OpenSim::ModelFactory Class Reference

Description

This class provides utilities for creating OpenSim models.

#include <Moco/Moco/Components/ModelFactory.h>

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).
static Model	createDoublePendulum ()
	This is a convenience for createNLinkPendulum(2).
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 GeometryPath, 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...

Member Function Documentation

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.

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, /bodyset/body.
• 1 joint: SliderJoint along x axis, /jointset/slider, with coordinate /jointset/slider/position.
• 1 actuator: CoordinateActuator, controls [-10, 10], /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 GeometryPath, optimal force, and min/max control defaults.

Note

This only replaces muscles within the model's ForceSet.

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

• ModelFactory.h