A class implementing a bushing force specified by expressions of the deflection between two bushing frames. More...

Inheritance diagram for OpenSim::ExpressionBasedBushingForce:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	Mx_expression
	"Expression defining the contribution of theta_x deflection to the " "moment about body_2's x axis. The expression is a string and can not " "have any whitespace separating characters." More...

std::string	My_expression
	"Expression defining the contribution of theta_y deflection to the " "moment about body_2's y axis. The expression is a string and can not " "have any whitespace separating characters." More...

std::string	Mz_expression
	"Expression defining the contribution of theta_z deflection to the " "moment about body_2's z axis. The expression is a string and can not " "have any whitespace separating characters." More...

std::string	Fx_expression
	"Expression defining the contribution of x deflection to the force in " "the x direction. The expression is a string and can not have any " "whitespace separating characters." More...

std::string	Fy_expression
	"Expression defining the contribution of y deflection to the force in " "the y direction. The expression is a string and can not have any " "whitespace separating characters." More...

std::string	Fz_expression
	"Expression defining the contribution of z deflection to the force in " "the z direction. The expression is a string and can not have any " "whitespace separating characters." More...

SimTK::Vec3	rotational_damping
	"Damping parameters resisting angular deflection rate (theta_dot)." More...

SimTK::Vec3	translational_damping
	"Damping parameters resisting translational deflection (delta_dot) ." More...

Properties (optional)
double	visual_aspect_ratio
	"Scalar number signifying the ratio of length/diameter used to display " "the force and moment vectors." More...

double	moment_visual_scale
	"Scale factor applied to the bushing moments before displaying them." More...

double	force_visual_scale
	"Scale factor applied to the bushing forces before displaying them." More...

Outputs
SimTK::Vec6	bushing_force
	Provides the value of calcBushingForce() and is available at stage SimTK::Stage::Dynamics . More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::TwoFrameLinker< Force, PhysicalFrame >
PhysicalFrame	frames
	"Frames created/added to satisfy this component's connections." More...

PhysicalFrame	frame1
	"The first frame participating in this linker." More...

PhysicalFrame	frame2
	"The second frame participating in this linker." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Force
bool	appliesForce
	"Flag indicating whether the force is applied or not. If true the force" "is applied to the MultibodySystem otherwise the force is not applied." "NOTE: Prior to OpenSim 4.0, this behavior was controlled by the " "'isDisabled' property, where 'true' meant that force was not being " "applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false." More...

double	potential_energy
	Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . 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
	ExpressionBasedBushingForce ()
	Default constructor leaves bodies unspecified, sets the bushing frames to be at their body origins, and sets all bushing parameters to zero. More...

	ExpressionBasedBushingForce (const std::string &name, const PhysicalFrame &frame1, const PhysicalFrame &frame2)
	This convenience constructor sets the bushing frames and sets all bushing functions to zero. More...

	ExpressionBasedBushingForce (const std::string &name, const std::string &frame1Name, const std::string &frame2Name)
	This convenience constructor defines and sets the bushing frames by name and sets all bushing functions to zero. More...

	ExpressionBasedBushingForce (const std::string &name, const PhysicalFrame &frame1, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const PhysicalFrame &frame2, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2)
	This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero. More...

	ExpressionBasedBushingForce (const std::string &name, const std::string &frame1Name, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const std::string &frame2Name, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2)
	This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero. More...

	ExpressionBasedBushingForce (const std::string &name, const PhysicalFrame &frame1, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const PhysicalFrame &frame2, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2, const SimTK::Vec3 &transStiffness, const SimTK::Vec3 &rotStiffness, const SimTK::Vec3 &transDamping, const SimTK::Vec3 &rotDamping)
	This convenience constructor defines a bushing that behaves like a primitive bushing. More...

	ExpressionBasedBushingForce (const std::string &name, const std::string &frame1Name, const SimTK::Vec3 &point1, const SimTK::Vec3 &orientation1, const std::string &frame2Name, const SimTK::Vec3 &point2, const SimTK::Vec3 &orientation2, const SimTK::Vec3 &transStiffness, const SimTK::Vec3 &rotStiffness, const SimTK::Vec3 &transDamping, const SimTK::Vec3 &rotDamping)
	This convenience constructor defines a bushing that behaves like a primitive bushing. More...

void	setMomentVisualScale (double scale)
	Set the value used to scale the bushing moment on body2 when drawing it to screen. More...

void	setForceVisualScale (double scale)
	Set the value used to scale the bushing force on body2 when drawing it to screen. More...

