Generate a force that acts to limit the range of motion of a coordinate. More...

Inheritance diagram for OpenSim::CoordinateLimitForce:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	coordinate
	"Coordinate (name) to be limited." More...

double	upper_stiffness
	"Stiffness of the passive limit force when coordinate exceeds upper " "limit. Note, rotational stiffness expected in N*m/degree." More...

double	upper_limit
	"The upper limit of the coordinate range of motion (rotations in " "degrees)." More...

double	lower_stiffness
	"Stiffness of the passive limit force when coordinate exceeds lower " "limit. Note, rotational stiffness expected in N*m/degree." More...

double	lower_limit
	"The lower limit of the coordinate range of motion (rotations in " "degrees)." More...

double	damping
	"Damping factor on the coordinate's speed applied only when limit " "is exceeded. For translational has units N/(m/s) and rotational has " "Nm/(degree/s)" More...

double	transition
	"Transition region width in the units of the coordinate (rotations " "in degrees). Dictates the transition from zero to constant stiffness " "as coordinate exceeds its limit." More...

bool	compute_dissipation_energy
	"Option to compute the dissipation energy due to damping in the " "CoordinateLimitForce. If true the dissipation power is automatically " "integrated to provide energy. Default is false." 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
	CoordinateLimitForce ()
	Default constructor. More...

	CoordinateLimitForce (const std::string &coordName, double q_upper, double K_upper, double q_lower, double K_lower, double damping, double dq, bool computeDissipationEnergy=false)
	Convenience constructor. More...

	~CoordinateLimitForce () override=default
	Destructor. More...

void	setUpperStiffness (double aUpperStiffness)
	Stiffness of the passive limit force when coordinate exceeds upper limit. More...

double	getUpperStiffness () const

void	setUpperLimit (double aUpperLimit)
	Upper limit of the coordinate range of motion (rotations in degrees). More...

double	getUpperLimit () const

void	setLowerStiffness (double aLowerStiffness)
	Stiffness of the passive limit force when coordinate exceeds lower limit. More...

double	getLowerStiffness () const

void	setLowerLimit (double aLowerLimit)
	Lower limit of the coordinate range of motion (rotations in degrees). More...

double	getLowerLimit () const

void	setDamping (double aDamping)
	Damping factor on the coordinate's speed applied only when limit is exceeded. More...

double	getDamping () const

void	setTransition (double aTransition)
	Transition region width with lengths is m and angles in degrees). More...

double	getTransition () const

void	setComputeDissipationEnergy (bool flag)
	Option to compute the dissipation energy due to damping in the CoordinateLimitForce. More...

bool	isComputingDissipationEnergy () const

double	getPowerDissipation (const SimTK::State &s) const
	Obtain the rate at which energy is being dissipated by this CoordinateLimit, that is, the power being lost. More...

double	getDissipatedEnergy (const SimTK::State &s) const
	Obtain energy dissipated by this CoordinateLimitForce over time in units of energy in J. More...

double	calcLimitForce (const SimTK::State &s) const
	Force calculation operator. More...

double	computePotentialEnergy (const SimTK::State &s) const override
	Contribute this Force component's potential energy to the accounting of the total system energy. More...

Array< std::string >	getRecordLabels () const override
	Methods to query a Force for the value actually applied during simulation The names of quantities (column labels) are returned by getRecordLabels() More...

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

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

std::string &	upd_coordinate ()
	Get a writable reference to the coordinate property. More...

void	set_coordinate (const std::string &value)
	Set the value of the coordinate property. More...

const double &	get_upper_stiffness () const
	Get the value of the upper_stiffness property. More...

double &	upd_upper_stiffness ()
	Get a writable reference to the upper_stiffness property. More...

void	set_upper_stiffness (const double &value)
	Set the value of the upper_stiffness property. More...

const double &	get_upper_limit () const
	Get the value of the upper_limit property. More...

double &	upd_upper_limit ()
	Get a writable reference to the upper_limit property. More...

void	set_upper_limit (const double &value)
	Set the value of the upper_limit property. More...

