A concrete class that specifies the interface to a musculoskeletal model. More...

Inheritance diagram for OpenSim::Model:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	credits
	"Credits (e.g., model author names) associated with the model." More...

std::string	publications
	"Publications and references associated with the model." More...

std::string	length_units
	"Units for all lengths." More...

std::string	force_units
	"Units for all forces." More...

double	assembly_accuracy
	"Specify how accurate the resulting configuration of a model assembly " "should be. This translates to the number of significant digits in the " "resulting coordinate values. Therefore, if you require initial conditions " "accurate to four significant digits, use a minimum of 1e-4 as the accuracy." "The default setting is 1e-9 as to satisfy the most stringent requirements by " "default. NOTE: Failure for a model to satisfy the assembly accuracy often " "indicates inconsistency in the constraints. For example, the feet are welded " "at locations measured to five significant digits while the model lacks dofs " "to change stance width, in which case it cannot achieve 1e-9 accuracy." More...

SimTK::Vec3	gravity
	"Acceleration due to gravity, expressed in ground." More...

Ground	ground
	"The model's ground reference frame." More...

Properties (unnamed)
BodySet	BodySet
	"List of bodies that make up this model." More...

JointSet	JointSet
	"List of joints that connect the bodies." More...

ConstraintSet	ConstraintSet
	"Constraints in the model." More...

MarkerSet	MarkerSet
	"Markers in the model." More...

ForceSet	ForceSet
	"Forces in the model (includes Actuators)." More...

ControllerSet	ControllerSet
	"Controllers that provide the control inputs for Actuators." More...

ContactGeometrySet	ContactGeometrySet
	"Geometry to be used in contact forces." More...

ProbeSet	ProbeSet
	"Probes in the model." More...

ComponentSet	ComponentSet
	"Additional components in the model." More...

ModelVisualPreferences	ModelVisualPreferences
	"Visual preferences for this model." More...

Outputs
SimTK::Vec3	com_position
	Provides the value of calcMassCenterPosition() and is available at stage SimTK::Stage::Position . More...

SimTK::Vec3	com_velocity
	Provides the value of calcMassCenterVelocity() and is available at stage SimTK::Stage::Velocity . More...

SimTK::Vec3	com_acceleration
	Provides the value of calcMassCenterAcceleration() and is available at stage SimTK::Stage::Acceleration . More...

double	kinetic_energy
	Provides the value of calcKineticEnergy() and is available at stage SimTK::Stage::Position . More...

double	potential_energy
	Provides the value of calcPotentialEnergy() 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
	Model ()
	Default constructor creates a Model containing only the Ground frame and a set of default properties. More...

	Model (const std::string &filename)
	Constructor from an OpenSim XML model file. More...

void	finalizeConnections ()
	Satisfy all connections (Sockets and Inputs) in the model, using this model as the root Component. More...

void	setup ()
	Perform some set up functions that happen after the object has been deserialized. More...

void	cleanup ()
	Perform some clean up functions that are normally done from the destructor however this gives the GUI a way to proactively do the cleaning without waiting for garbage collection to do the actual cleanup. More...

Model *	clone () const override
	Model clone() override that invokes finalizeFromProperties() on a default copy constructed Model, prior to returning the Model. 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...

void	buildSystem ()
	After the Model and its components have been constructed, call this to interconnect the components and then create the Simbody MultibodySystem needed to represent the Model computationally. More...

SimTK::State &	initializeState ()
	After buildSystem() has been called, and any additional modifications to the Simbody MultibodySystem have been made, call this method to finalize the MultibodySystem (by calling its realizeTopology() method), obtain an initial state, and assemble it so that position constraints are satisfied. More...

SimTK::State &	initSystem ()
	Convenience method that invokes buildSystem() and then initializeState(). More...

const SimTK::State &	getWorkingState () const
	Convenience method that returns a reference to the model's 'working' state. More...

SimTK::State &	updWorkingState ()

void	initStateWithoutRecreatingSystem (SimTK::State &state) const
	This is called after the Model is fully created but before starting a simulation. More...

void	invalidateSystem ()
	Mark the computational system as invalid. More...

bool	isValidSystem () const
	Check that the underlying computational system representing the model is valid. More...

void	formStateStorage (const Storage &originalStorage, Storage &statesStorage, bool warnUnspecifiedStates=true) const
	Create a storage (statesStorage) that has same label order as model's states with values populated from originalStorage. More...

void	formQStorage (const Storage &originalStorage, Storage &qStorage)

void	updateAssemblyConditions (SimTK::State &s)
	Update the AssemblySolver to the latest coordinate locking/constraints. More...

void	assemble (SimTK::State &state, const Coordinate *coord=NULL, double weight=10)
	Find the kinematic state of the model that satisfies constraints and coordinate goals If assemble is being called due to a coordinate set value, provide the option to weight that coordinate value more heavily if specified. More...

void	equilibrateMuscles (SimTK::State &state)
	Update the state of all Muscles so they are in equilibrium. More...

void	removeProbe (Probe *probe)
	remove passed in Probe from model More...

const std::string &	getInputFileName () const
	Get the XML file name used to construct the model. More...

void	setInputFileName (const std::string &fileName)
	Set the XML file name used to construct the model. More...

const std::string &	getCredits () const
	Get the credits (e.g., model author names) associated with the model. More...

void	setAuthors (const std::string &aCredits)
	Set the credits (e.g., model author names) associated with the model. More...

const std::string &	getPublications () const
	Get the publications associated with the model. More...

void	setPublications (const std::string &aPublications)
	Set the publications associated with the model. More...

const Units &	getLengthUnits () const
	Get the length units associated with the model. More...

const Units &	getForceUnits () const
	Get the force units associated with the model. More...

SimTK::Vec3	getGravity () const
	Get the gravity vector in the global frame. More...

bool	setGravity (const SimTK::Vec3 &aGrav)
	Set the gravity vector in the global frame. More...

int	getNumMarkers () const
	Get the number of markers in the model. More...

int	getNumContactGeometries () const
	Get the number of ContactGeometries in the model. More...

int	getNumBodies () const
	Get the total number of bodies in the model. More...

int	getNumJoints () const
	Get the total number of joints in the model. More...

int	getNumCoordinates () const
	Get the total number of coordinates in the model. More...

int	getNumSpeeds () const
	Get the total number of speeds in the model. More...

int	getNumConstraints () const
	Get the total number of constraints in the model. More...

int	getNumProbes () const
	Get the total number of probes in the model. More...

const Set< Actuator > &	getActuators () const
	Get the subset of Forces in the model which are actuators. More...