void	setVisualAspectRatio (double ratio)
	Set the aspect ratio used to control the thickness of the bushing force and moment in drawn in the visualizer. More...

void	setMxExpression (std::string expression)
	Set the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

void	setMyExpression (std::string expression)
	Set the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

void	setMzExpression (std::string expression)
	Set the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

void	setFxExpression (std::string expression)
	Set the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

void	setFyExpression (std::string expression)
	Set the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

void	setFzExpression (std::string expression)
	Set the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getMxExpression ()
	Get the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getMyExpression ()
	Get the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getMzExpression ()
	Get the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getFxExpression ()
	Get the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getFyExpression ()
	Get the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

std::string	getFzExpression ()
	Get the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z. More...

SimTK::Vec6	calcStiffnessForce (const SimTK::State &state) const
	Calculate the bushing force contribution due to its stiffness. More...

SimTK::Vec6	calcDampingForce (const SimTK::State &state) const
	Calculate the bushing force contribution due to its damping. More...

SimTK::Vec6	calcBushingForce (const SimTK::State &state) const
	Calculate the total bushing force. More...

virtual OpenSim::Array< std::string >	getRecordLabels () const override
	Provide name(s) of the quantities (column labels) of the force value(s) to be reported. More...

virtual OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const override
	Provide the value(s) to be reported that correspond to the labels. More...

Property-related functions
const std::string &	get_Mx_expression () const
	Get the value of the Mx_expression property. More...

std::string &	upd_Mx_expression ()
	Get a writable reference to the Mx_expression property. More...

void	set_Mx_expression (const std::string &value)
	Set the value of the Mx_expression property. More...

const std::string &	get_My_expression () const
	Get the value of the My_expression property. More...

std::string &	upd_My_expression ()
	Get a writable reference to the My_expression property. More...

void	set_My_expression (const std::string &value)
	Set the value of the My_expression property. More...

const std::string &	get_Mz_expression () const
	Get the value of the Mz_expression property. More...

std::string &	upd_Mz_expression ()
	Get a writable reference to the Mz_expression property. More...

void	set_Mz_expression (const std::string &value)
	Set the value of the Mz_expression property. More...

const std::string &	get_Fx_expression () const
	Get the value of the Fx_expression property. More...

std::string &	upd_Fx_expression ()
	Get a writable reference to the Fx_expression property. More...

void	set_Fx_expression (const std::string &value)
	Set the value of the Fx_expression property. More...

const std::string &	get_Fy_expression () const
	Get the value of the Fy_expression property. More...

std::string &	upd_Fy_expression ()
	Get a writable reference to the Fy_expression property. More...

void	set_Fy_expression (const std::string &value)
	Set the value of the Fy_expression property. More...

const std::string &	get_Fz_expression () const
	Get the value of the Fz_expression property. More...

std::string &	upd_Fz_expression ()
	Get a writable reference to the Fz_expression property. More...

void	set_Fz_expression (const std::string &value)
	Set the value of the Fz_expression property. More...

const double &	get_visual_aspect_ratio () const
	Get the value of the visual_aspect_ratio property. More...

double &	upd_visual_aspect_ratio ()
	Get a writable reference to the visual_aspect_ratio property. More...

void	set_visual_aspect_ratio (const double &value)
	Set the value of the visual_aspect_ratio property. More...

const double &	get_moment_visual_scale () const
	Get the value of the moment_visual_scale property. More...

double &	upd_moment_visual_scale ()
	Get a writable reference to the moment_visual_scale property. More...

void	set_moment_visual_scale (const double &value)
	Set the value of the moment_visual_scale property. More...

const double &	get_force_visual_scale () const
	Get the value of the force_visual_scale property. More...

double &	upd_force_visual_scale ()
	Get a writable reference to the force_visual_scale property. More...

void	set_force_visual_scale (const double &value)
	Set the value of the force_visual_scale property. More...

const SimTK::Vec3 &	get_rotational_damping () const
	Get the value of the rotational_damping property. More...

SimTK::Vec3 &	upd_rotational_damping ()
	Get a writable reference to the rotational_damping property. More...

void	set_rotational_damping (const SimTK::Vec3 &value)
	Set the value of the rotational_damping property. More...

const SimTK::Vec3 &	get_translational_damping () const
	Get the value of the translational_damping property. More...

SimTK::Vec3 &	upd_translational_damping ()
	Get a writable reference to the translational_damping property. More...

void	set_translational_damping (const SimTK::Vec3 &value)
	Set the value of the translational_damping property. More...