const double &	get_lower_stiffness () const
	Get the value of the lower_stiffness property. More...

double &	upd_lower_stiffness ()
	Get a writable reference to the lower_stiffness property. More...

void	set_lower_stiffness (const double &value)
	Set the value of the lower_stiffness property. More...

const double &	get_lower_limit () const
	Get the value of the lower_limit property. More...

double &	upd_lower_limit ()
	Get a writable reference to the lower_limit property. More...

void	set_lower_limit (const double &value)
	Set the value of the lower_limit property. More...

const double &	get_damping () const
	Get the value of the damping property. More...

double &	upd_damping ()
	Get a writable reference to the damping property. More...

void	set_damping (const double &value)
	Set the value of the damping property. More...

const double &	get_transition () const
	Get the value of the transition property. More...

double &	upd_transition ()
	Get a writable reference to the transition property. More...

void	set_transition (const double &value)
	Set the value of the transition property. More...

const bool &	get_compute_dissipation_energy () const
	Get the value of the compute_dissipation_energy property. More...

bool &	upd_compute_dissipation_energy ()
	Get a writable reference to the compute_dissipation_energy property. More...

void	set_compute_dissipation_energy (const bool &value)
	Set the value of the compute_dissipation_energy property. 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	hasGeometryPath () const
	Return a flag indicating whether the Force is applied along a Path. 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...

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...

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...

template<class C = Component>
const C *	findComponent (const ComponentPath &pathToFind) const
	Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More...

template<class C = Component>
const C *	findComponent (const std::string &pathToFind) const
	Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More...

const StateVariable *	traverseToStateVariable (const std::string &pathName) const
	Get a StateVariable anywhere in the Component tree, given a StateVariable path. 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 ()
	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...

const Object &	getConnectee (const std::string &name) const
	Get the connectee as an Object. More...

const AbstractSocket &	getSocket (const std::string &name) const
	Get an AbstractSocket for the given socket name. 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...

void	printSubcomponentInfo () const
	List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More...

void	printSocketInfo () const
	List all the Sockets of this component and whether or not they are connected. More...

void	printInputInfo () const
	List all the inputs of this component and whether or not they are connected. More...

template<typename C >
void	printSubcomponentInfo () const

void	printOutputInfo (const bool includeDescendants=true) const
	Print outputs of this component and optionally, those of all subcomponents. 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 &	getOutput (const std::string &name) const
	Get the Output provided by this Component by name. 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...

int	getModelingOption (const SimTK::State &state, const std::string &name) const
	Get a ModelingOption flag for this Component by name. More...

void	setModelingOption (SimTK::State &state, const std::string &name, int flag) const
	Set the value of a ModelingOption flag for this Component. More...

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...

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	getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a discrete variable allocated by this Component by name. More...

void	setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const
	Set the value of a discrete variable allocated by this Component by name. More...

template<class T >
SimTK::CacheEntryIndex	getCacheVariableIndex (const CacheVariable< T > &cv) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...

SimTK::CacheEntryIndex	getCacheVariableIndex (const std::string &name) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...

template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a cache variable allocated by this Component by name. More...

template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Get the value of a cache variable allocated by this Component. More...

template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const
	Set the value of a cache variable, identified by `name`, to a new value and mark the cache variable as valid. More...

template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const
	Set the value of a cache variable to a new value and mark the cache variable as valid. More...

template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Returns a mutable reference to the value of a cache variable identified by `name`. More...

template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns a mutable reference to the value of a cache variable. More...

bool	isCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Returns true if the cache variable, identified by `name`, is valid. More...

template<class T >
bool	isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns true if the cache variable is valid. More...

void	markCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by `name`, as valid. More...

template<typename T >
void	markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as valid. More...

void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by `name`, as invalid. More...

template<class T >
void	markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as invalid. More...

const Component &	getOwner () const
	Access the owner of this Component. More...

bool	hasOwner () const
	(For advanced users) Check if this Component has an owner. More...

const Component &	getRoot () const
	Obtain the root Component, which is this component if it is orphaned. 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 >
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...

