parameterize " "this joint." More...

PhysicalOffsetFrame	frames
	"Physical offset frames owned by the Joint that are typically used to " "satisfy the owning Joint's parent and child frame connections " "(sockets). PhysicalOffsetFrames are often used to describe the fixed " "transformation from a Body's origin to another location of interest " "on the Body (e.g., the joint center). When the joint is deleted, so " "are the PhysicalOffsetFrame components in this list." More...

PhysicalFrame	parent_frame
	"The parent frame for the joint." More...

PhysicalFrame	child_frame
	"The child frame for the joint." More...

double	power
	Provides the value of calcPower() and is available at stage SimTK::Stage::Acceleration . More...

SimTK::SpatialVec	reaction_on_parent
	Provides the value of calcReactionOnParentExpressedInGround() and is available at stage SimTK::Stage::Acceleration . More...

SimTK::SpatialVec	reaction_on_child
	Provides the value of calcReactionOnChildExpressedInGround() and is available at stage SimTK::Stage::Acceleration . More...

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

Public Member Functions
	ConstantCurvatureJoint ()

	ConstantCurvatureJoint (const std::string &name, const PhysicalFrame &parent, const PhysicalFrame &child, const SimTK::Vec3 &neutralAngleXZY, const double length)
	Convenience Joint like Constructor. More...

	ConstantCurvatureJoint (const std::string &name, const PhysicalFrame &parent, const SimTK::Vec3 &locationInParent, const SimTK::Vec3 &orientationInParent, const PhysicalFrame &child, const SimTK::Vec3 &locationInChild, const SimTK::Vec3 &orientationInChild, const SimTK::Vec3 &neutralAngleXZY, const double length)
	Deprecated Joint Constructor NOTE(keenon): This constructor seems necessary to compile, but it has a comment marking it deprecated in the EllipsoidJoint, so I copied that comment over here as well. More...

void	setNeutralAngleXZY (const SimTK::Vec3 &neutralAngleXZY)

void	setLength (const double length)

const Coordinate &	getCoordinate (Coord idx) const
	Get a const reference to a Coordinate associated with this Joint. More...

Coordinate &	updCoordinate (Coord idx)
	Get a writable reference to a Coordinate associated with this Joint. More...

void	extendScale (const SimTK::State &s, const ScaleSet &scaleSet) override
	Scale the ModelComponent. More...

const Coordinate &	getCoordinate () const
	Exposes getCoordinate() method defined in base class (overloaded below). More...

Coordinate &	updCoordinate ()
	Exposes updCoordinate() method defined in base class (overloaded below). More...

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

SimTK::Vec3 &	upd_neutral_angle_x_z_y ()
	Get a writable reference to the neutral_angle_x_z_y property. More...

void	set_neutral_angle_x_z_y (const SimTK::Vec3 &value)
	Set the value of the neutral_angle_x_z_y property. More...

const double &	get_length () const
	Get the value of the length property. More...

double &	upd_length ()
	Get a writable reference to the length property. More...

void	set_length (const double &value)
	Set the value of the length property. More...

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

	Joint (const std::string &name, const PhysicalFrame &parent, const PhysicalFrame &child)
	Convenience constructor. More...

	Joint (const std::string &name, const PhysicalFrame &parent, const SimTK::Vec3 &locationInParent, const SimTK::Vec3 &orientationInParent, const PhysicalFrame &child, const SimTK::Vec3 &locationInChild, const SimTK::Vec3 &orientationInChild)
	Backwards-compatible convenience constructor. More...

virtual	~Joint ()

const PhysicalFrame &	getChildFrame () const
	Get the child joint frame. More...

const OpenSim::PhysicalFrame &	getParentFrame () const
	Get the parent frame to which this joint attaches. More...

const Coordinate &	getCoordinate () const
	Convenience method to get a const reference to the Coordinate associated with a single-degree-of-freedom Joint. More...