Public Member Functions inherited from OpenSim::TwoFrameLinker< Force, PhysicalFrame >
	TwoFrameLinker ()
	By default, the TwoFrameLinker is not connected to any frames. More...

	TwoFrameLinker (const std::string &name, const PhysicalFrame &frame1, const PhysicalFrame &frame2)
	Convenience Constructor. More...

	TwoFrameLinker (const std::string &name, const std::string &frame1Name, const std::string &frame2Name)
	Convenience Constructor. More...

	TwoFrameLinker (const std::string &name, const PhysicalFrame &frame1, const SimTK::Transform &offsetOnFrame1, const PhysicalFrame &frame2, const SimTK::Transform &offsetOnFrame2)
	Convenience Constructor with two Frames Construct a TwoFrameLinker where the two frames are specified by name and offset transforms on the respective frames. More...

	TwoFrameLinker (const std::string &name, const std::string &frame1Name, const SimTK::Transform &offsetOnFrame1, const std::string &frame2Name, const SimTK::Transform &offsetOnFrame2)
	Convenience Constructor Construct a TwoFrameLinker where the two frames are specified by name and offset transforms on the respective frames. More...

	TwoFrameLinker (const std::string &name, const PhysicalFrame &frame1, const SimTK::Vec3 &locationInFrame1, const SimTK::Vec3 &orientationInFrame1, const PhysicalFrame &frame2, const SimTK::Vec3 &locationInFrame2, const SimTK::Vec3 &orientationInFrame2)
	Backwards compatible Convenience Constructor TwoFrameLinker with offsets specified in terms of the location and orientation in respective PhysicalFrames. More...

	TwoFrameLinker (const std::string &name, const std::string &frame1Name, const SimTK::Vec3 &locationInFrame1, const SimTK::Vec3 &orientationInFrame1, const std::string &frame2Name, const SimTK::Vec3 &locationInFrame2, const SimTK::Vec3 &orientationInFrame2)
	Backwards compatible Convenience Constructor TwoFrameLinker with offsets specified in terms of the location and orientation in respective PhysicalFrames. More...

const PhysicalFrame &	getFrame1 () const
	Access the first frame the TwoFrameLinker component connects. More...

const PhysicalFrame &	getFrame2 () const
	Access the second frame the TwoFrameLinker component connects. More...

SimTK::Transform	computeRelativeOffset (const SimTK::State &s) const
	Compute the relative offset Transform between the two frames linked by this TwoFrameLinker component at a given State, expressed in frame1. More...

SimTK::SpatialVec	computeRelativeVelocity (const SimTK::State &s) const
	Compute the relative spatial velocity between the two frames linked by this TwoFrameLinker component at a given State, expressed in frame1. More...

SimTK::Vec6	computeDeflection (const SimTK::State &s) const
	Compute the deflection (spatial separation) of the two frames connected by the TwoFrameLinker. More...

SimTK::Vec6	computeDeflectionRate (const SimTK::State &s) const
	Compute the deflection rate (dqdot) of the two frames connected by this TwoFrameLinker component. More...

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

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

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

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

void	connectSocket_frame1 (const OpenSim::Object &object)
	Connect the 'frame1' Socket to an object of type F. More...

void	connectSocket_frame2 (const OpenSim::Object &object)
	Connect the 'frame2' Socket to an object of type F. More...

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

Public Member Functions inherited from OpenSim::Force
virtual bool	shouldBeParallelized () const
	Tell Simbody to parallelize this force. More...

bool	appliesForce (const SimTK::State &s) const
	Return if the Force is applied (or enabled) or not. More...

void	setAppliesForce (SimTK::State &s, bool applyForce) const
	Set whether or not the Force is applied. More...

virtual bool	hasVisualPath () const
	Return a flag indicating whether the Force is applied along a path that can be visualized. More...

SimTK::ForceIndex	getForceIndex () const
	Return the index to the SimTK::Force in the underlying system. More...

const bool &	get_appliesForce () const
	Get the value of the appliesForce property. More...

bool &	upd_appliesForce ()
	Get a writable reference to the appliesForce property. More...

void	set_appliesForce (const bool &value)
	Set the value of the appliesForce 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...

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

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

Public Types inherited from OpenSim::TwoFrameLinker< Force, PhysicalFrame >
typedef TwoFrameLinker	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::Force
typedef Force	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::ModelComponent
typedef ModelComponent	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::Component
typedef Component	Self
	This typedef might be useful within the member functions of this class. More...

