API
4.3
For MATLAB, Python, Java, and C++ users
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An OpenSim Joint is an OpenSim::ModelComponent which connects two PhysicalFrames together and specifies their relative permissible motion as described in internal coordinates.
More...
OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (list) | |
Coordinate | coordinates |
"List containing the generalized coordinates (q's) that parameterize " "this joint." More... | |
PhysicalOffsetFrame | frames |
"Physical offset frames owned by the Joint that are typically used to " "satisfy the owning Joint's parent and child frame connections " "(sockets). PhysicalOffsetFrames are often used to describe the fixed " "transformation from a Body's origin to another location of interest " "on the Body (e.g., the joint center). When the joint is deleted, so " "are the PhysicalOffsetFrame components in this list." More... | |
Sockets | |
PhysicalFrame | parent_frame |
"The parent frame for the joint." More... | |
PhysicalFrame | child_frame |
"The child frame for the joint." More... | |
Outputs | |
double | power |
Provides the value of calcPower() and is available at stage SimTK::Stage::Acceleration . More... | |
SimTK::SpatialVec | reaction_on_parent |
Provides the value of calcReactionOnParentExpressedInGround() and is available at stage SimTK::Stage::Acceleration . More... | |
SimTK::SpatialVec | reaction_on_child |
Provides the value of calcReactionOnChildExpressedInGround() and is available at stage SimTK::Stage::Acceleration . 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 | |
Joint () | |
Default constructor. More... | |
Joint (const std::string &name, const PhysicalFrame &parent, const PhysicalFrame &child) | |
Convenience constructor. More... | |
Joint (const std::string &name, const PhysicalFrame &parent, const SimTK::Vec3 &locationInParent, const SimTK::Vec3 &orientationInParent, const PhysicalFrame &child, const SimTK::Vec3 &locationInChild, const SimTK::Vec3 &orientationInChild) | |
Backwards-compatible convenience constructor. More... | |
virtual | ~Joint () |
const PhysicalFrame & | getChildFrame () const |
Get the child joint frame. More... | |
const OpenSim::PhysicalFrame & | getParentFrame () const |
Get the parent frame to which this joint attaches. More... | |
const Coordinate & | getCoordinate () const |
Convenience method to get a const reference to the Coordinate associated with a single-degree-of-freedom Joint. More... | |
Coordinate & | updCoordinate () |
Convenience method to get a writable reference to the Coordinate associated with a single-degree-of-freedom Joint. More... | |
int | numCoordinates () const |
bool | isCoordinateUsed (const Coordinate &aCoordinate) const |
void | addFrame (PhysicalOffsetFrame *frame) |
Add a frame to the frames property in this Joint. More... | |
SimTK::SpatialVec | calcEquivalentSpatialForce (const SimTK::State &state, const SimTK::Vector &mobilityForces) const |
Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint. More... | |
SimTK::SpatialVec | calcReactionOnParentExpressedInGround (const SimTK::State &state) const |
Joint Reaction forces. More... | |
SimTK::SpatialVec | calcReactionOnChildExpressedInGround (const SimTK::State &state) const |
Calculate the joint reaction force and moment acting on the child frame and expressed in Ground. More... | |
virtual double | calcPower (const SimTK::State &s) const |
Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space. More... | |
SimTK_DEFINE_UNIQUE_INDEX_TYPE (CoordinateIndex) | |
Coordinate::MotionType | getMotionType (CoordinateIndex cix) const |
Get the MotionType for a Coordinate that this Joint has enabled by its CoordinateIndex (in the Joints list of Coordinates). More... | |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Pin &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Slider &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Weld &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Universal &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Ball &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Ellipsoid &mobod) const |
template<> | |
int | getNumMobilities (const SimTK::MobilizedBody::Free &mobod) const |
Property-related functions | |
const Coordinate & | get_coordinates (int i) const |
Get the value of the i-th element of the coordinates property. More... | |
Coordinate & | upd_coordinates (int i) |
Get a writable reference to the i-th element of the coordinates property. More... | |
void | set_coordinates (int i, const Coordinate &value) |
Set the value of the i-th element of coordinates property. More... | |
int | append_coordinates (const Coordinate &value) |
Append an element to the coordinates property. More... | |
const PhysicalOffsetFrame & | get_frames (int i) const |