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

Auto-generated functions
static CoordinateLimitForce *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

CoordinateLimitForce *	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::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...

Detailed Description

Generate a force that acts to limit the range of motion of a coordinate.

Force is experienced at upper and lower limits of the coordinate value according to a constant stiffnesses K_upper and K_lower, with a C2 continuous transition from 0 to K. The transition parameter defines how far beyond the limit the stiffness becomes constant. The integrator will like smoother (i.e. larger transition regions).

Damping factor is also phased in through the transition region from 0 to the value provided.

Limiting force is guaranteed to be zero within the upper and lower limits.

The potential energy stored in the spring component of the force is accessible as well as the power (nd optionally energy) dissipated.

Author: Ajay Seth

Constructor & Destructor Documentation

◆ CoordinateLimitForce() [1/2]

OpenSim::CoordinateLimitForce::CoordinateLimitForce ( )

Default constructor.

◆ CoordinateLimitForce() [2/2]

OpenSim::CoordinateLimitForce::CoordinateLimitForce	(	const std::string &	coordName,
		double	q_upper,
		double	K_upper,
		double	q_lower,
		double	K_lower,
		double	damping,
		double	dq,
		bool	computeDissipationEnergy = `false`
	)

Convenience constructor.

Generate a force that acts to limit the range of motion of a coordinate Force experienced at upper and lower limits of the coordinate (q) value is according to a linear stiffnesses K_upper and K_lower, with a C2 continuous transition from 0 to K. The transition parameter (dq) defines how far beyond the limit the stiffness becomes purely linear. The integrator will like smoother (i.e. larger transition regions).

Parameters

[in]	coordName	Coordinate whose range is to be limited.
[in]	q_upper	Coordinate's upper limit value.
[in]	K_upper	Upper limit stiffness when coordinate > q_upper
[in]	q_lower	Coordinate's lower limit value.
[in]	K_lower	Lower limit stiffness when coordinate < q_lower
[in]	damping	Damping factor when coordinate is beyond the limits
[in]	dq	Transition region (displacement) for force to be engaged.
[in]	computeDissipationEnergy	Whether to compute dissipated energy (false).

◆ ~CoordinateLimitForce()

OpenSim::CoordinateLimitForce::~CoordinateLimitForce ( )

overridedefault

Destructor.

Member Function Documentation

◆ calcLimitForce()

double OpenSim::CoordinateLimitForce::calcLimitForce ( const SimTK::State & s ) const

Force calculation operator.

◆ clone()

CoordinateLimitForce* OpenSim::CoordinateLimitForce::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::Force.

◆ computeForce()

void OpenSim::CoordinateLimitForce::computeForce	(	const SimTK::State &	state,
		SimTK::Vector_< SimTK::SpatialVec > &	bodyForces,
		SimTK::Vector &	generalizedForces
	)		const

overrideprotectedvirtual

Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds.

This is invoked by ForceAdapter to perform the force computation.

Reimplemented from OpenSim::Force.

◆ computePotentialEnergy()

double OpenSim::CoordinateLimitForce::computePotentialEnergy ( const SimTK::State & s ) const

overridevirtual

Contribute this Force component's potential energy to the accounting of the total system energy.

Reimplemented from OpenSim::Force.

◆ extendAddToSystem()

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

overrideprotectedvirtual

Create the underlying Force that is part of the multibody system.

Reimplemented from OpenSim::Component.

◆ extendConnectToModel()

void OpenSim::CoordinateLimitForce::extendConnectToModel ( Model & aModel )

overrideprotectedvirtual

Setup this CoordinateLimitForce as part of the model.

This were the existence of the coordinate to limit is checked.

Reimplemented from OpenSim::ModelComponent.

◆ get_compute_dissipation_energy()

const bool& OpenSim::CoordinateLimitForce::get_compute_dissipation_energy ( ) const

inline

Get the value of the compute_dissipation_energy property.