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

typedef std::map< std::string, SimTK::ClonePtr< AbstractOutput > >::const_iterator	OutputConstIterator
	Define OutputConstIterator for convenience. More...

Protected Member Functions
virtual void	computeForce (const SimTK::State &s, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForces) const override
	Compute the bushing force contribution to the system and add in to appropriate bodyForces and/or system generalizedForces. More...

void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &geometryArray) const override
	Potential energy calculation is not implemented. More...

void	ComputeForcesAtBushing (const SimTK::State &state, SimTK::SpatialVec &forces_on_M_in_ground, SimTK::SpatialVec &forces_on_F_in_ground) const

Protected Member Functions inherited from OpenSim::TwoFrameLinker< Force, PhysicalFrame >
void	convertInternalForceToForcesOnFrames (const SimTK::State &state, SimTK::Vec6 f, SimTK::SpatialVec &F1_G, SimTK::SpatialVec &F2_G) const
	Helper method to convert internal force expressed in the mobility basis between frame1 and frame2, dq, as individual spatial forces acting on each frame linked by this component. More...

void	addInPhysicalForcesFromInternal (const SimTK::State &state, SimTK::Vec6 f, SimTK::Vector_< SimTK::SpatialVec > &spatialForces) const
	Helper method to add in the equivalent system spatial forces given internal forces. More...

void	extendConnectToModel (Model &model) override

void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber) override

Protected Member Functions inherited from OpenSim::Force
	Force ()
	Default constructor sets up Force-level properties; can only be called from a derived class constructor. More...

	Force (SimTK::Xml::Element &node)
	Deserialization from XML, necessary so that derived classes can (de)serialize. More...

void	extendInitStateFromProperties (SimTK::State &state) const override
	Subclass should override; be sure to invoke Super::extendInitStateFromProperties() at the beginning of the overriding method. More...

void	extendAddToSystem (SimTK::MultibodySystem &system) const override
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component. More...

void	extendSetPropertiesFromState (const SimTK::State &state) override
	Subclass should override; be sure to invoke Force::extendSetPropertiesFromState() at the beginning of the overriding method. More...

virtual double	computePotentialEnergy (const SimTK::State &state) const
	Subclasses may optionally override this method to compute a contribution to the potential energy of the system. More...

void	applyForceToPoint (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
	Apply a force at a particular point (a "station") on a given body. More...

void	applyTorque (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const
	Apply a torque to a particular body. More...

void	applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
	Apply a generalized force. 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	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 ExpressionBasedBushingForce *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

ExpressionBasedBushingForce *	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 Member Functions inherited from OpenSim::TwoFrameLinker< Force, PhysicalFrame >
static TwoFrameLinker *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

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

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::Force
SimTK::ResetOnCopy< SimTK::ForceIndex >	_index
	ID for the force in Simbody. More...

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

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

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

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

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

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

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

Detailed Description

A class implementing a bushing force specified by expressions of the deflection between two bushing frames.

These expressions are user specified as strings that are interpreted during a simulation. Each expression is a function of the bushing's rotational deflections (theta_x, theta_y, theta_z) and translational deflections, (delta_x, delta_y, delta_z). These user defined expressions can capture nonlinearities and coupling common in biologic structures.
A bushing force is the resistive force due to defection between two frames. One can think of the Bushing as being composed of 3 translational and 3 torsional spring-dampers, which act along or about the bushing frame axes. Orientations are measured as x-y-z body-fixed Euler rotations.

Author: Matt DeMers

Member Typedef Documentation

◆ Self

typedef ExpressionBasedBushingForce OpenSim::ExpressionBasedBushingForce::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef TwoFrameLinker OpenSim::ExpressionBasedBushingForce::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

◆ ExpressionBasedBushingForce() [1/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce ( )

Default constructor leaves bodies unspecified, sets the bushing frames to be at their body origins, and sets all bushing parameters to zero.

◆ ExpressionBasedBushingForce() [2/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const PhysicalFrame &	frame1,
		const PhysicalFrame &	frame2
	)

This convenience constructor sets the bushing frames and sets all bushing functions to zero.

◆ ExpressionBasedBushingForce() [3/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const std::string &	frame1Name,
		const std::string &	frame2Name
	)

This convenience constructor defines and sets the bushing frames by name and sets all bushing functions to zero.

◆ ExpressionBasedBushingForce() [4/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const PhysicalFrame &	frame1,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const PhysicalFrame &	frame2,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2
	)

This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero.

