A TorqueActuator applies equal and opposite torques on the two bodies (bodyA and B) that it connects. More...

Inheritance diagram for OpenSim::TorqueActuator:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (optional)
std::string	bodyA
	"Name of Body to which the torque actuator is applied." More...

std::string	bodyB
	"Name of Body to which the equal and opposite torque is applied." More...

Properties (single-value)
The default for optimal force is 1.
bool	torque_is_global
	"Interpret axis in Ground frame if true; otherwise, body A's frame." More...

SimTK::Vec3	axis
	"Fixed direction about which torque is applied, in Ground or body A " "frame depending on 'torque_is_global' property." More...

double	optimal_force
	"The maximum torque produced by this actuator when fully activated." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::ScalarActuator
double	min_control
	"Minimum allowed value for control signal. Used primarily when solving " "for control values." More...

double	max_control
	"Maximum allowed value for control signal. Used primarily when solving " "for control values." More...

double	actuation
	Provides the value of getActuation() and is available at stage SimTK::Stage::Velocity . More...

double	speed
	Provides the value of getSpeed() and is available at stage SimTK::Stage::Velocity . More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Actuator
double	power
	Provides the value of getPower() and is available at stage SimTK::Stage::Dynamics . More...

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

double	potential_energy
	Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . More...

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

Public Member Functions
	TorqueActuator ()
	Default constructor leaves body names unspecified. More...

	TorqueActuator (const PhysicalFrame &bodyA, const PhysicalFrame &bodyB, const SimTK::Vec3 &axis, bool axisInGround=true)
	Convenience Constructor. More...

void	setAxis (const SimTK::Vec3 &axis)
	Set the 'axis' property to the supplied value; frame is interpreted according to the 'torque_is_global' property. More...

const SimTK::Vec3 &	getAxis () const
	Return the current value of the 'axis' property. More...

void	setTorqueIsGlobal (bool isGlobal)
	Set the 'torque_is_global' property that determines how to interpret the 'axis' vector; if not global (Ground frame) it is in body A's frame. More...

bool	getTorqueIsGlobal () const
	Return the current value of the 'torque_is_global' property. More...

void	setOptimalForce (double optimalForce)
	Set the 'optimal_force' property. More...

double	getOptimalForce () const override
	Get the current value of the 'optimal_force' property. More...

void	setBodyA (const PhysicalFrame &body)
	Set the first body (bodyA) to which this actuator applies torque. More...

void	setBodyB (const PhysicalFrame &body)
	Set the second body (bodyB) to which this actuator applies torque. More...

const PhysicalFrame &	getBodyA () const
	Get the first body (bodyA) to which this actuator applies torque. More...

const PhysicalFrame &	getBodyB () const
	Get the second body (bodyB) to which this actuator applies torque. More...

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

std::string &	upd_bodyA ()
	Get a writable reference to the bodyA property. More...

void	set_bodyA (const std::string &value)
	Set the value of the bodyA property. More...

const std::string &	get_bodyB () const
	Get the value of the bodyB property. More...

std::string &	upd_bodyB ()
	Get a writable reference to the bodyB property. More...

void	set_bodyB (const std::string &value)
	Set the value of the bodyB property. More...

const bool &	get_torque_is_global () const
	Get the value of the torque_is_global property. More...

bool &	upd_torque_is_global ()
	Get a writable reference to the torque_is_global property. More...

void	set_torque_is_global (const bool &value)
	Set the value of the torque_is_global property. More...

const SimTK::Vec3 &	get_axis () const
	Get the value of the axis property. More...

SimTK::Vec3 &	upd_axis ()
	Get a writable reference to the axis property. More...

void	set_axis (const SimTK::Vec3 &value)
	Set the value of the axis property. More...

const double &	get_optimal_force () const
	Get the value of the optimal_force property. More...

double &	upd_optimal_force ()
	Get a writable reference to the optimal_force property. More...

void	set_optimal_force (const double &value)
	Set the value of the optimal_force property. More...