Coordinate &	updCoordinate ()
	Convenience method to get a writable reference to the Coordinate associated with a single-degree-of-freedom Joint. More...

int	numCoordinates () const

bool	isCoordinateUsed (const Coordinate &aCoordinate) const

void	addFrame (PhysicalOffsetFrame *frame)
	Add a frame to the frames property in this Joint. More...

SimTK::SpatialVec	calcEquivalentSpatialForce (const SimTK::State &state, const SimTK::Vector &mobilityForces) const
	Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint. More...

SimTK::SpatialVec	calcReactionOnParentExpressedInGround (const SimTK::State &state) const
	Joint Reaction forces. More...

SimTK::SpatialVec	calcReactionOnChildExpressedInGround (const SimTK::State &state) const
	Calculate the joint reaction force and moment acting on the child frame and expressed in Ground. More...

virtual double	calcPower (const SimTK::State &s) const
	Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space. More...

	SimTK_DEFINE_UNIQUE_INDEX_TYPE (CoordinateIndex)

Coordinate::MotionType	getMotionType (CoordinateIndex cix) const
	Get the MotionType for a Coordinate that this Joint has enabled by its CoordinateIndex (in the Joints list of Coordinates). More...

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Pin &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Slider &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Weld &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Universal &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Ball &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Ellipsoid &mobod) const

template<>
int	getNumMobilities (const SimTK::MobilizedBody::Free &mobod) const

const Coordinate &	get_coordinates (int i) const
	Get the value of the i-th element of the coordinates property. More...

Coordinate &	upd_coordinates (int i)
	Get a writable reference to the i-th element of the coordinates property. More...

void	set_coordinates (int i, const Coordinate &value)
	Set the value of the i-th element of coordinates property. More...

int	append_coordinates (const Coordinate &value)
	Append an element to the coordinates property. More...

const PhysicalOffsetFrame &	get_frames (int i) const
	Get the value of the i-th element of the frames property. More...

PhysicalOffsetFrame &	upd_frames (int i)
	Get a writable reference to the i-th element of the frames property. More...

void	set_frames (int i, const PhysicalOffsetFrame &value)
	Set the value of the i-th element of frames property. More...

int	append_frames (const PhysicalOffsetFrame &value)
	Append an element to the frames property. More...

void	connectSocket_parent_frame (const OpenSim::Object &object)
	Connect the 'parent_frame' Socket to an object of type PhysicalFrame. More...

void	connectSocket_child_frame (const OpenSim::Object &object)
	Connect the 'child_frame' Socket to an object of type PhysicalFrame. 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...

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...

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

int	getNumInputs () const
	Access the number of Inputs that this component has. More...

int	getNumOutputs () const
	Access the number of Outputs that this component has. More...

std::vector< std::string >	getInputNames () const
	Collect and return the names of Inputs in this component as an std::vector. More...

std::vector< std::string >	getOutputNames () const
	Collect and return the names of Outputs in this component as an std::vector. More...

const AbstractInput &	getInput (const std::string &name) const
	Get an Input provided by this Component by name. More...

AbstractInput &	updInput (const std::string &name)
	Get a writable reference to an Input provided by this Component by name. More...

template<typename T >
const Input< T > &	getInput (const std::string &name) const
	Get a concrete Input that you can directly ask for its values. More...

const AbstractOutput *	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...

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
enum	Coord : unsigned { Coord::RotationX = 0u, Coord::RotationZ = 1u, Coord::RotationY = 2u }
	Indices of Coordinates for use as arguments to getCoordinate() and updCoordinate(). More...