Set< Actuator > &	updActuators ()

const Set< Muscle > &	getMuscles () const
	Get the subset of Forces in the model which are muscles. More...

Set< Muscle > &	updMuscles ()

const ForceSet &	getForceSet () const

ForceSet &	updForceSet ()

const ProbeSet &	getProbeSet () const
	Get the subset of Probes in the model. More...

ProbeSet &	updProbeSet ()

const ComponentSet &	getMiscModelComponentSet () const
	Get the subst of misc ModelComponents in the model. More...

ComponentSet &	updMiscModelComponentSet ()

int	getNumAnalyses () const
	Get the number of analyses in the model. More...

int	getNumControls () const
	Get the number of controls for this the model. More...

SimTK::Vector &	updDefaultControls () const
	Writable access to the default values for controls. More...

void	setDefaultControls (const SimTK::Vector &controls) const

const SimTK::Vector &	getDefaultControls () const

SimTK::Vector &	updControls (const SimTK::State &s) const
	Update the controls for this the model at a given state. More...

void	markControlsAsValid (const SimTK::State &s) const
	Mark controls as valid after an update at a given state. More...

void	setControls (const SimTK::State &s, const SimTK::Vector &controls) const
	Alternatively, set the controls on the model at a given state. More...

const SimTK::Vector &	getControls (const SimTK::State &s) const
	Const access to controls does not invalidate dynamics. More...

void	computeControls (const SimTK::State &state, SimTK::Vector &controls) const
	Compute the controls for the model. More...

bool	isControlled () const
	Get a flag indicating if the model needs controls to operate its actuators. More...

void	storeControls (const SimTK::State &s, int step)

void	printControlStorage (const std::string &fileName) const

TimeSeriesTable	getControlsTable () const

const ControllerSet &	getControllerSet () const

ControllerSet &	updControllerSet ()

bool	getAllControllersEnabled () const

void	setAllControllersEnabled (bool enabled)

void	applyDefaultConfiguration (SimTK::State &s)

const SimbodyEngine &	getSimbodyEngine () const
	Get the model's dynamics engine. More...

SimbodyEngine &	updSimbodyEngine ()

void	computeStateVariableDerivatives (const SimTK::State &s) const override
	If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states. More...

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

SimTK::Inertia	getInertiaAboutMassCenter (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterPosition (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterVelocity (const SimTK::State &s) const

SimTK::Vec3	calcMassCenterAcceleration (const SimTK::State &s) const

double	calcKineticEnergy (const SimTK::State &s) const
	return the total Kinetic Energy for the underlying system. More...

double	calcPotentialEnergy (const SimTK::State &s) const
	return the total Potential Energy for the underlying system. More...

int	getNumMuscleStates () const

int	getNumProbeStates () const

CoordinateSet &	updCoordinateSet ()

const CoordinateSet &	getCoordinateSet () const

std::vector< SimTK::ReferencePtr< const Coordinate > >	getCoordinatesInMultibodyTreeOrder () const
	Obtain a list of Model's Coordinates in the order they appear in the MultibodySystem after Model::initSystem() has been called. More...

std::string	getWarningMesssageForMotionTypeInconsistency () const
	Get a warning message if any Coordinates have a MotionType that is NOT consistent with its previous user-specified value that existed in Model files prior to OpenSim 4.0. More...

BodySet &	updBodySet ()

const BodySet &	getBodySet () const

JointSet &	updJointSet ()

const JointSet &	getJointSet () const

AnalysisSet &	updAnalysisSet ()

const AnalysisSet &	getAnalysisSet () const

ContactGeometrySet &	updContactGeometrySet ()

const ContactGeometrySet &	getContactGeometrySet () const

const Ground &	getGround () const
	Get a const reference to the Ground reference frame. More...

Ground &	updGround ()
	Get a writable reference to the Ground reference frame. More...

ConstraintSet &	updConstraintSet ()

const ConstraintSet &	getConstraintSet () const

MarkerSet &	updMarkerSet ()

const MarkerSet &	getMarkerSet () const

void	writeMarkerFile (const std::string &aFileName)

void	updateMarkerSet (MarkerSet &newMarkerSet)
	Update the markers in the model by appending the ones in the passed-in marker set. More...

int	deleteUnusedMarkers (const Array< std::string > &aMarkerNames)

void	addAnalysis (Analysis *adoptee)
	Add an Analysis to the Model. More...

void	addController (Controller *adoptee)
	Add a Controller to the Model. More...

void	removeAnalysis (Analysis *analysis, bool deleteIt=true)
	Remove an Analysis from the Model. More...

void	removeController (Controller *aController)
	Remove a Controller from the Model. More...

bool	scale (SimTK::State &state, const ScaleSet &scaleSet, bool preserveMassDist, double finalMass=-1.0)
	Scale the model. More...

void	printBasicInfo (std::ostream &aOStream=std::cout) const
	Print some basic information about the model. More...

void	printDetailedInfo (const SimTK::State &s, std::ostream &aOStream=std::cout) const
	Print detailed information about the model. More...

void	disownAllComponents ()
	Model relinquishes ownership of all components such as: Bodies, Constraints, Forces, ContactGeometry and so on. More...

void	overrideAllActuators (SimTK::State &s, bool flag)
	Convenience function to turn on/off overriding the force for all actuators. More...

const std::string &	getValidationLog () const
	Get a log of errors/warnings encountered when loading/constructing the model. More...

void	appendToValidationLog (const std::string &note)
	Append to the Model's validation log without affecting is current contents. More...

void	clearValidationLog ()

const Object &	getObjectByTypeAndName (const std::string &typeString, const std::string &nameString)
	Utility to get a reference to an Object based on its name and type throws an exception if the object was not found. More...

void	extendSetPropertiesFromState (const SimTK::State &state) override
	Given a State, set all default values for this Model to match those found in the State. More...

void	finalizeConnections (Component &root)
	Satisfy the Component's connections specified by its Sockets and Inputs. More...

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

std::string &	upd_credits ()
	Get a writable reference to the credits property. More...

void	set_credits (const std::string &value)
	Set the value of the credits property. More...

const std::string &	get_publications () const
	Get the value of the publications property. More...

std::string &	upd_publications ()
	Get a writable reference to the publications property. More...

void	set_publications (const std::string &value)
	Set the value of the publications property. More...

const std::string &	get_length_units () const
	Get the value of the length_units property. More...

std::string &	upd_length_units ()
	Get a writable reference to the length_units property. More...

void	set_length_units (const std::string &value)
	Set the value of the length_units property. More...

const std::string &	get_force_units () const
	Get the value of the force_units property. More...

std::string &	upd_force_units ()
	Get a writable reference to the force_units property. More...

void	set_force_units (const std::string &value)
	Set the value of the force_units property. More...

const double &	get_assembly_accuracy () const
	Get the value of the assembly_accuracy property. More...

double &	upd_assembly_accuracy ()
	Get a writable reference to the assembly_accuracy property. More...

void	set_assembly_accuracy (const double &value)
	Set the value of the assembly_accuracy property. More...

const SimTK::Vec3 &	get_gravity () const
	Get the value of the gravity property. More...