Get the value of the i-th element of the frames property. More... | |
PhysicalOffsetFrame & | upd_frames (int i) |
Get a writable reference to the i-th element of the frames property. More... | |
void | set_frames (int i, const PhysicalOffsetFrame &value) |
Set the value of the i-th element of frames property. More... | |
int | append_frames (const PhysicalOffsetFrame &value) |
Append an element to the frames property. More... | |
Socket-related functions | |
void | connectSocket_parent_frame (const Object &object) |
Connect the 'parent_frame' Socket to an object of type PhysicalFrame. More... | |
void | connectSocket_child_frame (const Object &object) |
Connect the 'child_frame' Socket to an object of type PhysicalFrame. 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 Joint * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Joint". More... | |
Joint * | clone () const override=0 |
Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
const std::string & | getConcreteClassName () const override=0 |
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::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... | |
An OpenSim Joint is an OpenSim::ModelComponent which connects two PhysicalFrames together and specifies their relative permissible motion as described in internal coordinates.
The base Joint specifies two frames (e.g. one per body), which the joint spans. The relative motion (including the # of coordinates) are defined by concrete Joints, which specify the permissible kinematics of a child joint frame (on a child body) with respect to a parent joint frame (on a parent body). The designation of parent and child are used only to identify the directionality of the joint and in which frame the joint coordinates are expressed.
For example, A PinJoint between a parent frame, P, and a child frame, B, has a coordinate value of zero when the two frames are aligned and positive coordinate values are the angle between the frames' X-axes given a positive Z-rotation of the child frame about the coincident Z-axis in the parent frame.
Note: the parent and child frames must be added to the model by the time you call initSystem() on the model.
Concrete Joints can specify relative translations and even coupled rotations and translations (see EllipsoidJoint and CustomJoint). For more details on how the underlying formulation supports coupled curvilinear joints, see "Minimal formulation of joint motion for biomechanisms", 2010 A Seth, M Sherman, P Eastman, S Delp; Nonlinear dynamics 62 (1), 291-303
C++ example
Python example
If you want to connect to an existing PhysicalFrame (e.g., a Body or Ground) but not to its origin, you can create and connect to a PhysicalOffsetFrame; the following convenience constructor does this for you:
C++ example
OpenSim::Joint::Joint | ( | ) |
Default constructor.
Create an unnamed Joint with parent and child frame sockets that are unsatisfied.
OpenSim::Joint::Joint | ( | const std::string & | name, |
const PhysicalFrame & | parent, | ||
const PhysicalFrame & | child | ||
) |
Convenience constructor.
Create a Joint by specifying the parent and child frames.
[in] | name | the name associated with this joint (should be unique from other joints in the same model) |
[in] | parent | the parent PhysicalFrame to which this joint connects |
[in] | child | the child PhysicalFrame to which this joint connects |
OpenSim::Joint::Joint | ( | const std::string & | name, |
const PhysicalFrame & | parent, | ||
const SimTK::Vec3 & | locationInParent, | ||
const SimTK::Vec3 & | orientationInParent, | ||
const PhysicalFrame & | child, | ||
const SimTK::Vec3 & | locationInChild, | ||
const SimTK::Vec3 & | orientationInChild | ||
) |
Backwards-compatible convenience constructor.
Construct a Joint where the parent and child frames are specified as well as the location and orientation of the parent and child frames in their respective physical frames.
[in] | name | the name associated with this joint (should be unique from other joints in the same model) |
[in] | parent | the parent PhysicalFrame to which this joint connects |
[in] | locationInParent | Vec3 of the location of the joint in the parent frame. |
[in] | orientationInParent | Vec3 of the XYZ body-fixed Euler angles of the joint frame orientation in the parent frame. |
[in] | child | the child PhysicalFrame to which this joint connects |
[in] | locationInChild | Vec3 of the location of the joint in the child frame. |
[in] | orientationInChild | Vec3 of the XYZ body-fixed Euler angles of the joint frame orientation in the child frame. |
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void OpenSim::Joint::addFrame | ( | PhysicalOffsetFrame * | frame | ) |
Add a frame to the frames property in this Joint.
