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API
4.5.1
For C++ developers
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API
4.5.1
For C++ developers
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Ground is an inertial reference frame in which the motion of all Frames and points may conveniently and efficiently be expressed. More...
Inheritance diagram for OpenSim::Ground:Public Member Functions | |
| Ground () | |
| Default Constructor. More... | |
| virtual | ~Ground () |
| Public Member Functions inherited from OpenSim::PhysicalFrame | |
| PhysicalFrame () | |
| virtual | ~PhysicalFrame () |
| const WrapObjectSet & | get_WrapObjectSet () const |
| Get the value of the WrapObjectSet property. More... | |
| WrapObjectSet & | upd_WrapObjectSet () |
| Get a writable reference to the WrapObjectSet property. More... | |
| void | set_WrapObjectSet (const WrapObjectSet &value) |
| Set the value of the WrapObjectSet property. More... | |
| const SimTK::MobilizedBodyIndex & | getMobilizedBodyIndex () const |
This method returns the MobilizedBodyIndex of the MobilizedBody for this PhysicalFrame. More... | |
| const SimTK::MobilizedBody & | getMobilizedBody () const |
Access a readable SimTK::MobilizedBody that backs this PhysicalFrame. More... | |
| SimTK::MobilizedBody & | updMobilizedBody () |
Access a writable SimTK::MobilizedBody that backs this PhysicalFrame. More... | |
| const WrapObject * | getWrapObject (const std::string &aName) const |
| Deprecated methods for intermediate integration of Frames. More... | |
| const WrapObjectSet & | getWrapObjectSet () const |
| void | addWrapObject (WrapObject *wrapObject) |
| Add a wrap object to the Body. More... | |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| Public Member Functions inherited from OpenSim::Frame | |
| Frame () | |
| virtual | ~Frame () |
| void | attachGeometry (OpenSim::Geometry *geom) |
| Attach Geometry to this Frame and have this Frame take ownership of it by adding it to this Frame's <attached_geometry> property list. More... | |
| void | scaleAttachedGeometry (const SimTK::Vec3 &scaleFactors) |
| void | extendScale (const SimTK::State &s, const ScaleSet &scaleSet) override |
Scales Geometry components that reside in the Frame's attached_geometry list property. More... | |
| const FrameGeometry & | get_frame_geometry () const |
| Get the value of the frame_geometry property. More... | |
| FrameGeometry & | upd_frame_geometry () |
| Get a writable reference to the frame_geometry property. More... | |
| void | set_frame_geometry (const FrameGeometry &value) |
| Set the value of the frame_geometry property. More... | |
| const Geometry & | get_attached_geometry (int i) const |
| Get the value of the i-th element of the attached_geometry property. More... | |
| Geometry & | upd_attached_geometry (int i) |
| Get a writable reference to the i-th element of the attached_geometry property. More... | |
| void | set_attached_geometry (int i, const Geometry &value) |
| Set the value of the i-th element of attached_geometry property. More... | |
| int | append_attached_geometry (const Geometry &value) |
| Append an element to the attached_geometry property. More... | |
| const SimTK::Transform & | getTransformInGround (const SimTK::State &state) const |
Get the transform of this frame (F) relative to the ground frame (G). More... | |
| const SimTK::SpatialVec & | getVelocityInGround (const SimTK::State &state) const |
| The spatial velocity V_GF {omega; v} of this Frame, measured with respect to and expressed in the ground frame. More... | |
| const SimTK::Vec3 & | getAngularVelocityInGround (const SimTK::State &state) const |
| The angular velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getVelocityInGround()). More... | |
| const SimTK::Vec3 & | getLinearVelocityInGround (const SimTK::State &state) const |
| The linear velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getVelocityInGround()). More... | |
| const SimTK::SpatialVec & | getAccelerationInGround (const SimTK::State &state) const |
| The spatial acceleration A_GF {alpha; a} of this Frame, measured with respect to and expressed in the ground frame. More... | |
| const SimTK::Vec3 & | getAngularAccelerationInGround (const SimTK::State &state) const |
| The angular acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getAccelerationInGround()). More... | |
| const SimTK::Vec3 & | getLinearAccelerationInGround (const SimTK::State &state) const |
| The linear acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getAccelerationInGround()). More... | |
| SimTK::Transform | findTransformBetween (const SimTK::State &state, const Frame &otherFrame) const |
Find the transform that describes this frame (F) relative to another frame (A). More... | |
| SimTK::Vec3 | expressVectorInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &vec_F, const Frame &otherFrame) const |
Take a vector expressed in this frame (F) and re-express the same vector in another frame (A). More... | |
| SimTK::Vec3 | expressVectorInGround (const SimTK::State &state, const SimTK::Vec3 &vec_F) const |
Take a vector in this frame (F) and re-express the same vector in Ground (G). More... | |
| SimTK::Vec3 | findStationLocationInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &station_F, const Frame &otherFrame) const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in another frame (A). More... | |
| SimTK::Vec3 | findStationLocationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its location relative to and expressed in Ground (G). More... | |
| SimTK::Vec3 | findStationVelocityInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its velocity relative to and expressed in Ground (G). More... | |