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

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

Public Types inherited from OpenSim::Joint
typedef Joint	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 SimTK::Vec3	clamp (const SimTK::Vec3 &q)
	This method will clamp an input set of joint angles q to the limits of the joint, and return the clamped vector. More...

static SimTK::Rotation	eulerXZYToMatrix (const SimTK::Vec3 &_angle)
	This method will convert a vector of X,Z,Y rotations into the corresponding SO3 rotation matrix. More...

static SimTK::Mat33	eulerXZYToMatrixGrad (const SimTK::Vec3 &_angle, int index)
	This method will convert an SO3 rotation matrix into a corresponding vector of X,Z,Y rotations. More...

static SimTK::Mat63	getEulerJacobian (const SimTK::Vec3 &q)
	This method will return the Jacobian of a pure Euler joint (following the XZY convention), where each column gives the derivative of the spatial (SE3) coordinates for the joint transform wrt one degree of freedom of the joint (so there are 3, and each is of dimension 6). More...

static SimTK::Mat63	getEulerJacobianDerivWrtPos (const SimTK::Vec3 &q, int index)
	This method will return the derivative of the matrix returned by getEulerJacobian, with respect to changes to the `index` DOF of the joint. More...

static SimTK::Mat63	getConstantCurveJacobian (const SimTK::Vec3 &pos, double d)
	This is much like getEulerJacobian(), because the rotational component is exactly the same, but the translational component is now non-zero. More...

static SimTK::Mat63	getConstantCurveJacobianDerivWrtPosition (const SimTK::Vec3 &pos, double d, int index)
	This method will return the derivative of the matrix returned by getConstantCurveJacobian, with respect to changes to the `index` DOF of the joint. More...

static SimTK::Mat63	getConstantCurveJacobianDerivWrtTime (const SimTK::Vec3 &pos, const SimTK::Vec3 &dPos, double d)
	This method will return the derivative of the matrix returned by getConstantCurveJacobian, with respect to time (changes to every element in `pos` at rate `dPos`). More...

static SimTK::Transform	getTransform (SimTK::Vec3 pos, double d)
	This computes a transform for a given DOF position (XZY euler rotation) and line segment length. More...

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

static const std::string &	getClassName ()
	This returns "Joint". 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	extendAddToSystem (SimTK::MultibodySystem &system) const override

void	extendInitStateFromProperties (SimTK::State &s) const override

void	extendSetPropertiesFromState (const SimTK::State &state) override

void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &geometryArray) const override
	Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More...

Protected Member Functions inherited from OpenSim::Joint
CoordinateIndex	constructCoordinate (Coordinate::MotionType mt, unsigned idx)
	A CoordinateIndex member is created by constructCoordinate(). More...

void	setMotionType (CoordinateIndex cix, Coordinate::MotionType mt)

void	extendFinalizeFromProperties () override

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

void	extendInitStateFromProperties (SimTK::State &s) const override

void	extendSetPropertiesFromState (const SimTK::State &state) override

const SimTK::MobilizedBodyIndex	getMobilizedBodyIndex (const Body &body) const

void	setChildMobilizedBodyIndex (SimTK::MobilizedBodyIndex index) const

void	setCoordinateMobilizedBodyIndex (Coordinate *aCoord, SimTK::MobilizedBodyIndex index) const

void	setCoordinateMobilizerQIndex (Coordinate *aCoord, int index) const

void	setCoordinateModel (Coordinate aCoord, Model aModel) const

void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber) override
	Updating XML formating to latest revision. More...

SimTK::SpatialVec	calcEquivalentSpatialForceForMobilizedBody (const SimTK::State &s, const SimTK::MobilizedBodyIndex mbx, const SimTK::Vector &mobilityForces) const
	Calculate the equivalent spatial force, FB_G, acting on a mobilized body specified by index acting at its mobilizer frame B, expressed in ground. More...

const SimTK::Body &	getParentInternalRigidBody () const
	Return the equivalent (internal) SimTK::Rigid::Body for the parent/child OpenSim::Body. More...

const SimTK::Body &	getChildInternalRigidBody () const

template<typename T >
T	createMobilizedBody (SimTK::MultibodySystem &mbs) const
	Utility method for creating the underlying MobilizedBody of the desired type of the concrete Joint. More...

template<typename T >
T	createMobilizedBody (SimTK::MobilizedBody &inboard, const SimTK::Transform &inboardTransform, const SimTK::Body &outboard, const SimTK::Transform &outboardTransform, int &startingCoordinateIndex, const PhysicalFrame *physicalFrame=nullptr) const
	Utility method for creating an underlying MobilizedBody of the desired type. More...

int	assignSystemIndicesToBodyAndCoordinates (const SimTK::MobilizedBody &mobod, const OpenSim::PhysicalFrame *mobilized, const int &numMobilities, const int &startingCoordinateIndex) const
	Utility method to assign body and coordinate indices from the underlying MultibodySystem from a newly created MobilizedBody. More...