SimTK::Vec3 &	upd_gravity ()
	Get a writable reference to the gravity property. More...

void	set_gravity (const SimTK::Vec3 &value)
	Set the value of the gravity property. More...

const Ground &	get_ground () const
	Get the value of the ground property. More...

Ground &	upd_ground ()
	Get a writable reference to the ground property. More...

void	set_ground (const Ground &value)
	Set the value of the ground property. More...

const BodySet &	get_BodySet () const
	Get the value of the BodySet property. More...

BodySet &	upd_BodySet ()
	Get a writable reference to the BodySet property. More...

void	set_BodySet (const BodySet &value)
	Set the value of the BodySet property. More...

const JointSet &	get_JointSet () const
	Get the value of the JointSet property. More...

JointSet &	upd_JointSet ()
	Get a writable reference to the JointSet property. More...

void	set_JointSet (const JointSet &value)
	Set the value of the JointSet property. More...

const ConstraintSet &	get_ConstraintSet () const
	Get the value of the ConstraintSet property. More...

ConstraintSet &	upd_ConstraintSet ()
	Get a writable reference to the ConstraintSet property. More...

void	set_ConstraintSet (const ConstraintSet &value)
	Set the value of the ConstraintSet property. More...

const MarkerSet &	get_MarkerSet () const
	Get the value of the MarkerSet property. More...

MarkerSet &	upd_MarkerSet ()
	Get a writable reference to the MarkerSet property. More...

void	set_MarkerSet (const MarkerSet &value)
	Set the value of the MarkerSet property. More...

const ForceSet &	get_ForceSet () const
	Get the value of the ForceSet property. More...

ForceSet &	upd_ForceSet ()
	Get a writable reference to the ForceSet property. More...

void	set_ForceSet (const ForceSet &value)
	Set the value of the ForceSet property. More...

const ControllerSet &	get_ControllerSet () const
	Get the value of the ControllerSet property. More...

ControllerSet &	upd_ControllerSet ()
	Get a writable reference to the ControllerSet property. More...

void	set_ControllerSet (const ControllerSet &value)
	Set the value of the ControllerSet property. More...

const ContactGeometrySet &	get_ContactGeometrySet () const
	Get the value of the ContactGeometrySet property. More...

ContactGeometrySet &	upd_ContactGeometrySet ()
	Get a writable reference to the ContactGeometrySet property. More...

void	set_ContactGeometrySet (const ContactGeometrySet &value)
	Set the value of the ContactGeometrySet property. More...

const ProbeSet &	get_ProbeSet () const
	Get the value of the ProbeSet property. More...

ProbeSet &	upd_ProbeSet ()
	Get a writable reference to the ProbeSet property. More...

void	set_ProbeSet (const ProbeSet &value)
	Set the value of the ProbeSet property. More...

const ComponentSet &	get_ComponentSet () const
	Get the value of the ComponentSet property. More...

ComponentSet &	upd_ComponentSet ()
	Get a writable reference to the ComponentSet property. More...

void	set_ComponentSet (const ComponentSet &value)
	Set the value of the ComponentSet property. More...

const ModelVisualPreferences &	get_ModelVisualPreferences () const
	Get the value of the ModelVisualPreferences property. More...

ModelVisualPreferences &	upd_ModelVisualPreferences ()
	Get a writable reference to the ModelVisualPreferences property. More...

void	set_ModelVisualPreferences (const ModelVisualPreferences &value)
	Set the value of the ModelVisualPreferences property. More...

Visualization
Methods in this group affect visualization of this Model, which may be through the OpenSim GUI or through the use of a ModelVisualizer which can provide limited run-time display and user interaction capability for an OpenSim API-based program. If you enable visualization at the API level, the Model will create a ModelVisualizer that you can use to control display and user interaction. In turn, the ModelVisualizer makes use of a Simbody SimTK::Visualizer; for advanced features you can ask the ModelVisualizer to give you direct access to the SimTK::Visualizer; consult Simbody documentation for more details.
const ModelDisplayHints &	getDisplayHints () const
	Get read only access to the ModelDisplayHints object stored with this Model. More...

ModelDisplayHints &	updDisplayHints ()
	Get writable access to the ModelDisplayHints object stored with this Model. More...

void	setUseVisualizer (bool visualize)
	Request or suppress visualization of this Model. More...

bool	getUseVisualizer () const
	Return the current setting of the "use visualizer" flag, which will take effect at the next call to initSystem() on this Model. More...

bool	hasVisualizer () const
	Test whether a ModelVisualizer has been created for this Model. More...

const ModelVisualizer &	getVisualizer () const
	Obtain read-only access to the ModelVisualizer. More...

ModelVisualizer &	updVisualizer ()
	Obtain writable access to the ModelVisualizer. More...

Access to the Simbody System and components
Methods in this section provide advanced users access to the underlying Simbody System and associated subcomponents that are constructed and maintained by this Model. Note that these are not available until after initSystem() has been invoked on this Model. Be very careful if you call any of the upd() methods since modifying a System after the Model creates it can require reinitialization. See also initStateWithoutRecreatingSystem()
const SimTK::MultibodySystem &	getMultibodySystem () const
	Get read-only access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call. More...

SimTK::MultibodySystem &	updMultibodySystem () const
	(Advanced) Get writable access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call. More...

const SimTK::DefaultSystemSubsystem &	getDefaultSubsystem () const
	Get read-only access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem. More...

SimTK::DefaultSystemSubsystem &	updDefaultSubsystem ()
	(Advanced) Get writable access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem. More...

const SimTK::SimbodyMatterSubsystem &	getMatterSubsystem () const
	Get read-only access to the internal SimbodyMatterSubsystem allocated by this Model. More...

SimTK::SimbodyMatterSubsystem &	updMatterSubsystem ()
	(Advanced) Get writable access to the internal SimbodyMatterSubsystem allocated by this Model. More...

const SimTK::Force::Gravity &	getGravityForce () const
	Get read-only access to the Simbody Force::Gravity element that was allocated by this Model. More...

SimTK::Force::Gravity &	updGravityForce ()
	(Advanced) Get writable access to the Simbody Force::Gravity element that was allocated by this Model. More...

const SimTK::GeneralForceSubsystem &	getForceSubsystem () const
	Get read-only access to the internal Simbody GeneralForceSubsystem allocated by this Model. More...