| SimTK::Vec3 | findStationAccelerationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const |
Take a station located and expressed in this frame (F) and determine its acceleration relative to and expressed in Ground (G). More... | |
| const Frame & | findBaseFrame () const |
Find this Frame's base Frame. More... | |
| SimTK::Transform | findTransformInBaseFrame () const |
Find the equivalent Transform of this Frame (F) in its base (B) Frame. More... | |
| SimTK::Vec3 | getPositionInGround (const SimTK::State &state) const |
| Accessor for position of the origin of the Frame in Ground. More... | |
| SimTK::Rotation_< double > | getRotationInGround (const SimTK::State &state) const |
| Accessor for Rotation matrix of the Frame in Ground. More... | |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| Public Member Functions inherited from OpenSim::ModelComponent | |
| ModelComponent () | |
| Default constructor. More... | |
| ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
| Construct ModelComponent from an XML file. More... | |
| ModelComponent (SimTK::Xml::Element &aNode) | |
| Construct ModelComponent from a specific node in an XML document. More... | |
| virtual | ~ModelComponent () |
| Destructor is virtual to allow concrete model component cleanup. More... | |
| void | connectToModel (Model &model) |
| Connect this ModelComponent to its aggregate- a Model. More... | |
| const Model & | getModel () const |
| Get a const reference to the Model this component is part of. More... | |
| Model & | updModel () |
| Get a modifiable reference to the Model this component is part of. More... | |
| bool | hasModel () const |
| Does this ModelComponent have a Model associated with it? More... | |
| void | preScale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More... | |
| void | scale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Scale the ModelComponent. More... | |
| void | postScale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More... | |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| Public Member Functions inherited from OpenSim::Component | |
| Component () | |
| Default constructor. More... | |
| Component (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
| Construct Component from an XML file. More... | |
| Component (SimTK::Xml::Element &aNode) | |
| Construct Component from a specific node in an XML document. More... | |
| Component (const Component &)=default | |
| Use default copy constructor and assignment operator. More... | |
| Component & | operator= (const Component &)=default |
| virtual | ~Component ()=default |
| Destructor is virtual to allow concrete Component to cleanup. More... | |
| virtual void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
| Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More... | |
| const SimTK::MultibodySystem & | getSystem () const |
| Get the underlying MultibodySystem that this component is connected to. More... | |
| bool | hasSystem () const |
| Check if this component has an underlying MultibodySystem. More... | |
| bool | isComponentInOwnershipTree (const Component *component) const |
| Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More... | |
| void | addComponent (Component *subcomponent) |
Add a Component (as a subcomponent) of this component. More... | |
| template<typename T = Component> | |
| ComponentList< const T > | getComponentList () const |
| Get an iterator through the underlying subcomponents that this component is composed of. More... | |
| template<typename T = Component> | |
| ComponentList< T > | updComponentList () |
| Similar to getComponentList(), except the resulting list allows one to modify the components. More... | |
| template<typename T = Component> | |
| unsigned | countNumComponents () const |
| Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More... | |
| std::string | getAbsolutePathString () const |
| Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More... | |
| ComponentPath | getAbsolutePath () const |
| Return a ComponentPath of the absolute path of this Component. More... | |
| std::string | getRelativePathString (const Component &wrt) const |
| Get the relative path of this Component with respect to another Component, as a string. More... | |
| ComponentPath | getRelativePath (const Component &wrt) const |
| Get the relative path of this Component with respect to another Component. More... | |
| bool | hasComponent (const std::string &pathname) const |
| Query if there is a component (of any type) at the specified path name. More... | |
| template<class C = Component> | |
| bool | hasComponent (const std::string &pathname) const |
| Query if there is a component of a given type at the specified path name. More... | |
| template<class C = Component> | |
| const C & | getComponent (const std::string &pathname) const |
| Get a unique subcomponent of this Component by its path name and type 'C'. More... | |
| template<class C = Component> | |
| const C & | getComponent (const ComponentPath &pathname) const |
| const Component & | getComponent (const std::string &pathname) const |
| Similar to the templatized getComponent(), except this returns the component as the generic Component type. More... | |
| template<class C = Component> | |
| C & | updComponent (const std::string &name) |
| Get a writable reference to a subcomponent. More... | |
| template<class C = Component> | |
| C & | updComponent (const ComponentPath &name) |
| Component & | updComponent (const std::string &pathname) |
| Similar to the templatized updComponent(), except this returns the component as the generic Component type. More... | |
| unsigned | printComponentsMatching (const std::string &substring) const |
| Print a list to the console of all components whose absolute path name contains the given string. More... | |