The frame is adopted, and should have been dynamically allocated. Use this function instead of append_frames().
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Append an element to the coordinates property.
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Append an element to the frames property.
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Utility method to assign body and coordinate indices from the underlying MultibodySystem from a newly created MobilizedBody.
Assign its mobilities to OpenSim::Coordinates that belong to this Joint and the body index to the Body being mobilized by this Joint. If the Body is NULL then we assume that we are constructing intermediate MobilizedBodies and indices are assigned to corresponding coordinates, but not to a Body. If a Body is provided we assume that Joint creator has provided the correct child (or parent, if reversed) body that has been mobilized. This method throws an exception if the mobilized Body is neither the Joint's parent or child.
SimTK::SpatialVec OpenSim::Joint::calcEquivalentSpatialForce | ( | const SimTK::State & | state, |
const SimTK::Vector & | mobilityForces | ||
) | const |
Given some system mobility (generalized) forces, calculate the equivalent spatial body force for this Joint.
Keep in mind that there are typically nm < 6 mobilities per joint with an infinite set of solutions that can map nm gen forces to 6 spatial force components (3 for torque + 3 for force). The solution returned provides the "most" effective force and torque in the joint frame. This means the smallest magnitude force and/or torque that will result in the same generalized force. If a generalized force is defined along/about a joint axis, then this should be evident in the reported results as a force or torque on the same axis. NOTE: Joints comprised of multiple mobilizers and/or constraints, should override this method and account for multiple internal components.
state | containing the generalized coordinate and speed values |
mobilityForces | for the system as computed by inverse dynamics, for example |
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Calculate the equivalent spatial force, FB_G, acting on a mobilized body specified by index acting at its mobilizer frame B, expressed in ground.
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Joints in general do not contribute power since the reaction space forces are orthogonal to the mobility space.
However, when joint motion is prescribed, the internal forces that move the joint will do work. In that case, the power is non-zero and the supplied SimTK::State must already have been realized to Acceleration stage so that constraint forces are available.
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Calculate the joint reaction force and moment acting on the child frame and expressed in Ground.
[in] | state | containing the generalized coordinate and speed values |
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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::ModelComponent.
Implemented in OpenSim::ScapulothoracicJoint, OpenSim::CustomJoint, OpenSim::BallJoint, OpenSim::FreeJoint, OpenSim::EllipsoidJoint, OpenSim::PinJoint, OpenSim::UniversalJoint, OpenSim::GimbalJoint, OpenSim::PlanarJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.
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Connect the 'child_frame' Socket to an object of type PhysicalFrame.
Call finalizeConnections() afterwards to update the socket's connectee path property. The reference to the connectee set here takes precedence over the connectee path property.
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Connect the 'parent_frame' Socket to an object of type PhysicalFrame.
Call finalizeConnections() afterwards to update the socket's connectee path property. The reference to the connectee set here takes precedence over the connectee path property.
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A CoordinateIndex member is created by constructCoordinate().
E.g.:
Utility for a derived Joint to add the Coordinates that correspond to the motion it permits. Derived Joints must construct as many Coordinates as are reflected by the underlying Mobilizer Qs. The index of the corresponding enumeration (enum) is required at construction to ensure the Joint's internal list of Coordinates is consistent with its interface; an exception is thrown if the Coordinates are not constructed in the same order as the enums have been defined.
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Utility method for creating the underlying MobilizedBody of the desired type of the concrete Joint.
It is templatized by the MobilizedBody type. Concrete class cannot override this method but can customize extendAddToSystem() instead of using this service. It assumes that the MobilizedBody is associated with the child body, unless the Joint is specified as reversed in which case the parent is the Body that is "mobilized". For more granularity as to which bodies are being interconnected internally, and to specify their joint (mobilizer) transforms use:
References OpenSim::PhysicalFrame::getMobilizedBody().