SimTK::GeneralForceSubsystem &	updForceSubsystem ()
	(Advanced) Get writable access to the internal Simbody GeneralForceSubsystem allocated by this Model. More...

Realize the Simbody System and State to Computational Stage
Methods in this section enable advanced and scripting users access to realize the Simbody MultibodySystem and the provided state to a desired computational (realization) Stage. Note that these are not accessible until after initSystem() has been invoked on this Model.
void	realizeTime (const SimTK::State &state) const
	Perform computations that depend only on time and earlier stages. More...

void	realizePosition (const SimTK::State &state) const
	Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time). More...

void	realizeVelocity (const SimTK::State &state) const
	Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time). More...

void	realizeDynamics (const SimTK::State &state) const
	Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces. More...

void	realizeAcceleration (const SimTK::State &state) const
	Perform computations that may depend on applied forces. More...

void	realizeReport (const SimTK::State &state) const
	Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior. More...

Adding components to the Model
Model takes ownership of the ModelComponent and adds it to a specialized (typed) Set within the model. Model will maintain Components added using these methods in separate Sets of the corresponding type and they will serialize as part of type specific Sets. These sets can be useful for uniquely identifying components that share the same name, but are of different types since they live in different Sets. For example, using addBody(toesBody) and addJoint(toesJoint) will have unique paths: "/bodyset/toes" and "/jointset/toes", respectively, even when they have the same name, "toes". Note these are legacy methods and remain as a convenience alternative to using Component::addComponent(). In contrast, components added using addComponent() are not stored in the model's Sets but live in a flat components list (which is also serialized). Component provides access via getComponentList<SpecificType> or getComponent<SpecificType> to get any subcomponent, including those that are contained in Model's Sets. In this case, either a Body or a Joint has the pathname "/toes" but both cannot share the same name and will throw SubcomponentsWithDuplicateName. Future versions of OpenSim are likely to deprecate the use of Sets and these methods, because they cannot support new Component types without modifying the API (for more add####() methods), whereas getComponentList<SpecificType>() and getComponent<SpecificType> will generalize: they do not have these limitations and are applicable for adding to any Component not just Model.
void	addModelComponent (ModelComponent *adoptee)

void	addBody (Body *adoptee)

void	addJoint (Joint *adoptee)

void	addConstraint (Constraint *adoptee)

void	addForce (Force *adoptee)

void	addProbe (Probe *adoptee)

void	addContactGeometry (ContactGeometry *adoptee)

void	addMarker (Marker *adoptee)

Implementation of Object interface
These methods are Model's implementation of virtual methods defined in the Object class from which Model derives (indirectly through ModelComponent).
	~Model () override
	Destructor. More...

void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) override
	Override of the default implementation to account for versioning. More...

Implementation of Component interface
These methods are Model's implementation of virtual methods defined in the Component class from which Model derives.
void	extendFinalizeFromProperties () override
	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. More...

void	extendConnectToModel (Model &model) override
	Perform any necessary initializations required to connect the component into the Model, and check for error conditions. More...

void	extendAddToSystem (SimTK::MultibodySystem &system) const override
	Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More...

void	extendInitStateFromProperties (SimTK::State &state) const override
	Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More...

Implementation of ModelComponent interface
These methods are Model's implementation of virtual methods defined in the ModelComponent class from which Model derives.
void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const override
	Optional method for generating arbitrary display geometry that reflects this Component at the specified state. 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...

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

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

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

A concrete class that specifies the interface to a musculoskeletal model.

You can read this in from an XML file or create it programmatically, and modify it via the API.

A Model contains ModelComponents, and is itself a ModelComponent so must satisfy the ModelComponent interface, as well as the Object interface from which ModelComponent derives. This allows a Model to allocate "global" resources using ModelComponent resource-allocation facilities.

Computation using a Model is done by creating a computational representation of the Model, called a System (SimTK::System), using Simbody. Creation of the System is initiated by a call to the Model's initSystem() method. The System and related objects are maintained in a runtime section of the Model object. You can also ask a Model to provide visualization using the setUseVisualizer() method, in which case it will allocate and maintain a ModelVisualizer.

Authors: Frank Anderson, Peter Loan, Ayman Habib, Ajay Seth, Michael Sherman

See also: ModelComponent, ModelVisualizer, SimTK::System

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleCustomImplicitAuxiliaryDynamics.cpp, exampleHangingMuscle.cpp, exampleMocoTrack.cpp, and exampleSlidingMassAdvanced.cpp.

Constructor & Destructor Documentation

◆ Model() [1/2]

OpenSim::Model::Model ( )

Default constructor creates a Model containing only the Ground frame and a set of default properties.

◆ Model() [2/2]

OpenSim::Model::Model ( const std::string & filename )

explicit

Constructor from an OpenSim XML model file.

NOTE: The Model is read in (deserialized) from the model file, which means the properties of the Model and its components are filled in from values in the file. In order to evaluate the validity of the properties (e.g. Inertia tensors, availability of Mesh files, ...) and to identify properties as subcomponents of the Model, one must invoke Model::finalizeFromProperties() first. Model::initSystem() invokes finalizeFromProperties() on its way to creating the System and initializing the State.

Parameters

filename Name of a file containing an OpenSim model in XML format; suffix is typically ".osim".

◆ ~Model()

OpenSim::Model::~Model ( )

inlineoverride

Destructor.

Member Function Documentation

◆ addAnalysis()

void OpenSim::Model::addAnalysis ( Analysis * adoptee )

Add an Analysis to the Model.

Parameters

adoptee pointer to the Analysis to add

◆ addBody()

void OpenSim::Model::addBody ( Body * adoptee )

◆ addConstraint()

void OpenSim::Model::addConstraint ( Constraint * adoptee )

◆ addContactGeometry()

void OpenSim::Model::addContactGeometry ( ContactGeometry * adoptee )

◆ addController()

void OpenSim::Model::addController ( Controller * adoptee )

Add a Controller to the Model.

◆ addForce()

void OpenSim::Model::addForce ( Force * adoptee )

Examples:: exampleHangingMuscle.cpp.

◆ addJoint()

void OpenSim::Model::addJoint ( Joint * adoptee )

◆ addMarker()

void OpenSim::Model::addMarker ( Marker * adoptee )

◆ addModelComponent()

void OpenSim::Model::addModelComponent ( ModelComponent * adoptee )

Referenced by OpenSim::ModOpAddExternalLoads::operate().

◆ addProbe()

void OpenSim::Model::addProbe ( Probe * adoptee )

Examples:: exampleHangingMuscle.cpp.