Public Member Functions inherited from OpenSim::ScalarActuator
	ScalarActuator ()

virtual double	getControl (const SimTK::State &s) const
	Convenience method to get control given scalar (double) valued control. More...

int	numControls () const override

virtual void	setActuation (const SimTK::State &s, double aActuation) const

virtual double	getActuation (const SimTK::State &s) const

double	getPower (const SimTK::State &s) const override

void	setMinControl (const double &aMinControl)
	Methods to manage the bounds on ScalarActuator's control. More...

double	getMinControl () const

void	setMaxControl (const double &aMaxControl)

double	getMaxControl () const

void	overrideActuation (SimTK::State &s, bool flag) const
	Enable/disable a ScalarActuator's override actuation. More...

bool	isActuationOverridden (const SimTK::State &s) const
	return ScalarActuator's override status More...

void	setOverrideActuation (SimTK::State &s, double value) const
	set the actuation value used when the override is true More...

double	getOverrideActuation (const SimTK::State &s) const
	return override actuation More...

const double &	get_min_control () const
	Get the value of the min_control property. More...

double &	upd_min_control ()
	Get a writable reference to the min_control property. More...

void	set_min_control (const double &value)
	Set the value of the min_control property. More...

const double &	get_max_control () const
	Get the value of the max_control property. More...

double &	upd_max_control ()
	Get a writable reference to the max_control property. More...

void	set_max_control (const double &value)
	Set the value of the max_control property. More...

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

Public Member Functions inherited from OpenSim::Actuator
	Actuator ()

virtual const SimTK::Vector	getDefaultControls ()
	Actuator default controls are zero. More...

virtual const SimTK::VectorView_< double >	getControls (const SimTK::State &s) const

virtual void	getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const
	Convenience methods for getting, setting and adding to actuator controls from/into the model controls. More...

virtual void	setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	set actuator controls subvector into the right slot in the system-wide model controls More...

virtual void	addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const
	add actuator controls to the values already occupying the slot in the system-wide model controls More...

virtual void	computeEquilibrium (SimTK::State &s) const

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

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

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

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

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

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

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

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

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

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

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

	ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct ModelComponent from an XML file. More...

	ModelComponent (SimTK::Xml::Element &aNode)
	Construct ModelComponent from a specific node in an XML document. More...

virtual	~ModelComponent ()
	Destructor is virtual to allow concrete model component cleanup. More...

void	connectToModel (Model &model)
	Connect this ModelComponent to its aggregate- a Model. More...

const Model &	getModel () const
	Get a const reference to the Model this component is part of. More...

Model &	updModel ()
	Get a modifiable reference to the Model this component is part of. More...

bool	hasModel () const
	Does this ModelComponent have a Model associated with it? More...

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

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

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

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

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

	Component (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct Component from an XML file. More...

	Component (SimTK::Xml::Element &aNode)
	Construct Component from a specific node in an XML document. More...

	Component (const Component &)=default
	Use default copy constructor and assignment operator. More...

Component &	operator= (const Component &)=default

virtual	~Component ()=default
	Destructor is virtual to allow concrete Component to cleanup. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

Protected Member Functions
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

Protected Member Functions inherited from OpenSim::ScalarActuator
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

double	computeOverrideActuation (const SimTK::State &s) const

OpenSim::Array< std::string >	getRecordLabels () const override
	Methods to query a actuation for the value actually applied during simulation. More...

OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const override
	Given SimTK::State object extract all the values necessary to report actuation, application location frame, etc. More...

Protected Member Functions inherited from OpenSim::Actuator
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

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

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

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

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

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

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

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

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

void	applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const
	Apply a generalized force. More...

void	updateFromXMLNode (SimTK::Xml::Element &node, int versionNumber) override
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

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

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

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

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

void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber) override
	Use this method to deserialize an object from a SimTK::Xml::Element. 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 TorqueActuator *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

TorqueActuator *	clone () const override
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

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

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

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

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

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

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

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

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

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

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

Static Public Member Functions inherited from OpenSim::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...

template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
	Same as the other signature but the class name and property name are provided as two separate strings. More...

static Object *	makeObjectFromFile (const std::string &fileName)
	Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...

static void	setDebugLevel (int newLevel)
	Set the amount of logging output. More...

static int	getDebugLevel ()
	Get the current setting of debug level. More...

static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

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

Protected Attributes inherited from OpenSim::Actuator
int	_controlIndex

Protected Attributes inherited from OpenSim::Force
SimTK::ResetOnCopy< SimTK::ForceIndex >	_index
	ID for the force in Simbody. More...