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Utility method for creating an underlying MobilizedBody of the desired type.
Method is templatized by the MobilizedBody. Unlike the previous method, the inboard and outboard of the mobilized body are not assumed to be parent and child of the joint. This enables Joint component makers to introduce intermediate MobilizedBodies for the purpose of creating more complex Joints. If more than one MobilizedBody is being created, it is up to the caller to supply the corresponding coordinateIndex for the purpose of automatically assigning indices necessary for the Coordinates of this Joint to access the coordinates and speed values from the state of the MultibodySystem. As a convenience the startingCoorinateIndex is updated so that sequential calls will increment correctly based on the number of mobilities the concrete MobilizedBody enables.
[in] | inboard | an existing SimTK::MobilizedBody in the multibody tree |
[in] | inboardTransform | the transform locating the joint (mobilizer) frame on the inboard body |
[in] | outboard | a SimTK::Rigid::Body to be added to the multibody tree |
[in] | outboardTransform | the transform locating the joint (mobilizer) frame on the outboard body |
[in,out] | startingCoordinateIndex | the starting index of mobilities enabled by the created MobilizedBody and used to assign mobility indices to the Joint's coordinates. It is incremented by the number of mobilities of the MobilizedBody created |
[in] | physicalFrame | (optional) the PhysicalFrame associated with the MobilizeBody. The MobilizedBody index is assigned to the associated Body. |
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Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.
extendAddToSystem() is called when the Simbody System is being created to represent a completed system (model) for computation. That is, connect() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within extendAddToSystem() only.
Note that this method is const; you may not modify your model component or the containing model during this call. Any modifications you need should instead be performed in finalizeFromProperties() or at the latest connect(), which are non-const. The only exception is that you may need to record access information for resources you create in the system, such as an index number. For most Components, OpenSim base classes either provide convenience methods or handle indices automatically. Otherwise, you must declare indices as mutable data members so that you can set them here.
If you override this method, be sure to invoke the base class method at the beginning, using code like this:
This method assumes that this Component's addToSystem will be invoked before its subcomponents. If you need your subcomponents to be added to the system, first (e.g. require of a Force to be anchored to a SimTK::MobilizedBody specified by subcomponents) then you must implement: extendAddToSystemAfterSubcomponents(). It is possible to implement both method to add system elements before and then after your subcomponents have added themselves. Caution is required that Simbody elements are not added twice especially when order is unimportant.
[in,out] | system | The MultibodySystem being added to. |
Reimplemented from OpenSim::Component.
Reimplemented in OpenSim::ScapulothoracicJoint, OpenSim::PlanarJoint, OpenSim::UniversalJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.
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Perform any necessary initializations required to connect the component into the Model, and check for error conditions.
extendConnectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.
If you override this method, be sure to invoke the base class method first, using code like this:
Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.
[in,out] | model | The Model currently being constructed to which this ModelComponent should be connected. |
Reimplemented from OpenSim::ModelComponent.
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Perform any time-invariant calculations, data structure initializations, or other configuration based on the component's properties to form a functioning (but not yet connected) component.
For example, each property should be checked to ensure that its value is within an acceptable range. When this method returns, the component will be marked as being up-to-date with its properties. Do not perform any configuration that depends on the SimTK::MultibodySystem; it is not available at this point.
If you override this method, be sure to invoke the base class method first, using code like this:
Reimplemented from OpenSim::ModelComponent.
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Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.
This is called after a SimTK::System and State have been created for the Model (that is, after extendAddToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.
If you override this method, be sure to invoke the base class method first, using code like this:
state | The state that will receive the new initial conditions. |
Reimplemented from OpenSim::Component.
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Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property.
Thus, state variable values can persist as part of the model component and be serialized as a property.
If you override this method, be sure to invoke the base class method first, using code like this:
state | The State from which values may be extracted to set persistent property values. |
Reimplemented from OpenSim::Component.
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Get the value of the i-th element of the coordinates property.