◆ appendToValidationLog()

void OpenSim::Model::appendToValidationLog ( const std::string & note )

Append to the Model's validation log without affecting is current contents.

◆ applyDefaultConfiguration()

void OpenSim::Model::applyDefaultConfiguration ( SimTK::State & s )

◆ assemble()

void OpenSim::Model::assemble	(	SimTK::State &	state,
		const Coordinate *	coord = `NULL`,
		double	weight = `10`
	)

Find the kinematic state of the model that satisfies constraints and coordinate goals If assemble is being called due to a coordinate set value, provide the option to weight that coordinate value more heavily if specified.

◆ buildSystem()

void OpenSim::Model::buildSystem ( )

After the Model and its components have been constructed, call this to interconnect the components and then create the Simbody MultibodySystem needed to represent the Model computationally.

The extendConnectToModel() method of each contained ModelComponent will be invoked, and then their addToSystem() methods are invoked.
The resulting MultibodySystem is maintained internally by the Model. After this call, you may obtain a writable reference to the System using updMultibodySystem() which you can use to make any additions you want. Then when the System is complete, call initializeState() to finalize it and obtain an initial State.

◆ calcKineticEnergy()

double OpenSim::Model::calcKineticEnergy ( const SimTK::State & s ) const

inline

return the total Kinetic Energy for the underlying system.

◆ calcMassCenterAcceleration()

SimTK::Vec3 OpenSim::Model::calcMassCenterAcceleration ( const SimTK::State & s ) const

◆ calcMassCenterPosition()

SimTK::Vec3 OpenSim::Model::calcMassCenterPosition ( const SimTK::State & s ) const

◆ calcMassCenterVelocity()

SimTK::Vec3 OpenSim::Model::calcMassCenterVelocity ( const SimTK::State & s ) const

◆ calcPotentialEnergy()

double OpenSim::Model::calcPotentialEnergy ( const SimTK::State & s ) const

inline

return the total Potential Energy for the underlying system.

◆ cleanup()

void OpenSim::Model::cleanup ( )

Perform some clean up functions that are normally done from the destructor however this gives the GUI a way to proactively do the cleaning without waiting for garbage collection to do the actual cleanup.

◆ clearValidationLog()

void OpenSim::Model::clearValidationLog ( )

inline

◆ clone()

Model* OpenSim::Model::clone ( ) const

overridevirtual

Model clone() override that invokes finalizeFromProperties() on a default copy constructed Model, prior to returning the Model.

Implements OpenSim::ModelComponent.

◆ computeControls()

void OpenSim::Model::computeControls	(	const SimTK::State &	state,
		SimTK::Vector &	controls
	)		const

Compute the controls for the model.

Calls down to the Controllers to make their contributions to the controls.

Parameters

[in]	state	System state from which Controllers should draw when computing their control outputs.
[out]	controls	The complete vector of controls into which individual controller contributions should be added.

◆ computeStateVariableDerivatives()

void OpenSim::Model::computeStateVariableDerivatives ( const SimTK::State & s ) const

overridevirtual

If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.

Override to set the derivatives of state variables added to the system by this component. (also see extendAddToSystem()). If the component adds states and computeStateVariableDerivatives is not implemented by the component, an exception is thrown when the system tries to evaluate its derivatives.

Implement like this:

void computeStateVariableDerivatives(const SimTK::State& state) const {
    // Let the parent class set the derivative values for the
    // the state variables that it added.
    Super::computeStateVariableDerivatives(state)
    // Compute derivative values for states allocated by this component
    // as a function of the state.
    double deriv = ...
    // Then set the derivative value by state variable name
    setStateVariableDerivativeValue(state, "<state_variable_name>", deriv);
}

For subclasses, it is highly recommended that you first call Super::computeStateVariableDerivatives(state) to preserve the derivative computation of the parent class and to only specify the derivatives of the state variables added by name. One does have the option to override all the derivative values for the parent by accessing the derivatives by their state variable name. This is necessary, for example, if a newly added state variable is coupled to the dynamics (derivatives) of the states variables that were added by the parent.

Reimplemented from OpenSim::Component.

◆ deleteUnusedMarkers()

int OpenSim::Model::deleteUnusedMarkers ( const Array< std::string > & aMarkerNames )

◆ disownAllComponents()

void OpenSim::Model::disownAllComponents ( )

Model relinquishes ownership of all components such as: Bodies, Constraints, Forces, ContactGeometry and so on.

That means the freeing of the memory of these objects is up to the caller. This only affects components stored in the Model's Sets, and does not affect those added via Component::addComponent().

◆ equilibrateMuscles()

void OpenSim::Model::equilibrateMuscles ( SimTK::State & state )

Update the state of all Muscles so they are in equilibrium.

◆ extendAddToSystem()

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

overridevirtual

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:

void MyComponent::extendAddToSystem(SimTK::MultibodySystem& system) const {
    // Perform any additions to the system required by your Super
    Super::extendAddToSystem(system);
    // ... your code goes here
}

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.

Parameters

[in,out] system The MultibodySystem being added to.

See also: addModelingOption(), addStateVariable(), addDiscreteVariables(), addCacheVariable()

Reimplemented from OpenSim::Component.

◆ extendConnectToModel()

void OpenSim::Model::extendConnectToModel ( Model & model )

overridevirtual

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:

void MyComponent::extendConnectToModel(Model& model) {
    Super::extendConnectToModel(model); // invoke parent class method
    // ... your code goes here
}

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.

Parameters

[in,out] model The Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::ModelComponent.

◆ extendFinalizeFromProperties()

void OpenSim::Model::extendFinalizeFromProperties ( )

overridevirtual

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:

void MyComponent::extendFinalizeFromProperties() {
    Super::extendFinalizeFromProperties(); // invoke parent class method
    // ... your code goes here
    // ... catch invalid property values
    // ... initialize any internal data structures
}

Reimplemented from OpenSim::Component.

◆ extendInitStateFromProperties()

void OpenSim::Model::extendInitStateFromProperties ( SimTK::State & state ) const

overridevirtual

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:

void MyComponent::extendInitStateFromProperties(SimTK::State& state) const {
    Super::extendInitStateFromProperties(state); // invoke parent class method
    // ... your code goes here
}

Parameters

state The state that will receive the new initial conditions.

See also: extendSetPropertiesFromState()

Reimplemented from OpenSim::Component.

◆ extendSetPropertiesFromState()

void OpenSim::Model::extendSetPropertiesFromState ( const SimTK::State & state )

overridevirtual

Given a State, set all default values for this Model to match those found in the State.

Reimplemented from OpenSim::Component.