◆ ExpressionBasedBushingForce() [5/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const std::string &	frame1Name,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const std::string &	frame2Name,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2
	)

This convenience constructor defines and sets the bushing frames on each body, and sets all bushing functions to zero.

◆ ExpressionBasedBushingForce() [6/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const PhysicalFrame &	frame1,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const PhysicalFrame &	frame2,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2,
		const SimTK::Vec3 &	transStiffness,
		const SimTK::Vec3 &	rotStiffness,
		const SimTK::Vec3 &	transDamping,
		const SimTK::Vec3 &	rotDamping
	)

This convenience constructor defines a bushing that behaves like a primitive bushing.

Stiffnesses are used to define linear functions for force deflection profiles.

◆ ExpressionBasedBushingForce() [7/7]

OpenSim::ExpressionBasedBushingForce::ExpressionBasedBushingForce	(	const std::string &	name,
		const std::string &	frame1Name,
		const SimTK::Vec3 &	point1,
		const SimTK::Vec3 &	orientation1,
		const std::string &	frame2Name,
		const SimTK::Vec3 &	point2,
		const SimTK::Vec3 &	orientation2,
		const SimTK::Vec3 &	transStiffness,
		const SimTK::Vec3 &	rotStiffness,
		const SimTK::Vec3 &	transDamping,
		const SimTK::Vec3 &	rotDamping
	)

This convenience constructor defines a bushing that behaves like a primitive bushing.

Stiffnesses are used to define linear functions for force deflection profiles.

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type ExpressionBasedBushingForce.

◆ calcBushingForce()

SimTK::Vec6 OpenSim::ExpressionBasedBushingForce::calcBushingForce ( const SimTK::State & state ) const

Calculate the total bushing force.

This is the sum of the stiffness and damping force contributions.

◆ calcDampingForce()

SimTK::Vec6 OpenSim::ExpressionBasedBushingForce::calcDampingForce ( const SimTK::State & state ) const

Calculate the bushing force contribution due to its damping.

This is a function of the deflection rate between the bushing frames. It is the force on frame2 from frame1 in the basis of the deflection rate (dqdot).

◆ calcStiffnessForce()

SimTK::Vec6 OpenSim::ExpressionBasedBushingForce::calcStiffnessForce ( const SimTK::State & state ) const

Calculate the bushing force contribution due to its stiffness.

This is a function of the deflection between the bushing frames. It is the force on frame2 from frame1 in the basis of the deflection (dq).

◆ clone()

ExpressionBasedBushingForce* OpenSim::ExpressionBasedBushingForce::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::TwoFrameLinker< Force, PhysicalFrame >.

◆ computeForce()

virtual void OpenSim::ExpressionBasedBushingForce::computeForce	(	const SimTK::State &	s,
		SimTK::Vector_< SimTK::SpatialVec > &	bodyForces,
		SimTK::Vector &	generalizedForces
	)		const

overrideprotectedvirtual

Compute the bushing force contribution to the system and add in to appropriate bodyForces and/or system generalizedForces.

Reimplemented from OpenSim::Force.

◆ ComputeForcesAtBushing()

void OpenSim::ExpressionBasedBushingForce::ComputeForcesAtBushing	(	const SimTK::State &	state,
		SimTK::SpatialVec &	forces_on_M_in_ground,
		SimTK::SpatialVec &	forces_on_F_in_ground
	)		const

protected

◆ generateDecorations()

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

overrideprotectedvirtual

Potential energy calculation is not implemented.

Reimplemented from OpenSim::Component.

◆ get_force_visual_scale()

const double& OpenSim::ExpressionBasedBushingForce::get_force_visual_scale ( ) const

inline

Get the value of the force_visual_scale property.

◆ get_Fx_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_Fx_expression ( ) const

inline

Get the value of the Fx_expression property.

◆ get_Fy_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_Fy_expression ( ) const

inline

Get the value of the Fy_expression property.

◆ get_Fz_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_Fz_expression ( ) const

inline

Get the value of the Fz_expression property.

◆ get_moment_visual_scale()

const double& OpenSim::ExpressionBasedBushingForce::get_moment_visual_scale ( ) const

inline

Get the value of the moment_visual_scale property.

◆ get_Mx_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_Mx_expression ( ) const

inline

Get the value of the Mx_expression property.

◆ get_My_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_My_expression ( ) const

inline

Get the value of the My_expression property.

◆ get_Mz_expression()

const std::string& OpenSim::ExpressionBasedBushingForce::get_Mz_expression ( ) const

inline

Get the value of the Mz_expression property.