◆ get_coordinate()

const std::string& OpenSim::CoordinateLimitForce::get_coordinate ( ) const

inline

Get the value of the coordinate property.

◆ get_damping()

const double& OpenSim::CoordinateLimitForce::get_damping ( ) const

inline

Get the value of the damping property.

◆ get_lower_limit()

const double& OpenSim::CoordinateLimitForce::get_lower_limit ( ) const

inline

Get the value of the lower_limit property.

◆ get_lower_stiffness()

const double& OpenSim::CoordinateLimitForce::get_lower_stiffness ( ) const

inline

Get the value of the lower_stiffness property.

◆ get_transition()

const double& OpenSim::CoordinateLimitForce::get_transition ( ) const

inline

Get the value of the transition property.

◆ get_upper_limit()

const double& OpenSim::CoordinateLimitForce::get_upper_limit ( ) const

inline

Get the value of the upper_limit property.

◆ get_upper_stiffness()

const double& OpenSim::CoordinateLimitForce::get_upper_stiffness ( ) const

inline

Get the value of the upper_stiffness property.

◆ getClassName()

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

inlinestatic

This returns "CoordinateLimitForce".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

◆ getConcreteClassName()

const std::string& OpenSim::CoordinateLimitForce::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::Force.

◆ getDamping()

double OpenSim::CoordinateLimitForce::getDamping ( ) const

◆ getDissipatedEnergy()

double OpenSim::CoordinateLimitForce::getDissipatedEnergy ( const SimTK::State & s ) const

Obtain energy dissipated by this CoordinateLimitForce over time in units of energy in J.

Parameters

[in] s The State from which to obtain the current value of dissipated energy

Returns: The dissipated energy (a nonnegative scalar).

◆ getLowerLimit()

double OpenSim::CoordinateLimitForce::getLowerLimit ( ) const

◆ getLowerStiffness()

double OpenSim::CoordinateLimitForce::getLowerStiffness ( ) const

◆ getPowerDissipation()

double OpenSim::CoordinateLimitForce::getPowerDissipation ( const SimTK::State & s ) const

Obtain the rate at which energy is being dissipated by this CoordinateLimit, that is, the power being lost.

This is in units of energy/time which is watts in J/s.

Parameters

[in] s The State from which to obtain the current value of the power dissipation.

Returns: The dissipated power (a nonnegative scalar).

See also: getDissipatedEnergy() for the time-integrated power loss

◆ getRecordLabels()

Array<std::string> OpenSim::CoordinateLimitForce::getRecordLabels ( ) const

overridevirtual

Methods to query a Force for the value actually applied during simulation The names of quantities (column labels) are returned by getRecordLabels()

Reimplemented from OpenSim::Force.

◆ getRecordValues()

Array<double> OpenSim::CoordinateLimitForce::getRecordValues ( const SimTK::State & state ) const

overridevirtual

Given SimTK::State object extract all the values necessary to report forces, application location frame, etc.

used in conjunction with getRecordLabels and should return same size Array

Reimplemented from OpenSim::Force.

◆ getTransition()

double OpenSim::CoordinateLimitForce::getTransition ( ) const

◆ getUpperLimit()

double OpenSim::CoordinateLimitForce::getUpperLimit ( ) const

◆ getUpperStiffness()

double OpenSim::CoordinateLimitForce::getUpperStiffness ( ) const

◆ isComputingDissipationEnergy()

bool OpenSim::CoordinateLimitForce::isComputingDissipationEnergy ( ) const

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_compute_dissipation_energy()

void OpenSim::CoordinateLimitForce::set_compute_dissipation_energy ( const bool & value )

inline

Set the value of the compute_dissipation_energy property.

◆ set_coordinate()

void OpenSim::CoordinateLimitForce::set_coordinate ( const std::string & value )

inline

Set the value of the coordinate property.

◆ set_damping()

void OpenSim::CoordinateLimitForce::set_damping ( const double & value )

inline

Set the value of the damping property.

