API  4.5.1
For C++ developers
OpenSim::Ground Class Reference

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 WrapObjectSetget_WrapObjectSet () const
 Get the value of the WrapObjectSet property. More...
 
WrapObjectSetupd_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 WrapObjectgetWrapObject (const std::string &aName) const
 Deprecated methods for intermediate integration of Frames. More...
 
const WrapObjectSetgetWrapObjectSet () 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 FrameGeometryget_frame_geometry () const
 Get the value of the frame_geometry property. More...
 
FrameGeometryupd_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 Geometryget_attached_geometry (int i) const
 Get the value of the i-th element of the attached_geometry property. More...
 
Geometryupd_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::SpatialVecgetVelocityInGround (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::SpatialVecgetAccelerationInGround (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 FramefindBaseFrame () 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 ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 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...
 
Componentoperator= (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 ComponentgetComponent (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)
 
ComponentupdComponent (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 ObjectgetConnectee (const std::string &name) const
 Get the connectee as an Object. More...
 
const ObjectgetConnectee (const std::string &name, int index) const
 Get the connectee at the provided index as an Object. More...
 
const AbstractSockettryGetSocket (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 AbstractSocketgetSocket (const std::string &name) const
 Get an AbstractSocket for the given socket name. More...
 
const AbstractSockettryUpdSocket (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...
 
AbstractSocketupdSocket (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 AbstractInputgetInput (const std::string &name) const
 Get an Input provided by this Component by name. More...
 
AbstractInputupdInput (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 AbstractOutputtryGetOutput (const std::string &name) const
 If it exists on the component, returns a pointer to the named Output; otherwise, returns a nullptr. More...
 
const AbstractOutputgetOutput (const std::string &name) const
 Get the Output provided by this Component by name. More...
 
AbstractOutputtryUpdOutput (const std::string &name)
 If it exists on the component returns a writable pointer to the named Output; otherwise, returns a nullptr More...
 
AbstractOutputupdOutput (const std::string &name)
 Get a writable reference to an Output provided by this Component by name. More...
 
SimTK::IteratorRange< OutputConstIteratorgetOutputs () 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...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
const Property< T > & getPropertyByName (const std::string &name) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updPropertyByName (const std::string &name)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type.
More...
 
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
 
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object. More...
 
void updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
 Serialize this object into the XML node that represents it. More...
 
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument. More...
 
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
 
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document. More...
 
int getDocumentFileVersion () const
 If there is a document associated with this object then return its version number. More...
 
void setAllPropertiesUseDefault (bool aUseDefault)
 
bool print (const std::string &fileName) const
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
 
std::string dump () const
 dump the XML representation of this Object into an std::string and return it. More...
 
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
 
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Public Types

typedef 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 FrameextendFindBaseFrame () 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 Componentget_components (int i) const
 Get the value of the i-th element of the components property. More...
 
Componentupd_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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Auto-generated functions

static GroundsafeDownCast (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...
 
Groundclone () 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 PhysicalFramesafeDownCast (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 FramesafeDownCast (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 ModelComponentsafeDownCast (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 ComponentsafeDownCast (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 ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 
- 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...
 

Detailed Description

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.

Author
Ajay Seth

Member Typedef Documentation

◆ Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ Ground()

OpenSim::Ground::Ground ( )

Default Constructor.

◆ ~Ground()

virtual OpenSim::Ground::~Ground ( )
inlinevirtual

Member Function Documentation

◆ assign()

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

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type Ground.

◆ clone()

Ground* OpenSim::Ground::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::PhysicalFrame.

◆ extendAddToSystem()

void OpenSim::Ground::extendAddToSystem ( SimTK::MultibodySystem &  system) const
finaloverrideprotected

◆ extendFinalizeFromProperties()

void OpenSim::Ground::extendFinalizeFromProperties ( )
finaloverrideprotected

Extending the Component interface.

◆ getClassName()

static const std::string& OpenSim::Ground::getClassName ( )
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.

◆ getConcreteClassName()

const std::string& OpenSim::Ground::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::PhysicalFrame.

◆ safeDownCast()

static Ground* OpenSim::Ground::safeDownCast ( OpenSim::Object obj)
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++.


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