◆ finalizeConnections() [1/2]

void OpenSim::Model::finalizeConnections ( )

inline

Satisfy all connections (Sockets and Inputs) in the model, using this model as the root Component.

This is a convenience form of Component::finalizeConnections() that uses this model as root.

Examples:: example2DWalkingMetabolics.cpp, and exampleHangingMuscle.cpp.

References finalizeConnections().

Referenced by finalizeConnections(), OpenSim::ModelProcessor::ModelProcessor(), OpenSim::ModOpReplaceMusclesWithDeGrooteFregly2016::operate(), OpenSim::ModOpRemoveMuscles::operate(), and OpenSim::ModelProcessor::setModel().

◆ finalizeConnections() [2/2]

void OpenSim::Component::finalizeConnections

Satisfy the Component's connections specified by its Sockets and Inputs.

Locate Components and their Outputs to satisfy the connections in an aggregate Component (e.g. Model), which is the root of a tree of Components.

◆ formQStorage()

void OpenSim::Model::formQStorage	(	const Storage &	originalStorage,
		Storage &	qStorage
	)

◆ formStateStorage()

void OpenSim::Model::formStateStorage	(	const Storage &	originalStorage,
		Storage &	statesStorage,
		bool	warnUnspecifiedStates = `true`
	)		const

Create a storage (statesStorage) that has same label order as model's states with values populated from originalStorage.

Use the default state value if a state is unspecified in the originalStorage. If warnUnspecifiedStates is true then a warning is printed that includes the default value used for the state value unspecified in originalStorage. The input originalStorage must be in meters or radians for Coordinate values and their speeds (m/s, rad/s) otherwise an Exception is thrown.

◆ generateDecorations()

void OpenSim::Model::generateDecorations	(	bool	fixed,
		const ModelDisplayHints &	hints,
		const SimTK::State &	state,
		SimTK::Array_< SimTK::DecorativeGeometry > &	appendToThis
	)		const

overridevirtual

Optional method for generating arbitrary display geometry that reflects this Component at the specified state.

This will be called once to obtain ground- and body-fixed geometry (with fixed=true), and then once per frame (with fixed=false) to generate on-the-fly geometry such as rubber band lines, force arrows, labels, or debugging aids.

Please note that there is a precondition that the state passed in to generateDecorations be realized to Stage::Position. If your component can visualize quantities realized at Velocity, Dynamics or Acceleration stages, then you must check that the stage has been realized before using/requesting stage dependent values. It is forbidden to realize the model to a higher stage within generateDecorations, because this can trigger costly side- effects such as evaluating all model forces even when performing a purely kinematic study.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::generateDecorations
   (bool                                        fixed,
    const ModelDisplayHints&                    hints,
    const SimTK::State&                         state,
    SimTK::Array_<SimTK::DecorativeGeometry>&   appendToThis) const
{
    // invoke parent class method
    Super::generateDecorations(fixed,hints,state,appendToThis);
    // ... your code goes here
    // can render velocity dependent quanities if stage is Velocity or higher
    if(state.getSystemStage() >= Stage::Velocity) {
        // draw velocity vector for model COM
    }
    // can render computed forces if stage is Dynamics or higher
    if(state.getSystemStage() >= Stage::Dynamics) {
        // change the length of a force arrow based on the force in N
    }
}

Parameters

[in]	fixed	If `true`, generate only geometry that is fixed to a PhysicalFrame, configuration, and velocity. Otherwise generate only such dependent geometry.
[in]	hints	See documentation for ModelDisplayHints; you may want to alter the geometry you generate depending on what you find there. For example, you can determine whether the user wants to see debug geometry.
[in]	state	The State for which geometry should be produced. See below for more information.
[in,out]	appendToThis	Array to which generated geometry should be appended via the `push_back()` method.

When called with fixed=true only modeling options and parameters (Instance variables) should affect geometry; time, position, and velocity should not. In that case OpenSim will already have realized the state through Instance stage. When called with fixed=false, you may consult any relevant value in state. However, to avoid unnecessary computation, OpenSim guarantees only that state will have been realized through Position stage; if you need anything higher than that (reaction forces, for example) you should make sure the state is realized through Acceleration stage.

Reimplemented from OpenSim::Component.

◆ get_assembly_accuracy()

const double& OpenSim::Model::get_assembly_accuracy ( ) const

inline

Get the value of the assembly_accuracy property.

◆ get_BodySet()

const BodySet& OpenSim::Model::get_BodySet ( ) const

inline

Get the value of the BodySet property.

◆ get_ComponentSet()

const ComponentSet& OpenSim::Model::get_ComponentSet ( ) const

inline

Get the value of the ComponentSet property.

◆ get_ConstraintSet()

const ConstraintSet& OpenSim::Model::get_ConstraintSet ( ) const

inline

Get the value of the ConstraintSet property.

◆ get_ContactGeometrySet()

const ContactGeometrySet& OpenSim::Model::get_ContactGeometrySet ( ) const

inline

Get the value of the ContactGeometrySet property.

◆ get_ControllerSet()

const ControllerSet& OpenSim::Model::get_ControllerSet ( ) const

inline

Get the value of the ControllerSet property.

◆ get_credits()

const std::string& OpenSim::Model::get_credits ( ) const

inline

Get the value of the credits property.

◆ get_force_units()

const std::string& OpenSim::Model::get_force_units ( ) const

inline

Get the value of the force_units property.

◆ get_ForceSet()

const ForceSet& OpenSim::Model::get_ForceSet ( ) const

inline

Get the value of the ForceSet property.

◆ get_gravity()

const SimTK::Vec3& OpenSim::Model::get_gravity ( ) const

inline

Get the value of the gravity property.

◆ get_ground()

const Ground& OpenSim::Model::get_ground ( ) const

inline

Get the value of the ground property.

◆ get_JointSet()

const JointSet& OpenSim::Model::get_JointSet ( ) const

inline

Get the value of the JointSet property.

◆ get_length_units()

const std::string& OpenSim::Model::get_length_units ( ) const

inline

Get the value of the length_units property.

◆ get_MarkerSet()

const MarkerSet& OpenSim::Model::get_MarkerSet ( ) const

inline

Get the value of the MarkerSet property.

◆ get_ModelVisualPreferences()

const ModelVisualPreferences& OpenSim::Model::get_ModelVisualPreferences ( ) const

inline

Get the value of the ModelVisualPreferences property.

◆ get_ProbeSet()

const ProbeSet& OpenSim::Model::get_ProbeSet ( ) const

inline

Get the value of the ProbeSet property.

◆ get_publications()

const std::string& OpenSim::Model::get_publications ( ) const

inline

Get the value of the publications property.