◆ set_lower_limit()

void OpenSim::CoordinateLimitForce::set_lower_limit ( const double & value )

inline

Set the value of the lower_limit property.

◆ set_lower_stiffness()

void OpenSim::CoordinateLimitForce::set_lower_stiffness ( const double & value )

inline

Set the value of the lower_stiffness property.

◆ set_transition()

void OpenSim::CoordinateLimitForce::set_transition ( const double & value )

inline

Set the value of the transition property.

◆ set_upper_limit()

void OpenSim::CoordinateLimitForce::set_upper_limit ( const double & value )

inline

Set the value of the upper_limit property.

◆ set_upper_stiffness()

void OpenSim::CoordinateLimitForce::set_upper_stiffness ( const double & value )

inline

Set the value of the upper_stiffness property.

◆ setComputeDissipationEnergy()

void OpenSim::CoordinateLimitForce::setComputeDissipationEnergy ( bool flag )

Option to compute the dissipation energy due to damping in the CoordinateLimitForce.

If true the dissipation power is automatically integrated to provide energy. Default is false.

◆ setDamping()

void OpenSim::CoordinateLimitForce::setDamping ( double aDamping )

Damping factor on the coordinate's speed applied only when limit is exceeded.

For translational has units N/(m/s) and rotational has Nm/(degree/s).

◆ setLowerLimit()

void OpenSim::CoordinateLimitForce::setLowerLimit ( double aLowerLimit )

Lower limit of the coordinate range of motion (rotations in degrees).

◆ setLowerStiffness()

void OpenSim::CoordinateLimitForce::setLowerStiffness ( double aLowerStiffness )

Stiffness of the passive limit force when coordinate exceeds lower limit.

Note, rotational stiffness expected in N*m/degree.

◆ setTransition()

void OpenSim::CoordinateLimitForce::setTransition ( double aTransition )

Transition region width with lengths is m and angles in degrees).

Specifies the transition from zero to a constant stiffness as coordinate exceeds its limit.

◆ setUpperLimit()

void OpenSim::CoordinateLimitForce::setUpperLimit ( double aUpperLimit )

Upper limit of the coordinate range of motion (rotations in degrees).

◆ setUpperStiffness()

void OpenSim::CoordinateLimitForce::setUpperStiffness ( double aUpperStiffness )

Stiffness of the passive limit force when coordinate exceeds upper limit.

Note, rotational stiffness expected in N*m/degree.

◆ upd_compute_dissipation_energy()

bool& OpenSim::CoordinateLimitForce::upd_compute_dissipation_energy ( )

inline

Get a writable reference to the compute_dissipation_energy property.

◆ upd_coordinate()

std::string& OpenSim::CoordinateLimitForce::upd_coordinate ( )

inline

Get a writable reference to the coordinate property.

◆ upd_damping()

double& OpenSim::CoordinateLimitForce::upd_damping ( )

inline

Get a writable reference to the damping property.

◆ upd_lower_limit()

double& OpenSim::CoordinateLimitForce::upd_lower_limit ( )

inline

Get a writable reference to the lower_limit property.

◆ upd_lower_stiffness()

double& OpenSim::CoordinateLimitForce::upd_lower_stiffness ( )

inline

Get a writable reference to the lower_stiffness property.

◆ upd_transition()

double& OpenSim::CoordinateLimitForce::upd_transition ( )

inline

Get a writable reference to the transition property.

◆ upd_upper_limit()

double& OpenSim::CoordinateLimitForce::upd_upper_limit ( )

inline

Get a writable reference to the upper_limit property.

◆ upd_upper_stiffness()

double& OpenSim::CoordinateLimitForce::upd_upper_stiffness ( )

inline

Get a writable reference to the upper_stiffness property.

OpenSim Property, Socket, Output, Input Documentation

◆ compute_dissipation_energy

bool OpenSim::CoordinateLimitForce::compute_dissipation_energy

"Option to compute the dissipation energy due to damping in the " "CoordinateLimitForce. If true the dissipation power is automatically " "integrated to provide energy. Default is false."