◆ get_rotational_damping()

const SimTK::Vec3& OpenSim::ExpressionBasedBushingForce::get_rotational_damping ( ) const

inline

Get the value of the rotational_damping property.

◆ get_translational_damping()

const SimTK::Vec3& OpenSim::ExpressionBasedBushingForce::get_translational_damping ( ) const

inline

Get the value of the translational_damping property.

◆ get_visual_aspect_ratio()

const double& OpenSim::ExpressionBasedBushingForce::get_visual_aspect_ratio ( ) const

inline

Get the value of the visual_aspect_ratio property.

◆ getClassName()

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

inlinestatic

This returns "ExpressionBasedBushingForce".

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::ExpressionBasedBushingForce::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::TwoFrameLinker< Force, PhysicalFrame >.

◆ getFxExpression()

std::string OpenSim::ExpressionBasedBushingForce::getFxExpression ( )

inline

Get the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getFyExpression()

std::string OpenSim::ExpressionBasedBushingForce::getFyExpression ( )

inline

Get the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getFzExpression()

std::string OpenSim::ExpressionBasedBushingForce::getFzExpression ( )

inline

Get the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getMxExpression()

std::string OpenSim::ExpressionBasedBushingForce::getMxExpression ( )

inline

Get the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getMyExpression()

std::string OpenSim::ExpressionBasedBushingForce::getMyExpression ( )

inline

Get the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getMzExpression()

std::string OpenSim::ExpressionBasedBushingForce::getMzExpression ( )

inline

Get the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ getRecordLabels()

virtual OpenSim::Array<std::string> OpenSim::ExpressionBasedBushingForce::getRecordLabels ( ) const

overridevirtual

Provide name(s) of the quantities (column labels) of the force value(s) to be reported.

Reimplemented from OpenSim::Force.

◆ getRecordValues()

virtual OpenSim::Array<double> OpenSim::ExpressionBasedBushingForce::getRecordValues ( const SimTK::State & state ) const

overridevirtual

Provide the value(s) to be reported that correspond to the labels.

Reimplemented from OpenSim::Force.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_force_visual_scale()

void OpenSim::ExpressionBasedBushingForce::set_force_visual_scale ( const double & value )

inline

Set the value of the force_visual_scale property.

◆ set_Fx_expression()

void OpenSim::ExpressionBasedBushingForce::set_Fx_expression ( const std::string & value )

inline

Set the value of the Fx_expression property.

◆ set_Fy_expression()

void OpenSim::ExpressionBasedBushingForce::set_Fy_expression ( const std::string & value )

inline

Set the value of the Fy_expression property.

◆ set_Fz_expression()

void OpenSim::ExpressionBasedBushingForce::set_Fz_expression ( const std::string & value )

inline

Set the value of the Fz_expression property.

◆ set_moment_visual_scale()

void OpenSim::ExpressionBasedBushingForce::set_moment_visual_scale ( const double & value )

inline

Set the value of the moment_visual_scale property.

◆ set_Mx_expression()

void OpenSim::ExpressionBasedBushingForce::set_Mx_expression ( const std::string & value )

inline

Set the value of the Mx_expression property.

◆ set_My_expression()

void OpenSim::ExpressionBasedBushingForce::set_My_expression ( const std::string & value )

inline

Set the value of the My_expression property.

◆ set_Mz_expression()

void OpenSim::ExpressionBasedBushingForce::set_Mz_expression ( const std::string & value )

inline

Set the value of the Mz_expression property.

◆ set_rotational_damping()

void OpenSim::ExpressionBasedBushingForce::set_rotational_damping ( const SimTK::Vec3 & value )

inline

Set the value of the rotational_damping property.

◆ set_translational_damping()

void OpenSim::ExpressionBasedBushingForce::set_translational_damping ( const SimTK::Vec3 & value )

inline

Set the value of the translational_damping property.

◆ set_visual_aspect_ratio()

void OpenSim::ExpressionBasedBushingForce::set_visual_aspect_ratio ( const double & value )

inline

Set the value of the visual_aspect_ratio property.

◆ setForceVisualScale()

void OpenSim::ExpressionBasedBushingForce::setForceVisualScale ( double scale )

inline

Set the value used to scale the bushing force on body2 when drawing it to screen.

A force of magnitude |F| will be drawn on screen with a length of (|F|*scale).