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Get the value of the i-th element of the frames property.
const PhysicalFrame& OpenSim::Joint::getChildFrame | ( | ) | const |
Get the child joint frame.
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This returns "Joint".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
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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.
Implements OpenSim::ModelComponent.
Implemented in OpenSim::ScapulothoracicJoint, OpenSim::CustomJoint, OpenSim::BallJoint, OpenSim::FreeJoint, OpenSim::EllipsoidJoint, OpenSim::PinJoint, OpenSim::UniversalJoint, OpenSim::GimbalJoint, OpenSim::PlanarJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.
const Coordinate& OpenSim::Joint::getCoordinate | ( | ) | const |
Convenience method to get a const reference to the Coordinate associated with a single-degree-of-freedom Joint.
If the Joint has more than one Coordinate, you must use get_coordinates() or provide the appropriate argument to the getCoordinate() method defined in the derived class.
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Coordinate::MotionType OpenSim::Joint::getMotionType | ( | CoordinateIndex | cix | ) | const |
Get the MotionType for a Coordinate that this Joint has enabled by its CoordinateIndex (in the Joints list of Coordinates).
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const OpenSim::PhysicalFrame& OpenSim::Joint::getParentFrame | ( | ) | const |
Get the parent frame to which this joint attaches.
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Return the equivalent (internal) SimTK::Rigid::Body for the parent/child OpenSim::Body.
Not valid until after extendAddToSystem on the Body has been called.
bool OpenSim::Joint::isCoordinateUsed | ( | const Coordinate & | aCoordinate | ) | const |
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inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = Joint.safeDownCast(obj)
. This is equivalent to dynamic_cast<Joint*>(obj)
in C++.
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Set the value of the i-th element of coordinates property.
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Set the value of the i-th element of frames property.
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References OpenSim::ModelComponent::_model.
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OpenSim::Joint::SimTK_DEFINE_UNIQUE_INDEX_TYPE | ( | CoordinateIndex | ) |
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Get a writable reference to the i-th element of the coordinates property.
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Get a writable reference to the i-th element of the frames property.
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Updating XML formating to latest revision.
Reimplemented from OpenSim::ModelComponent.
Coordinate& OpenSim::Joint::updCoordinate | ( | ) |
Convenience method to get a writable reference to the Coordinate associated with a single-degree-of-freedom Joint.
If the Joint has more than one Coordinate, you must use upd_coordinates() or provide the appropriate argument to the updCoordinate() method defined in the derived class.
PhysicalFrame OpenSim::Joint::child_frame |
"The child frame for the joint."
In an XML file, you can set this Socket's connectee path via the <socket_child_frame > element. This socket was generated with the OpenSim_DECLARE_SOCKET macro; see AbstractSocket for more information.
Coordinate OpenSim::Joint::coordinates |
"List containing the generalized coordinates (q's) that parameterize " "this joint."
This property appears in XML files under the tag <coordinates>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.
PhysicalOffsetFrame OpenSim::Joint::frames |
"Physical offset frames owned by the Joint that are typically used to " "satisfy the owning Joint's parent and child frame connections " "(sockets). PhysicalOffsetFrames are often used to describe the fixed " "transformation from a Body's origin to another location of interest " "on the Body (e.g., the joint center). When the joint is deleted, so " "are the PhysicalOffsetFrame components in this list."
This property appears in XML files under the tag <frames>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.
PhysicalFrame OpenSim::Joint::parent_frame |
"The parent frame for the joint."
In an XML file, you can set this Socket's connectee path via the <socket_parent_frame > element. This socket was generated with the OpenSim_DECLARE_SOCKET macro; see AbstractSocket for more information.
double OpenSim::Joint::power |
Provides the value of calcPower() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::SpatialVec OpenSim::Joint::reaction_on_child |
Provides the value of calcReactionOnChildExpressedInGround() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
SimTK::SpatialVec OpenSim::Joint::reaction_on_parent |
Provides the value of calcReactionOnParentExpressedInGround() and is available at stage SimTK::Stage::Acceleration .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.