| int | getNumStateVariables () const |
| Get the number of "continuous" state variables maintained by the Component and its subcomponents. More... | |
| Array< std::string > | getStateVariableNames () const |
| Get the names of continuous state variables maintained by the Component and its subcomponents. More... | |
| Array< std::string > | getDiscreteVariableNames () const |
| Get the names of discrete state variables maintained by the Component and its subcomponents. More... | |
| Array< std::string > | getModelingOptionNames () const |
| Get the names of the modeling options maintained by the Component and its subcomponents. More... | |
| void | finalizeFromProperties () |
| Define a Component's internal data members and structure according to its properties. More... | |
| void | finalizeConnections (Component &root) |
| Satisfy the Component's connections specified by its Sockets and Inputs. More... | |
| void | clearConnections () |
| Disconnect/clear this Component from its aggregate component. More... | |
| void | addToSystem (SimTK::MultibodySystem &system) const |
| Have the Component add itself to the underlying computational System. More... | |
| void | initStateFromProperties (SimTK::State &state) const |
| Initialize Component's state variable values from its properties. More... | |
| void | setPropertiesFromState (const SimTK::State &state) |
| Set Component's properties given a state. More... | |
| int | getNumSockets () const |
| Get the number of Sockets in this Component. More... | |
| std::vector< std::string > | getSocketNames () const |
| Collect and return the names of the sockets in this component. More... | |
| template<typename T > | |
| const T & | getConnectee (const std::string &name) const |
| Get the "connectee" object that the Component's Socket is bound to. More... | |
| template<typename T > | |
| const T & | getConnectee (const std::string &name, int index) const |
| Get the "connectee" object at the provided index that the Component's Socket is bound to. More... | |
| const Object & | getConnectee (const std::string &name) const |
| Get the connectee as an Object. More... | |
| const Object & | getConnectee (const std::string &name, int index) const |
| Get the connectee at the provided index as an Object. More... | |
| const AbstractSocket * | tryGetSocket (const std::string &name) const |
Returns a pointer to the AbstractSocket with a given socket name, or nullptr if the socket with the given name does not exist on the component. More... | |
| const AbstractSocket & | getSocket (const std::string &name) const |
| Get an AbstractSocket for the given socket name. More... | |
| const AbstractSocket * | tryUpdSocket (const std::string &name) |
Returns a writable pointer to the AbstractSocket with a given socket name, or nullptr if the socket with the given name does not exist on the component. More... | |
| AbstractSocket & | updSocket (const std::string &name) |
| Get a writable reference to the AbstractSocket for the given socket name. More... | |
| template<typename T > | |
| const Socket< T > & | getSocket (const std::string &name) const |
| Get a const reference to the concrete Socket provided by this Component by name. More... | |
| template<typename T > | |
| Socket< T > & | updSocket (const std::string &name) |
| Get a writable reference to the concrete Socket provided by this Component by name. More... | |
| int | getModelingOption (const SimTK::State &state, const std::string &path) const |
| Based on a specified path, get the value of a modeling option. More... | |
| int | getModelingOption (const SimTK::State &state, const ComponentPath &path) const |
| void | setModelingOption (SimTK::State &state, const std::string &path, int flag) const |
| Based on a specified path, set the value of a modeling option. More... | |
| void | setModelingOption (SimTK::State &state, const ComponentPath &path, int flag) const |
| template<typename T > | |
| const T & | getInputValue (const SimTK::State &state, const std::string &name) const |
| Get the Input value that this component is dependent on. More... | |
| template<typename T > | |
| const T & | getOutputValue (const SimTK::State &state, const std::string &name) const |
| Get the Output value provided by this Component by name. More... | |
| double | getStateVariableValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a state variable allocated by this Component. More... | |
| double | getStateVariableValue (const SimTK::State &state, const ComponentPath &path) const |
| Get the value of a state variable allocated by this Component. More... | |
| void | setStateVariableValue (SimTK::State &state, const std::string &name, double value) const |
| Set the value of a state variable allocated by this Component by name. More... | |
| SimTK::Vector | getStateVariableValues (const SimTK::State &state) const |
| Get all values of the state variables allocated by this Component. More... | |
| void | setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const |
| Set all values of the state variables allocated by this Component. More... | |
| double | getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a state variable derivative computed by this Component. More... | |
| double | getStateVariableDerivativeValue (const SimTK::State &state, const ComponentPath &path) const |
| Get the value of a state variable derivative computed by this Component. More... | |
| 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 Ground | Self |
| This typedef might be useful within the member functions of this class. More... | |
| typedef PhysicalFrame | Super |
| Use this typedef to refer to the superclass of this class. More... | |
| Public Types inherited from OpenSim::PhysicalFrame | |
