OpenSim::ModelFactory Class Reference

This class provides utilities for creating OpenSim models. More...

Static Public Member Functions
Create a model
static Model	createNLinkPendulum (int numLinks)
	Create a pendulum with the provided number of links. More...
static Model	createPendulum ()
	This is a convenience for createNLinkPendulum(1). More...
static Model	createDoublePendulum ()
	This is a convenience for createNLinkPendulum(2). More...
static Model	createSlidingPointMass ()
	This model contains: More...
static Model	createPlanarPointMass ()
	This model contains: More...
Modify a Model
static void	replaceMusclesWithPathActuators (Model &model)
	Replace muscles in a model with a PathActuator of the same path, optimal force, and min/max control defaults. More...
static void	removeMuscles (Model &model)
	Remove muscles from the model. More...
static void	replaceJointWithWeldJoint (Model &model, const std::string &jointName)
	Replace a joint in the model with a WeldJoint. More...
static void	createReserveActuators (Model &model, double optimalForce, double bound=SimTK::NaN, bool skipCoordinatesWithExistingActuators=true)
	Add CoordinateActuators for each unconstrained coordinate (e.g., ! Coordinate::isConstrained()) in the model, using the provided optimal force. More...
static void	replacePathsWithFunctionBasedPaths (Model &model, const Set< FunctionBasedPath > &functionBasedPaths)
	Replace the paths of the forces in the model with the provided Set of FunctionBasedPaths. More...

Detailed Description

This class provides utilities for creating OpenSim models.

Member Function Documentation

createDoublePendulum()

static Model OpenSim::ModelFactory::createDoublePendulum ( )

inlinestatic

This is a convenience for createNLinkPendulum(2).

createNLinkPendulum()

static Model OpenSim::ModelFactory::createNLinkPendulum ( int  numLinks )

static

Create a pendulum with the provided number of links.

For each link, there is a body /bodyset/b# (where # is the link index starting at 0), a PinJoint /jointset/j# with coordinate /jointset/j#/q#, a CoordinateActuator /tau#, a Marker /markerset/marker# at the origin of the link's body, and a PhysicalOffsetFrame /b#center at the center of the link.

createPendulum()

static Model OpenSim::ModelFactory::createPendulum ( )

inlinestatic

This is a convenience for createNLinkPendulum(1).

createPlanarPointMass()

static Model OpenSim::ModelFactory::createPlanarPointMass ( )

static

This model contains:

• 2 bodies: a massless body "intermed", and "body" with mass 1.
• 2 slider joints: "tx" and "ty" (coordinates "tx" and "ty").
• 2 coordinate actuators: "force_x" and "force_y". Gravity is default; that is, (0, -g, 0).

createReserveActuators()

static void OpenSim::ModelFactory::createReserveActuators ( Model &  model, double  optimalForce, double  bound = SimTK::NaN, bool  skipCoordinatesWithExistingActuators = true  )

static

Add CoordinateActuators for each unconstrained coordinate (e.g., ! Coordinate::isConstrained()) in the model, using the provided optimal force.

Increasing the optimal force decreases the required control signal to generate a given actuation level. The actuators are added to the model's ForceSet and are named "reserve_<coordinate-path>" with forward slashes converted to underscores. The bound argument, if supplied, sets the min and max controls to -bound and bound, respectively. The fourth (optional) argument specifies whether or not to skip coordinates that already have CoordinateActuators associated with them (default: true).

createSlidingPointMass()

static Model OpenSim::ModelFactory::createSlidingPointMass ( )

static

This model contains:

• 1 body: mass 1.0 kg, /body.
• 1 joint: SliderJoint along x axis, /jointset/slider, with coordinate /slider/position.
• 1 actuator: CoordinateActuator, controls [-10, 10], /forceset/actuator. Gravity is default; that is, (0, -g, 0).

removeMuscles()

static void OpenSim::ModelFactory::removeMuscles ( Model &  model )

static

Remove muscles from the model.

Note

This only removes muscles within the model's ForceSet.

replaceJointWithWeldJoint()

static void OpenSim::ModelFactory::replaceJointWithWeldJoint ( Model &  model, const std::string &  jointName  )

static

Replace a joint in the model with a WeldJoint.

Note

This assumes the joint is in the JointSet and that the joint's connectees are PhysicalOffsetFrames.

replaceMusclesWithPathActuators()

static void OpenSim::ModelFactory::replaceMusclesWithPathActuators ( Model &  model )

static

Replace muscles in a model with a PathActuator of the same path, optimal force, and min/max control defaults.

Note

This only replaces muscles within the model's ForceSet.

replacePathsWithFunctionBasedPaths()

static void OpenSim::ModelFactory::replacePathsWithFunctionBasedPaths ( Model &  model, const Set< FunctionBasedPath > &  functionBasedPaths  )

static

Replace the paths of the forces in the model with the provided Set of FunctionBasedPaths.

The name of each FunctionBasedPath should match the component path (i.e., '/forceset/soleus_r') of the corresponding Force in the model. The Force objects in the model must have a property named 'path' that stores an object derived from AbstractGeometryPath.

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

• OpenSim/Actuators/ModelFactory.h