#include <rdCMC_Joint.h>
Inheritance diagram for rdCMC_Joint:
Public Member Functions | |
rdCMC_Joint (int aQID=-1) | |
Construct a task for a specified generalized coordinate. | |
rdCMC_Joint (DOMElement *aElement) | |
Construct a track joint object for a specified model from an XML element. | |
rdCMC_Joint (const rdCMC_Joint &aTask) | |
Copy constructor. | |
virtual | ~rdCMC_Joint () |
Destructor. | |
virtual OpenSim::Object * | copy () const |
Copy this track object and return a pointer to the copy. | |
virtual OpenSim::Object * | copy (DOMElement *aElement) const |
Copy this track object and modify the copy so that it is consistent with a specified XML element node. | |
rdCMC_Joint & | operator= (const rdCMC_Joint &aTask) |
Assignment operator. | |
virtual void | setParametersBasedOnName () |
Set the id of the generalized coordinate based on the name of this object. | |
void | setQID (int aQID) |
Set the generalized coordinate that is to be tracked. | |
int | getQID () const |
Get the generalized coordinate that is to be tracked. | |
double | getLimit () const |
Get the limit. | |
virtual void | computeErrors (double aT) |
Compute the position and velocity errors. | |
virtual void | computeDesiredAccelerations (double aT) |
Compute the desired accelerations. | |
virtual void | computeDesiredAccelerations (double aTI, double aTF) |
Compute the desired accelerations. | |
virtual void | computeAccelerations () |
Compute the acceleration of the appropriate generalized coordinate. | |
virtual void | updateFromXMLNode () |
Update this object based on its XML node. | |
Protected Attributes | |
OpenSim::PropertyInt | _propQID |
Generalized coordinate to be tracked. | |
OpenSim::PropertyDbl | _propLimit |
Error limit on the coordinate. | |
int & | _qid |
double & | _limit |
Private Member Functions | |
void | setNull () |
Set NULL values for all member variables. | |
void | setupProperties () |
Set up serialized member variables. | |
void | copyData (const rdCMC_Joint &aTask) |
Copy only the member data of specified object. |
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Construct a task for a specified generalized coordinate.
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Construct a track joint object for a specified model from an XML element.
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Copy constructor.
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Compute the acceleration of the appropriate generalized coordinate. For the computed accelerations to be correct, Model::computeAccelerations() must have already been called. For joints (i.e., generalized coordinates), the acceleration is not computed. It has already been computed and is simply retrieved from the model.
Implements rdCMC_Task.
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Compute the desired accelerations. This method assumes that the states have been set for the model.
Implements rdCMC_Task.
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Compute the desired accelerations. This method assumes that the states have been set for the model.
Implements rdCMC_Task.
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Compute the position and velocity errors. This method assumes the states have been set for the model.
Implements rdCMC_Task.
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Copy this track object and modify the copy so that it is consistent with a specified XML element node. The copy is constructed by first using the contructor for the DOMElement in order to establish the relationship of the Force object with the XML node. Then, the assignment operator is used to set all data members of the copy to the values of this object. Finally, the data members of the copy are updated from the DOMElment using updateObject().
Implements rdCMC_Task.
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Copy this track object and return a pointer to the copy. The copy constructor for this class is used.
Implements rdCMC_Task.
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Get the limit.
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Get the generalized coordinate that is to be tracked.
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Assignment operator.
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Set the id of the generalized coordinate based on the name of this object. The qid is set by calling Model::getCoordinateIndex(string aName) with the name of this object.
Implements rdCMC_Task.
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Set the generalized coordinate that is to be tracked.
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Update this object based on its XML node.
Reimplemented from rdCMC_Task.
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