Protected Member Functions inherited from OpenSim::ModelComponent
const SimTK::Vec3 &	getScaleFactors (const ScaleSet &scaleSet, const Frame &frame) const
	Get the scale factors corresponding to the base OpenSim::Body of the specified Frame. More...

virtual void	extendPreScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...

virtual void	extendPostScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More...

void	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...

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

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

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

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

Protected Attributes inherited from OpenSim::Joint
bool	isReversed = false

Protected Attributes inherited from OpenSim::ModelComponent
SimTK::ReferencePtr< Model >	_model
	The model this component belongs to. More...

Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...

Static Protected Attributes inherited from OpenSim::ModelComponent
static const SimTK::Vec3	InvalidScaleFactors
	Returned by getScaleFactors() if the ScaleSet does not contain scale factors for the base Body associated with the specified Frame. More...

Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object. More...

Detailed Description

A class implementing a ConstantCurvatureJoint joint.

A ConstantCurvatureJoint connects two bodies by a line segment of a fixed length. The endpoint of the ConstantCurvatureJoint can be rotated by euler angles, and the offset is computed as a function of the euler angles and the fixed length of the line segment.

This joint was originally designed as a lightweight way to model spine segments, which can be approximated without individual link segments be instead using 3 of these joints in series.

Author: Keenon Werling

Member Typedef Documentation

◆ Self

typedef ConstantCurvatureJoint OpenSim::ConstantCurvatureJoint::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef Joint OpenSim::ConstantCurvatureJoint::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.

Member Enumeration Documentation

◆ Coord

enum OpenSim::ConstantCurvatureJoint::Coord : unsigned

strong

Indices of Coordinates for use as arguments to getCoordinate() and updCoordinate().

C++ example

const auto& rx = myConstantCurvatureJoint.getCoordinate(

ConstantCurvatureJoint::Coord::Rotation1X);

Python example

import opensim
rx = myConstantCurvatureJoint.getCoordinate(
            opensim.ConstantCurvatureJoint.Coord_Rotation1X)

Java example

rx = myConstantCurvatureJoint.getCoordinate(

ConstantCurvatureJoint.Coord.Rotation1X);

MATLAB example

rx = myConstantCurvatureJoint.get_coordinates(0);

Note: The joint has an X-Z-Y rotation ordering. We use this ordering because that means the first two DOFs are rotation and translation, while the last DOF is merely a "twist" of the segment without any translation. This is also for compatibility with the original implementation in Nimble Physics.

Enumerator
RotationX	0
RotationZ	1
RotationY	2

Constructor & Destructor Documentation

◆ ConstantCurvatureJoint() [1/3]

OpenSim::ConstantCurvatureJoint::ConstantCurvatureJoint ( )

◆ ConstantCurvatureJoint() [2/3]

OpenSim::ConstantCurvatureJoint::ConstantCurvatureJoint	(	const std::string &	name,
		const PhysicalFrame &	parent,
		const PhysicalFrame &	child,
		const SimTK::Vec3 &	neutralAngleXZY,
		const double	length
	)

Convenience Joint like Constructor.