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

See also: get_compute_dissipation_energy(), upd_compute_dissipation_energy(), set_compute_dissipation_energy()

◆ coordinate

std::string OpenSim::CoordinateLimitForce::coordinate

"Coordinate (name) to be limited."

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

See also: get_coordinate(), upd_coordinate(), set_coordinate()

◆ damping

double OpenSim::CoordinateLimitForce::damping

"Damping factor on the coordinate's speed applied only when limit " "is exceeded. For translational has units N/(m/s) and rotational has " "Nm/(degree/s)"

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

See also: get_damping(), upd_damping(), set_damping()

◆ lower_limit

double OpenSim::CoordinateLimitForce::lower_limit

"The lower limit of the coordinate range of motion (rotations in " "degrees)."

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

See also: get_lower_limit(), upd_lower_limit(), set_lower_limit()

◆ lower_stiffness

double OpenSim::CoordinateLimitForce::lower_stiffness

"Stiffness of the passive limit force when coordinate exceeds lower " "limit. Note, rotational stiffness expected in N*m/degree."

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

See also: get_lower_stiffness(), upd_lower_stiffness(), set_lower_stiffness()

◆ transition

double OpenSim::CoordinateLimitForce::transition

"Transition region width in the units of the coordinate (rotations " "in degrees). Dictates the transition from zero to constant stiffness " "as coordinate exceeds its limit."

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

See also: get_transition(), upd_transition(), set_transition()

◆ upper_limit

double OpenSim::CoordinateLimitForce::upper_limit

"The upper limit of the coordinate range of motion (rotations in " "degrees)."

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

See also: get_upper_limit(), upd_upper_limit(), set_upper_limit()

◆ upper_stiffness

double OpenSim::CoordinateLimitForce::upper_stiffness

"Stiffness of the passive limit force when coordinate exceeds upper " "limit. Note, rotational stiffness expected in N*m/degree."

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

See also: get_upper_stiffness(), upd_upper_stiffness(), set_upper_stiffness()

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

OpenSim/Simulation/Model/CoordinateLimitForce.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoordinateLimitForce() [1/2]

◆ CoordinateLimitForce() [2/2]

◆ ~CoordinateLimitForce()

Member Function Documentation

◆ calcLimitForce()

◆ clone()

◆ computeForce()

◆ computePotentialEnergy()

◆ extendAddToSystem()

◆ extendConnectToModel()

◆ get_compute_dissipation_energy()

◆ get_coordinate()

◆ get_damping()

◆ get_lower_limit()

◆ get_lower_stiffness()

◆ get_transition()

◆ get_upper_limit()

◆ get_upper_stiffness()

◆ getClassName()

◆ getConcreteClassName()

◆ getDamping()

◆ getDissipatedEnergy()

◆ getLowerLimit()

◆ getLowerStiffness()

◆ getPowerDissipation()

◆ getRecordLabels()

◆ getRecordValues()

◆ getTransition()

◆ getUpperLimit()

◆ getUpperStiffness()

◆ isComputingDissipationEnergy()

◆ safeDownCast()

◆ set_compute_dissipation_energy()

◆ set_coordinate()

◆ set_damping()

◆ set_lower_limit()

◆ set_lower_stiffness()

◆ set_transition()

◆ set_upper_limit()

◆ set_upper_stiffness()

◆ setComputeDissipationEnergy()

◆ setDamping()

◆ setLowerLimit()

◆ setLowerStiffness()

◆ setTransition()

◆ setUpperLimit()

◆ setUpperStiffness()

◆ upd_compute_dissipation_energy()

◆ upd_coordinate()

◆ upd_damping()

◆ upd_lower_limit()

◆ upd_lower_stiffness()

◆ upd_transition()

◆ upd_upper_limit()

◆ upd_upper_stiffness()

OpenSim Property, Socket, Output, Input Documentation

◆ compute_dissipation_energy

◆ coordinate

◆ damping

◆ lower_limit

◆ lower_stiffness

◆ transition

◆ upper_limit

◆ upper_stiffness