◆ getActuators()

const Set<Actuator>& OpenSim::Model::getActuators ( ) const

Get the subset of Forces in the model which are actuators.

Returns: The set of Actuators

◆ getAllControllersEnabled()

bool OpenSim::Model::getAllControllersEnabled ( ) const

◆ getAnalysisSet()

const AnalysisSet& OpenSim::Model::getAnalysisSet ( ) const

inline

◆ getBodySet()

const BodySet& OpenSim::Model::getBodySet ( ) const

inline

◆ getClassName()

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

inlinestatic

This returns "Model".

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

◆ getConcreteClassName()

const std::string& OpenSim::Model::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::ModelComponent.

◆ getConstraintSet()

const ConstraintSet& OpenSim::Model::getConstraintSet ( ) const

inline

◆ getContactGeometrySet()

const ContactGeometrySet& OpenSim::Model::getContactGeometrySet ( ) const

inline

◆ getControllerSet()

const ControllerSet& OpenSim::Model::getControllerSet ( ) const

◆ getControls()

const SimTK::Vector& OpenSim::Model::getControls ( const SimTK::State & s ) const

Const access to controls does not invalidate dynamics.

◆ getControlsTable()

TimeSeriesTable OpenSim::Model::getControlsTable ( ) const

◆ getCoordinateSet()

const CoordinateSet& OpenSim::Model::getCoordinateSet ( ) const

inline

◆ getCoordinatesInMultibodyTreeOrder()

std::vector<SimTK::ReferencePtr<const Coordinate> > OpenSim::Model::getCoordinatesInMultibodyTreeOrder ( ) const

Obtain a list of Model's Coordinates in the order they appear in the MultibodySystem after Model::initSystem() has been called.

Coordinates in the CoordinateSet do not have a predefined order. In some instances it is helpful to get the coordinates in order of generalized coordinates in the Multibody Tree as defined in the underlying MultibodySystem. For example, computing the generalized forces from the System, yields a vector of generalized forces in order of the Multibody Tree and now that can be attributed to corresponding generalized Coordinates of the Model. Throws if the MultibodySystem is not valid.

◆ getCredits()

const std::string& OpenSim::Model::getCredits ( ) const

inline

Get the credits (e.g., model author names) associated with the model.

Returns: Credits string.

◆ getDefaultControls()

const SimTK::Vector& OpenSim::Model::getDefaultControls ( ) const

inline

◆ getDefaultSubsystem()

const SimTK::DefaultSystemSubsystem& OpenSim::Model::getDefaultSubsystem ( ) const

inline

Get read-only access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem.

◆ getDisplayHints()

const ModelDisplayHints& OpenSim::Model::getDisplayHints ( ) const

inline

Get read only access to the ModelDisplayHints object stored with this Model.

These should be checked whenever display geometry is being generated.

◆ getForceSet()

const ForceSet& OpenSim::Model::getForceSet ( ) const

inline

◆ getForceSubsystem()

const SimTK::GeneralForceSubsystem& OpenSim::Model::getForceSubsystem ( ) const

inline

Get read-only access to the internal Simbody GeneralForceSubsystem allocated by this Model.

◆ getForceUnits()

const Units& OpenSim::Model::getForceUnits ( ) const

inline

Get the force units associated with the model.

Returns: Force units

◆ getGravity()

SimTK::Vec3 OpenSim::Model::getGravity ( ) const

Get the gravity vector in the global frame.

Returns: The XYZ gravity vector in the global frame.

◆ getGravityForce()

const SimTK::Force::Gravity& OpenSim::Model::getGravityForce ( ) const

inline

Get read-only access to the Simbody Force::Gravity element that was allocated by this Model.

◆ getGround()

const Ground& OpenSim::Model::getGround ( ) const

Get a const reference to the Ground reference frame.

Examples:: exampleHangingMuscle.cpp.

◆ getInertiaAboutMassCenter()

SimTK::Inertia OpenSim::Model::getInertiaAboutMassCenter ( const SimTK::State & s ) const

◆ getInputFileName()

const std::string& OpenSim::Model::getInputFileName ( ) const

inline

Get the XML file name used to construct the model.

Returns: XML file name string.

◆ getJointSet()

const JointSet& OpenSim::Model::getJointSet ( ) const

◆ getLengthUnits()

const Units& OpenSim::Model::getLengthUnits ( ) const

inline

Get the length units associated with the model.

Returns: Length units.

◆ getMarkerSet()

const MarkerSet& OpenSim::Model::getMarkerSet ( ) const

inline

◆ getMatterSubsystem()

const SimTK::SimbodyMatterSubsystem& OpenSim::Model::getMatterSubsystem ( ) const

inline

Get read-only access to the internal SimbodyMatterSubsystem allocated by this Model.

Referenced by OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::calc_differential_algebraic_equations(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcAndApplyKinematicConstraintForces(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcKinematicConstraintErrors(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ getMiscModelComponentSet()

const ComponentSet& OpenSim::Model::getMiscModelComponentSet ( ) const

inline

Get the subst of misc ModelComponents in the model.

Returns: The set of misc ModelComponents

◆ getMultibodySystem()

const SimTK::MultibodySystem& OpenSim::Model::getMultibodySystem ( ) const

inline

Get read-only access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call.

◆ getMuscles()

const Set<Muscle>& OpenSim::Model::getMuscles ( ) const

Get the subset of Forces in the model which are muscles.

Returns: The set of Muscles

◆ getNumAnalyses()

int OpenSim::Model::getNumAnalyses ( ) const

Get the number of analyses in the model.

Returns: The number of analyses.

◆ getNumBodies()

int OpenSim::Model::getNumBodies ( ) const

Get the total number of bodies in the model.

Returns: Number of bodies.

◆ getNumConstraints()

int OpenSim::Model::getNumConstraints ( ) const

Get the total number of constraints in the model.

Returns: Number of constraints.

◆ getNumContactGeometries()

int OpenSim::Model::getNumContactGeometries ( ) const

Get the number of ContactGeometries in the model.

Returns: Number of ContactGeometries.

◆ getNumControls()

int OpenSim::Model::getNumControls ( ) const

Get the number of controls for this the model.

Only valid once underlying system for the model has been created. Throws an exception if called before Model::initSystem()

Returns: number of controls corresponding to all the actuators in the model

◆ getNumCoordinates()

int OpenSim::Model::getNumCoordinates ( ) const

Get the total number of coordinates in the model.

Returns: Number of coordinates.

◆ getNumJoints()

int OpenSim::Model::getNumJoints ( ) const

Get the total number of joints in the model.

Returns: Number of joints.