◆ ConstantCurvatureJoint() [3/3]

OpenSim::ConstantCurvatureJoint::ConstantCurvatureJoint	(	const std::string &	name,
		const PhysicalFrame &	parent,
		const SimTK::Vec3 &	locationInParent,
		const SimTK::Vec3 &	orientationInParent,
		const PhysicalFrame &	child,
		const SimTK::Vec3 &	locationInChild,
		const SimTK::Vec3 &	orientationInChild,
		const SimTK::Vec3 &	neutralAngleXZY,
		const double	length
	)

Deprecated Joint Constructor NOTE(keenon): This constructor seems necessary to compile, but it has a comment marking it deprecated in the EllipsoidJoint, so I copied that comment over here as well.

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type ConstantCurvatureJoint.

◆ clamp()

static SimTK::Vec3 OpenSim::ConstantCurvatureJoint::clamp ( const SimTK::Vec3 & q )

static

This method will clamp an input set of joint angles q to the limits of the joint, and return the clamped vector.

◆ clone()

ConstantCurvatureJoint* OpenSim::ConstantCurvatureJoint::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::Joint.

◆ eulerXZYToMatrix()

static SimTK::Rotation OpenSim::ConstantCurvatureJoint::eulerXZYToMatrix ( const SimTK::Vec3 & _angle )

static

This method will convert a vector of X,Z,Y rotations into the corresponding SO3 rotation matrix.

◆ eulerXZYToMatrixGrad()

static SimTK::Mat33 OpenSim::ConstantCurvatureJoint::eulerXZYToMatrixGrad	(	const SimTK::Vec3 &	_angle,
		int	index
	)

static

This method will convert an SO3 rotation matrix into a corresponding vector of X,Z,Y rotations.

◆ extendAddToSystem()

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

overrideprotected

◆ extendInitStateFromProperties()

void OpenSim::ConstantCurvatureJoint::extendInitStateFromProperties ( SimTK::State & s ) const

overrideprotected

◆ extendScale()

void OpenSim::ConstantCurvatureJoint::extendScale	(	const SimTK::State &	s,
		const ScaleSet &	scaleSet
	)

overridevirtual

Scale the ModelComponent.

This method is virtual and may be implemented by any subclass of ModelComponent, but all implementations must begin with a call to Super::extendScale() to execute the parent class methods before the child class method. The base class implementation in ModelComponent does nothing.

See also: scale()

Reimplemented from OpenSim::ModelComponent.

◆ extendSetPropertiesFromState()

void OpenSim::ConstantCurvatureJoint::extendSetPropertiesFromState ( const SimTK::State & state )

overrideprotected

◆ generateDecorations()

void OpenSim::ConstantCurvatureJoint::generateDecorations	(	bool	fixed,
		const ModelDisplayHints &	hints,
		const SimTK::State &	state,
		SimTK::Array_< SimTK::DecorativeGeometry > &	appendToThis
	)		const

overrideprotectedvirtual

Optional method for generating arbitrary display geometry that reflects this Component at the specified state.

This will be called once to obtain ground- and body-fixed geometry (with fixed=true), and then once per frame (with fixed=false) to generate on-the-fly geometry such as rubber band lines, force arrows, labels, or debugging aids.

Please note that there is a precondition that the state passed in to generateDecorations be realized to Stage::Position. If your component can visualize quantities realized at Velocity, Dynamics or Acceleration stages, then you must check that the stage has been realized before using/requesting stage dependent values. It is forbidden to realize the model to a higher stage within generateDecorations, because this can trigger costly side- effects such as evaluating all model forces even when performing a purely kinematic study.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::generateDecorations
   (bool                                        fixed,
    const ModelDisplayHints&                    hints,
    const SimTK::State&                         state,
    SimTK::Array_<SimTK::DecorativeGeometry>&   appendToThis) const
{
    // invoke parent class method
    Super::generateDecorations(fixed,hints,state,appendToThis);
    // ... your code goes here
    // can render velocity dependent quanities if stage is Velocity or higher
    if(state.getSystemStage() >= Stage::Velocity) {
        // draw velocity vector for model COM
    }
    // can render computed forces if stage is Dynamics or higher
    if(state.getSystemStage() >= Stage::Dynamics) {
        // change the length of a force arrow based on the force in N
    }
}

Parameters

[in]	fixed	If `true`, generate only geometry that is fixed to a PhysicalFrame, configuration, and velocity. Otherwise generate only such dependent geometry.
[in]	hints	See documentation for ModelDisplayHints; you may want to alter the geometry you generate depending on what you find there. For example, you can determine whether the user wants to see debug geometry.
[in]	state	The State for which geometry should be produced. See below for more information.
[in,out]	appendToThis	Array to which generated geometry should be appended via the `push_back()` method.