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

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

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

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

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

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

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

Detailed Description

A TorqueActuator applies equal and opposite torques on the two bodies (bodyA and B) that it connects.

The torque is applied about an axis specified in ground (global) by default, otherwise it is in bodyA's frame. The magnitude of the torque is equal to the product of the optimal_force of the actuator and its control signal.

Author: Ajay Seth, Matt DeMers

Member Typedef Documentation

◆ Self

typedef TorqueActuator OpenSim::TorqueActuator::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef ScalarActuator OpenSim::TorqueActuator::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

◆ TorqueActuator() [1/2]

OpenSim::TorqueActuator::TorqueActuator ( )

Default constructor leaves body names unspecified.

◆ TorqueActuator() [2/2]

OpenSim::TorqueActuator::TorqueActuator	(	const PhysicalFrame &	bodyA,
		const PhysicalFrame &	bodyB,
		const SimTK::Vec3 &	axis,
		bool	axisInGround = `true`
	)

Convenience Constructor.

Create a torque actuator that applies equal and opposite torques on the two bodies (bodyA and B) that it connects. The torque is applied about an axis specified in ground if axisInGround is true, otherwise it is specified in bodyA's body frame.

Parameters

bodyA	the body that the actuator applies torque to
bodyB	the body that the actuator applies the opposite torque to
axis	the axis about which the torque is applied
axisInGround	flag to indicate the axis is expressed in ground otherwise, it is expressed in bodyA's frame

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type TorqueActuator.

◆ clone()

TorqueActuator* OpenSim::TorqueActuator::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::ScalarActuator.

◆ extendAddToSystem()

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

overrideprotected

◆ get_axis()

const SimTK::Vec3& OpenSim::TorqueActuator::get_axis ( ) const

inline

Get the value of the axis property.

◆ get_bodyA()

const std::string& OpenSim::TorqueActuator::get_bodyA ( ) const

inline

Get the value of the bodyA property.

◆ get_bodyB()

const std::string& OpenSim::TorqueActuator::get_bodyB ( ) const

inline

Get the value of the bodyB property.

◆ get_optimal_force()

const double& OpenSim::TorqueActuator::get_optimal_force ( ) const

inline

Get the value of the optimal_force property.

◆ get_torque_is_global()

const bool& OpenSim::TorqueActuator::get_torque_is_global ( ) const

inline

Get the value of the torque_is_global property.

◆ getAxis()

const SimTK::Vec3& OpenSim::TorqueActuator::getAxis ( ) const

inline

Return the current value of the 'axis' property.

◆ getBodyA()

const PhysicalFrame& OpenSim::TorqueActuator::getBodyA ( ) const

inline

Get the first body (bodyA) to which this actuator applies torque.

◆ getBodyB()

const PhysicalFrame& OpenSim::TorqueActuator::getBodyB ( ) const

inline

Get the second body (bodyB) to which this actuator applies torque.

◆ getClassName()

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

inlinestatic

This returns "TorqueActuator".

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::TorqueActuator::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::ScalarActuator.

◆ getOptimalForce()

double OpenSim::TorqueActuator::getOptimalForce ( ) const

inlineoverridevirtual

Get the current value of the 'optimal_force' property.

Reimplemented from OpenSim::ScalarActuator.

◆ getTorqueIsGlobal()

bool OpenSim::TorqueActuator::getTorqueIsGlobal ( ) const

inline

Return the current value of the 'torque_is_global' property.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_axis()

void OpenSim::TorqueActuator::set_axis ( const SimTK::Vec3 & value )

inline

Set the value of the axis property.

◆ set_bodyA()

void OpenSim::TorqueActuator::set_bodyA ( const std::string & value )

inline

Set the value of the bodyA property.

◆ set_bodyB()

void OpenSim::TorqueActuator::set_bodyB ( const std::string & value )

inline

Set the value of the bodyB property.

◆ set_optimal_force()

void OpenSim::TorqueActuator::set_optimal_force ( const double & value )

inline

Set the value of the optimal_force property.