| typedef PhysicalFrame | Self |
| This typedef might be useful within the member functions of this class. More... | |
| typedef Frame | Super |
| Use this typedef to refer to the superclass of this class. More... | |
| Public Types inherited from OpenSim::Frame | |
| typedef Frame | 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 | |
| void | extendFinalizeFromProperties () override final |
| Extending the Component interface. More... | |
| void | extendAddToSystem (SimTK::MultibodySystem &system) const override final |
| Protected Member Functions inherited from OpenSim::PhysicalFrame | |
| void | updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) override |
| Override to account for version updates in the XML format. More... | |
| void | extendFinalizeFromProperties () override |
| Associate a FrameGeometry (visualization) with the this PhysicalFrame. More... | |
| void | extendConnectToModel (Model &model) override |
| Connect bound WrapObjects. More... | |
| void | setMobilizedBodyIndex (const SimTK::MobilizedBodyIndex &mbix) const |
Specify the MobilizedBody that implements this PhysicalFrame in the underlying MultibodySystem. More... | |
| virtual void | extendSetMobilizedBodyIndex (const SimTK::MobilizedBodyIndex &) const |
| const Frame & | extendFindBaseFrame () const override |
| Extend how PhysicalFrame determines its base Frame. More... | |
| SimTK::Transform | extendFindTransformInBaseFrame () const override |
| Extend how PhysicalFrame determines its Transform in the base Frame. More... | |
| Protected Member Functions inherited from OpenSim::Frame | |
| void | extendAddToSystem (SimTK::MultibodySystem &system) const override |
| 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 Ground * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Ground". More... | |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| Ground * | clone () const override |
| Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
| const std::string & | getConcreteClassName () const override |
| Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
Additional Inherited Members | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::PhysicalFrame | |
| WrapObjectSet | WrapObjectSet |
| "Set of wrap objects fixed to this body that GeometryPaths can wrap over." "This property used to be a member of Body but was moved up with " "the introduction of Frames." More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Frame | |
| FrameGeometry | frame_geometry |
| "The geometry used to display the axes of this Frame." More... | |
| Geometry | attached_geometry |
| "List of geometry attached to this Frame. Note, the geometry " "are treated as fixed to the frame and they share the transform " "of the frame when visualized" More... | |
| SimTK::Vec3 | position |
| Provides the value of getPositionInGround() and is available at stage SimTK::Stage::Position . More... | |
| SimTK::Rotation | rotation |
| Provides the value of getRotationInGround() and is available at stage SimTK::Stage::Position . More... | |
| SimTK::Transform | transform |
| Provides the value of getTransformInGround() and is available at stage SimTK::Stage::Position . More... | |
| SimTK::SpatialVec | velocity |
| Provides the value of getVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
| SimTK::Vec3 | angular_velocity |
| Provides the value of getAngularVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
| SimTK::Vec3 | linear_velocity |
| Provides the value of getLinearVelocityInGround() and is available at stage SimTK::Stage::Velocity . More... | |
| SimTK::SpatialVec | acceleration |
| Provides the value of getAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
| SimTK::Vec3 | angular_acceleration |
| Provides the value of getAngularAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
| SimTK::Vec3 | linear_acceleration |
| Provides the value of getLinearAccelerationInGround() 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... | |
| Static Public Member Functions inherited from OpenSim::PhysicalFrame | |
| static PhysicalFrame * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "PhysicalFrame". More... | |
| Static Public Member Functions inherited from OpenSim::Frame | |
| static Frame * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Frame". 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... | |
| Static Protected Member Functions inherited from OpenSim::PhysicalFrame | |
| static void | setMobilizedBodyIndexOf (PhysicalFrame const &other, const SimTK::MobilizedBodyIndex &mbix) |
| 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... | |
Ground is an inertial reference frame in which the motion of all Frames and points may conveniently and efficiently be expressed.
As a PhysicalFrame, Ground supports physical connections (e.g. Joints, Constraints), and forces can be applied to it.
| typedef Ground OpenSim::Ground::Self |
This typedef might be useful within the member functions of this class.
This is generated by the OpenSim_DECLARE_*_OBJECT macros.
| typedef PhysicalFrame OpenSim::Ground::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.
| OpenSim::Ground::Ground | ( | ) |
Default Constructor.
|
inlinevirtual |
|
inlineoverride |
|
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::PhysicalFrame.
|
finaloverrideprotected |
|
finaloverrideprotected |
Extending the Component interface.
|
inlinestatic |
This returns "Ground".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
This is generated by the OpenSim_DECLARE_*_OBJECT macros.
|
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.
Implements OpenSim::PhysicalFrame.
|
inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = Ground.safeDownCast(obj). This is equivalent to dynamic_cast<Ground*>(obj) in C++.
1.8.14 