◆ setFxExpression()

void OpenSim::ExpressionBasedBushingForce::setFxExpression ( std::string expression )

Set the expression defining Fx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setFyExpression()

void OpenSim::ExpressionBasedBushingForce::setFyExpression ( std::string expression )

Set the expression defining Fy as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setFzExpression()

void OpenSim::ExpressionBasedBushingForce::setFzExpression ( std::string expression )

Set the expression defining Fz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setMomentVisualScale()

void OpenSim::ExpressionBasedBushingForce::setMomentVisualScale ( double scale )

inline

Set the value used to scale the bushing moment on body2 when drawing it to screen.

A moment of magnitude |M| will be drawn on screen with a length of (|M|*scale).

◆ setMxExpression()

void OpenSim::ExpressionBasedBushingForce::setMxExpression ( std::string expression )

Set the expression defining Mx as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setMyExpression()

void OpenSim::ExpressionBasedBushingForce::setMyExpression ( std::string expression )

Set the expression defining My as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setMzExpression()

void OpenSim::ExpressionBasedBushingForce::setMzExpression ( std::string expression )

Set the expression defining Mz as a function of the bushing deflections theta_x, theta_y, theta_z, delta_x, delta_y, delta_z.

◆ setVisualAspectRatio()

void OpenSim::ExpressionBasedBushingForce::setVisualAspectRatio ( double ratio )

inline

Set the aspect ratio used to control the thickness of the bushing force and moment in drawn in the visualizer.

ratio = length/diameter.

◆ upd_force_visual_scale()

double& OpenSim::ExpressionBasedBushingForce::upd_force_visual_scale ( )

inline

Get a writable reference to the force_visual_scale property.

◆ upd_Fx_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_Fx_expression ( )

inline

Get a writable reference to the Fx_expression property.

◆ upd_Fy_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_Fy_expression ( )

inline

Get a writable reference to the Fy_expression property.

◆ upd_Fz_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_Fz_expression ( )

inline

Get a writable reference to the Fz_expression property.

◆ upd_moment_visual_scale()

double& OpenSim::ExpressionBasedBushingForce::upd_moment_visual_scale ( )

inline

Get a writable reference to the moment_visual_scale property.

◆ upd_Mx_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_Mx_expression ( )

inline

Get a writable reference to the Mx_expression property.

◆ upd_My_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_My_expression ( )

inline

Get a writable reference to the My_expression property.

◆ upd_Mz_expression()

std::string& OpenSim::ExpressionBasedBushingForce::upd_Mz_expression ( )

inline

Get a writable reference to the Mz_expression property.

◆ upd_rotational_damping()

SimTK::Vec3& OpenSim::ExpressionBasedBushingForce::upd_rotational_damping ( )

inline

Get a writable reference to the rotational_damping property.

◆ upd_translational_damping()

SimTK::Vec3& OpenSim::ExpressionBasedBushingForce::upd_translational_damping ( )

inline

Get a writable reference to the translational_damping property.

◆ upd_visual_aspect_ratio()

double& OpenSim::ExpressionBasedBushingForce::upd_visual_aspect_ratio ( )

inline

Get a writable reference to the visual_aspect_ratio property.

OpenSim Property, Socket, Output, Input Documentation

◆ bushing_force

SimTK::Vec6 OpenSim::ExpressionBasedBushingForce::bushing_force

Provides the value of calcBushingForce() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ force_visual_scale

double OpenSim::ExpressionBasedBushingForce::force_visual_scale

"Scale factor applied to the bushing forces before displaying them."

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

See also: get_force_visual_scale(), upd_force_visual_scale(), set_force_visual_scale()

◆ Fx_expression

std::string OpenSim::ExpressionBasedBushingForce::Fx_expression

"Expression defining the contribution of x deflection to the force in " "the x direction. The expression is a string and can not have any " "whitespace separating characters."

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

See also: get_Fx_expression(), upd_Fx_expression(), set_Fx_expression()

◆ Fy_expression

std::string OpenSim::ExpressionBasedBushingForce::Fy_expression

"Expression defining the contribution of y deflection to the force in " "the y direction. The expression is a string and can not have any " "whitespace separating characters."

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

See also: get_Fy_expression(), upd_Fy_expression(), set_Fy_expression()

◆ Fz_expression

std::string OpenSim::ExpressionBasedBushingForce::Fz_expression

"Expression defining the contribution of z deflection to the force in " "the z direction. The expression is a string and can not have any " "whitespace separating characters."