When called with fixed=true only modeling options and parameters (Instance variables) should affect geometry; time, position, and velocity should not. In that case OpenSim will already have realized the state through Instance stage. When called with fixed=false, you may consult any relevant value in state. However, to avoid unnecessary computation, OpenSim guarantees only that state will have been realized through Position stage; if you need anything higher than that (reaction forces, for example) you should make sure the state is realized through Acceleration stage.

Reimplemented from OpenSim::Component.

◆ get_length()

const double& OpenSim::ConstantCurvatureJoint::get_length ( ) const

inline

Get the value of the length property.

◆ get_neutral_angle_x_z_y()

const SimTK::Vec3& OpenSim::ConstantCurvatureJoint::get_neutral_angle_x_z_y ( ) const

inline

Get the value of the neutral_angle_x_z_y property.

◆ getClassName()

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

inlinestatic

This returns "ConstantCurvatureJoint".

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::ConstantCurvatureJoint::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::Joint.

◆ getConstantCurveJacobian()

static SimTK::Mat63 OpenSim::ConstantCurvatureJoint::getConstantCurveJacobian	(	const SimTK::Vec3 &	pos,
		double	d
	)

static

This is much like getEulerJacobian(), because the rotational component is exactly the same, but the translational component is now non-zero.

This takes as input the length of the line segment, d.

◆ getConstantCurveJacobianDerivWrtPosition()

static SimTK::Mat63 OpenSim::ConstantCurvatureJoint::getConstantCurveJacobianDerivWrtPosition	(	const SimTK::Vec3 &	pos,
		double	d,
		int	index
	)

static

This method will return the derivative of the matrix returned by getConstantCurveJacobian, with respect to changes to the index DOF of the joint.

This is the same shape as the original matrix, because we take the derivative of every entry of the matrix separately.

◆ getConstantCurveJacobianDerivWrtTime()

static SimTK::Mat63 OpenSim::ConstantCurvatureJoint::getConstantCurveJacobianDerivWrtTime	(	const SimTK::Vec3 &	pos,
		const SimTK::Vec3 &	dPos,
		double	d
	)

static

This method will return the derivative of the matrix returned by getConstantCurveJacobian, with respect to time (changes to every element in pos at rate dPos).

This is the same shape as the original matrix, because we take the derivative of every entry of the matrix separately.

◆ getCoordinate() [1/2]

const Coordinate& OpenSim::Joint::getCoordinate

Exposes getCoordinate() method defined in base class (overloaded below).

See also: Joint

◆ getCoordinate() [2/2]

const Coordinate& OpenSim::ConstantCurvatureJoint::getCoordinate ( Coord idx ) const

inline

Get a const reference to a Coordinate associated with this Joint.

See also: Coord

◆ getEulerJacobian()

static SimTK::Mat63 OpenSim::ConstantCurvatureJoint::getEulerJacobian ( const SimTK::Vec3 & q )

static

This method will return the Jacobian of a pure Euler joint (following the XZY convention), where each column gives the derivative of the spatial (SE3) coordinates for the joint transform wrt one degree of freedom of the joint (so there are 3, and each is of dimension 6).

◆ getEulerJacobianDerivWrtPos()

static SimTK::Mat63 OpenSim::ConstantCurvatureJoint::getEulerJacobianDerivWrtPos	(	const SimTK::Vec3 &	q,
		int	index
	)

static

This method will return the derivative of the matrix returned by getEulerJacobian, with respect to changes to the index DOF of the joint.