◆ set_torque_is_global()

void OpenSim::TorqueActuator::set_torque_is_global ( const bool & value )

inline

Set the value of the torque_is_global property.

◆ setAxis()

void OpenSim::TorqueActuator::setAxis ( const SimTK::Vec3 & axis )

inline

Set the 'axis' property to the supplied value; frame is interpreted according to the 'torque_is_global' property.

◆ setBodyA()

void OpenSim::TorqueActuator::setBodyA ( const PhysicalFrame & body )

Set the first body (bodyA) to which this actuator applies torque.

◆ setBodyB()

void OpenSim::TorqueActuator::setBodyB ( const PhysicalFrame & body )

Set the second body (bodyB) to which this actuator applies torque.

◆ setOptimalForce()

void OpenSim::TorqueActuator::setOptimalForce ( double optimalForce )

inline

Set the 'optimal_force' property.

◆ setTorqueIsGlobal()

void OpenSim::TorqueActuator::setTorqueIsGlobal ( bool isGlobal )

inline

Set the 'torque_is_global' property that determines how to interpret the 'axis' vector; if not global (Ground frame) it is in body A's frame.

◆ upd_axis()

SimTK::Vec3& OpenSim::TorqueActuator::upd_axis ( )

inline

Get a writable reference to the axis property.

◆ upd_bodyA()

std::string& OpenSim::TorqueActuator::upd_bodyA ( )

inline

Get a writable reference to the bodyA property.

◆ upd_bodyB()

std::string& OpenSim::TorqueActuator::upd_bodyB ( )

inline

Get a writable reference to the bodyB property.

◆ upd_optimal_force()

double& OpenSim::TorqueActuator::upd_optimal_force ( )

inline

Get a writable reference to the optimal_force property.

◆ upd_torque_is_global()

bool& OpenSim::TorqueActuator::upd_torque_is_global ( )

inline

Get a writable reference to the torque_is_global property.

OpenSim Property, Socket, Output, Input Documentation

◆ axis

SimTK::Vec3 OpenSim::TorqueActuator::axis

"Fixed direction about which torque is applied, in Ground or body A " "frame depending on 'torque_is_global' property."

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

See also: get_axis(), upd_axis(), set_axis()

◆ bodyA

std::string OpenSim::TorqueActuator::bodyA

"Name of Body to which the torque actuator is applied."

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

See also: get_bodyA(), upd_bodyA(), set_bodyA()

◆ bodyB

std::string OpenSim::TorqueActuator::bodyB

"Name of Body to which the equal and opposite torque is applied."

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

See also: get_bodyB(), upd_bodyB(), set_bodyB()

◆ optimal_force

double OpenSim::TorqueActuator::optimal_force

"The maximum torque produced by this actuator when fully activated."

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

See also: get_optimal_force(), upd_optimal_force(), set_optimal_force()

◆ torque_is_global

bool OpenSim::TorqueActuator::torque_is_global

"Interpret axis in Ground frame if true; otherwise, body A's frame."

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

See also: get_torque_is_global(), upd_torque_is_global(), set_torque_is_global()

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

OpenSim/Actuators/TorqueActuator.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ TorqueActuator() [1/2]

◆ TorqueActuator() [2/2]

Member Function Documentation

◆ assign()

◆ clone()

◆ extendAddToSystem()

◆ get_axis()

◆ get_bodyA()

◆ get_bodyB()

◆ get_optimal_force()

◆ get_torque_is_global()

◆ getAxis()

◆ getBodyA()

◆ getBodyB()

◆ getClassName()

◆ getConcreteClassName()

◆ getOptimalForce()

◆ getTorqueIsGlobal()

◆ safeDownCast()

◆ set_axis()

◆ set_bodyA()

◆ set_bodyB()

◆ set_optimal_force()

◆ set_torque_is_global()

◆ setAxis()

◆ setBodyA()

◆ setBodyB()

◆ setOptimalForce()

◆ setTorqueIsGlobal()

◆ upd_axis()

◆ upd_bodyA()

◆ upd_bodyB()

◆ upd_optimal_force()

◆ upd_torque_is_global()

OpenSim Property, Socket, Output, Input Documentation

◆ axis

◆ bodyA

◆ bodyB

◆ optimal_force

◆ torque_is_global