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

See also: get_Fz_expression(), upd_Fz_expression(), set_Fz_expression()

◆ moment_visual_scale

double OpenSim::ExpressionBasedBushingForce::moment_visual_scale

"Scale factor applied to the bushing moments before displaying them."

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

See also: get_moment_visual_scale(), upd_moment_visual_scale(), set_moment_visual_scale()

◆ Mx_expression

std::string OpenSim::ExpressionBasedBushingForce::Mx_expression

"Expression defining the contribution of theta_x deflection to the " "moment about body_2's x axis. The expression is a string and can not " "have any whitespace separating characters."

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

See also: get_Mx_expression(), upd_Mx_expression(), set_Mx_expression()

◆ My_expression

std::string OpenSim::ExpressionBasedBushingForce::My_expression

"Expression defining the contribution of theta_y deflection to the " "moment about body_2's y axis. The expression is a string and can not " "have any whitespace separating characters."

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

See also: get_My_expression(), upd_My_expression(), set_My_expression()

◆ Mz_expression

std::string OpenSim::ExpressionBasedBushingForce::Mz_expression

"Expression defining the contribution of theta_z deflection to the " "moment about body_2's z axis. The expression is a string and can not " "have any whitespace separating characters."

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

See also: get_Mz_expression(), upd_Mz_expression(), set_Mz_expression()

◆ rotational_damping

SimTK::Vec3 OpenSim::ExpressionBasedBushingForce::rotational_damping

"Damping parameters resisting angular deflection rate (theta_dot)."

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

See also: get_rotational_damping(), upd_rotational_damping(), set_rotational_damping()

◆ translational_damping

SimTK::Vec3 OpenSim::ExpressionBasedBushingForce::translational_damping

"Damping parameters resisting translational deflection (delta_dot) ."

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

See also: get_translational_damping(), upd_translational_damping(), set_translational_damping()

◆ visual_aspect_ratio

double OpenSim::ExpressionBasedBushingForce::visual_aspect_ratio

"Scalar number signifying the ratio of length/diameter used to display " "the force and moment vectors."

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

See also: get_visual_aspect_ratio(), upd_visual_aspect_ratio(), set_visual_aspect_ratio()

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

OpenSim/Simulation/Model/ExpressionBasedBushingForce.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ ExpressionBasedBushingForce() [1/7]

◆ ExpressionBasedBushingForce() [2/7]

◆ ExpressionBasedBushingForce() [3/7]

◆ ExpressionBasedBushingForce() [4/7]

◆ ExpressionBasedBushingForce() [5/7]

◆ ExpressionBasedBushingForce() [6/7]

◆ ExpressionBasedBushingForce() [7/7]

Member Function Documentation

◆ assign()

◆ calcBushingForce()

◆ calcDampingForce()

◆ calcStiffnessForce()

◆ clone()

◆ computeForce()

◆ ComputeForcesAtBushing()

◆ generateDecorations()

◆ get_force_visual_scale()

◆ get_Fx_expression()

◆ get_Fy_expression()

◆ get_Fz_expression()

◆ get_moment_visual_scale()

◆ get_Mx_expression()

◆ get_My_expression()

◆ get_Mz_expression()

◆ get_rotational_damping()

◆ get_translational_damping()

◆ get_visual_aspect_ratio()

◆ getClassName()

◆ getConcreteClassName()

◆ getFxExpression()

◆ getFyExpression()

◆ getFzExpression()

◆ getMxExpression()

◆ getMyExpression()

◆ getMzExpression()

◆ getRecordLabels()

◆ getRecordValues()

◆ safeDownCast()

◆ set_force_visual_scale()

◆ set_Fx_expression()

◆ set_Fy_expression()

◆ set_Fz_expression()

◆ set_moment_visual_scale()

◆ set_Mx_expression()

◆ set_My_expression()

◆ set_Mz_expression()

◆ set_rotational_damping()

◆ set_translational_damping()

◆ set_visual_aspect_ratio()

◆ setForceVisualScale()

◆ setFxExpression()

◆ setFyExpression()

◆ setFzExpression()

◆ setMomentVisualScale()

◆ setMxExpression()

◆ setMyExpression()

◆ setMzExpression()

◆ setVisualAspectRatio()

◆ upd_force_visual_scale()

◆ upd_Fx_expression()

◆ upd_Fy_expression()

◆ upd_Fz_expression()

◆ upd_moment_visual_scale()

◆ upd_Mx_expression()

◆ upd_My_expression()

◆ upd_Mz_expression()

◆ upd_rotational_damping()

◆ upd_translational_damping()

◆ upd_visual_aspect_ratio()