This is the same shape as the original matrix, because we take the derivative of every entry of the matrix separately.

◆ getTransform()

static SimTK::Transform OpenSim::ConstantCurvatureJoint::getTransform	(	SimTK::Vec3	pos,
		double	d
	)

static

This computes a transform for a given DOF position (XZY euler rotation) and line segment length.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_length()

void OpenSim::ConstantCurvatureJoint::set_length ( const double & value )

inline

Set the value of the length property.

◆ set_neutral_angle_x_z_y()

void OpenSim::ConstantCurvatureJoint::set_neutral_angle_x_z_y ( const SimTK::Vec3 & value )

inline

Set the value of the neutral_angle_x_z_y property.

◆ setLength()

void OpenSim::ConstantCurvatureJoint::setLength ( const double length )

◆ setNeutralAngleXZY()

void OpenSim::ConstantCurvatureJoint::setNeutralAngleXZY ( const SimTK::Vec3 & neutralAngleXZY )

◆ upd_length()

double& OpenSim::ConstantCurvatureJoint::upd_length ( )

inline

Get a writable reference to the length property.

◆ upd_neutral_angle_x_z_y()

SimTK::Vec3& OpenSim::ConstantCurvatureJoint::upd_neutral_angle_x_z_y ( )

inline

Get a writable reference to the neutral_angle_x_z_y property.

◆ updCoordinate() [1/2]

Coordinate& OpenSim::Joint::updCoordinate

Exposes updCoordinate() method defined in base class (overloaded below).

See also: Joint

◆ updCoordinate() [2/2]

Coordinate& OpenSim::ConstantCurvatureJoint::updCoordinate ( Coord idx )

inline

Get a writable reference to a Coordinate associated with this Joint.

See also: Coord

OpenSim Property, Socket, Output, Input Documentation

◆ length

double OpenSim::ConstantCurvatureJoint::length

"Length of line segment."

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

See also: get_length(), upd_length(), set_length()

◆ neutral_angle_x_z_y

SimTK::Vec3 OpenSim::ConstantCurvatureJoint::neutral_angle_x_z_y

"The neutral angle of the endpoint as a Vec3(rX, rY, rZ)."

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

See also: get_neutral_angle_x_z_y(), upd_neutral_angle_x_z_y(), set_neutral_angle_x_z_y()

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

OpenSim/Simulation/SimbodyEngine/ConstantCurvatureJoint.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Static Public Member Functions

Protected Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Member Enumeration Documentation

◆ Coord

Constructor & Destructor Documentation

◆ ConstantCurvatureJoint() [1/3]

◆ ConstantCurvatureJoint() [2/3]

◆ ConstantCurvatureJoint() [3/3]

Member Function Documentation

◆ assign()

◆ clamp()

◆ clone()

◆ eulerXZYToMatrix()

◆ eulerXZYToMatrixGrad()

◆ extendAddToSystem()

◆ extendInitStateFromProperties()

◆ extendScale()

◆ extendSetPropertiesFromState()

◆ generateDecorations()

◆ get_length()

◆ get_neutral_angle_x_z_y()

◆ getClassName()

◆ getConcreteClassName()

◆ getConstantCurveJacobian()

◆ getConstantCurveJacobianDerivWrtPosition()

◆ getConstantCurveJacobianDerivWrtTime()

◆ getCoordinate() [1/2]

◆ getCoordinate() [2/2]

◆ getEulerJacobian()

◆ getEulerJacobianDerivWrtPos()

◆ getTransform()

◆ safeDownCast()

◆ set_length()

◆ set_neutral_angle_x_z_y()

◆ setLength()

◆ setNeutralAngleXZY()

◆ upd_length()

◆ upd_neutral_angle_x_z_y()

◆ updCoordinate() [1/2]

◆ updCoordinate() [2/2]

OpenSim Property, Socket, Output, Input Documentation

◆ length

◆ neutral_angle_x_z_y