◆ getNumMarkers()

int OpenSim::Model::getNumMarkers ( ) const

Get the number of markers in the model.

Returns: Number of markers.

◆ getNumMuscleStates()

int OpenSim::Model::getNumMuscleStates ( ) const

◆ getNumProbes()

int OpenSim::Model::getNumProbes ( ) const

Get the total number of probes in the model.

Returns: Number of probes.

◆ getNumProbeStates()

int OpenSim::Model::getNumProbeStates ( ) const

◆ getNumSpeeds()

int OpenSim::Model::getNumSpeeds ( ) const

Get the total number of speeds in the model.

Returns: Number of speeds.

◆ getObjectByTypeAndName()

const Object& OpenSim::Model::getObjectByTypeAndName	(	const std::string &	typeString,
		const std::string &	nameString
	)

Utility to get a reference to an Object based on its name and type throws an exception if the object was not found.

names are case sensitive

Parameters

typeString	the type of object being looked up (Body, Force, Constraint, Coordinate, Joint, Marker, Controller, Frame)
nameString	the name of the object being looked up

Returns: reference to the object if found or throws an exception.

◆ getProbeSet()

const ProbeSet& OpenSim::Model::getProbeSet ( ) const

inline

Get the subset of Probes in the model.

Returns: The set of Probes

◆ getPublications()

const std::string& OpenSim::Model::getPublications ( ) const

inline

Get the publications associated with the model.

Returns: Publications string.

◆ getSimbodyEngine()

const SimbodyEngine& OpenSim::Model::getSimbodyEngine ( ) const

inline

Get the model's dynamics engine.

Returns: Reference to the Simbody dynamics engine

Referenced by OpenSim::TableProcessor::processAndConvertToRadians().

◆ getTotalMass()

double OpenSim::Model::getTotalMass ( const SimTK::State & s ) const

◆ getUseVisualizer()

bool OpenSim::Model::getUseVisualizer ( ) const

inline

Return the current setting of the "use visualizer" flag, which will take effect at the next call to initSystem() on this Model.

◆ getValidationLog()

const std::string& OpenSim::Model::getValidationLog ( ) const

inline

Get a log of errors/warnings encountered when loading/constructing the model.

◆ getVisualizer()

const ModelVisualizer& OpenSim::Model::getVisualizer ( ) const

inline

Obtain read-only access to the ModelVisualizer.

This will throw an exception if visualization was not requested or initSystem() not yet called.

Returns: A const reference to the allocated ModelVisualizer.

◆ getWarningMesssageForMotionTypeInconsistency()

std::string OpenSim::Model::getWarningMesssageForMotionTypeInconsistency ( ) const

Get a warning message if any Coordinates have a MotionType that is NOT consistent with its previous user-specified value that existed in Model files prior to OpenSim 4.0.

◆ getWorkingState()

const SimTK::State& OpenSim::Model::getWorkingState ( ) const

Convenience method that returns a reference to the model's 'working' state.

This is just returning the reference that was returned by initSystem() and initializeState() – note that either of these methods must be called prior to getWorkingState(), otherwise an empty state will be returned.

◆ hasVisualizer()

bool OpenSim::Model::hasVisualizer ( ) const

inline

Test whether a ModelVisualizer has been created for this Model.

Even if visualization has been requested there will be no visualizer present until initSystem() has been successfully invoked. Use this method prior to calling getVisualizer() or updVisualizer() to avoid an unpleasant exception.

◆ initializeState()

SimTK::State& OpenSim::Model::initializeState ( )

After buildSystem() has been called, and any additional modifications to the Simbody MultibodySystem have been made, call this method to finalize the MultibodySystem (by calling its realizeTopology() method), obtain an initial state, and assemble it so that position constraints are satisfied.

The initStateFromProperties() method of each contained ModelComponent will be invoked. A reference to the writable internally- maintained model State is returned (note that this does not affect the system's default state (which is part of the model and hence read only). The model's state can be reset to the system's default state at any time by re-executing initializeState().

◆ initStateWithoutRecreatingSystem()

void OpenSim::Model::initStateWithoutRecreatingSystem ( SimTK::State & state ) const

inline

This is called after the Model is fully created but before starting a simulation.

It ONLY initializes the computational system used to simulate the model and addToSystem() has been called already. This method should only be used if if additional SimTK::System components are being added using the SimTK API and the programmer is certain that the model's system has been created.

◆ initSystem()

SimTK::State& OpenSim::Model::initSystem ( )

inline

Convenience method that invokes buildSystem() and then initializeState().

This returns a reference to the writable internally- maintained model State. Note that this does not affect the system's default state (which is part of the model and hence read-only).

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, and exampleCustomImplicitAuxiliaryDynamics.cpp.

Referenced by OpenSim::analyze(), OpenSim::ModOpAddReserves::operate(), and OpenSim::ModOpReplaceJointsWithWelds::operate().

◆ invalidateSystem()

void OpenSim::Model::invalidateSystem ( )

Mark the computational system as invalid.

This should be called whenever a property of the model is modified. Once this has been called, no calculations can be done until initSystem() is called again.

◆ isControlled()

bool OpenSim::Model::isControlled ( ) const

Get a flag indicating if the model needs controls to operate its actuators.

◆ isValidSystem()

bool OpenSim::Model::isValidSystem ( ) const

Check that the underlying computational system representing the model is valid.

That is, is the system ready for performing calculations.

◆ markControlsAsValid()

void OpenSim::Model::markControlsAsValid ( const SimTK::State & s ) const

Mark controls as valid after an update at a given state.

Indicates that controls are valid for use at the dynamics stage. If the stage is Velocity or lower the controls will remain invalid.

Parameters

[in] s System state in which the controls are updated

◆ overrideAllActuators()

void OpenSim::Model::overrideAllActuators	(	SimTK::State &	s,
		bool	flag
	)

Convenience function to turn on/off overriding the force for all actuators.

◆ printBasicInfo()

void OpenSim::Model::printBasicInfo ( std::ostream & aOStream = std::cout ) const

Print some basic information about the model.

Parameters

aOStream Output stream. If this is std::cout, then the info is logged using OpenSim's Logger so that the info is printed to all log sinks.

◆ printControlStorage()

void OpenSim::Model::printControlStorage ( const std::string & fileName ) const

◆ printDetailedInfo()

void OpenSim::Model::printDetailedInfo	(	const SimTK::State &	s,
		std::ostream &	aOStream = `std::cout`
	)		const

Print detailed information about the model.

Parameters

s	the system State.
aOStream	Output stream. If this is std::cout, then the info is logged using OpenSim's Logger so that the info is printed to all log sinks.

◆ realizeAcceleration()

void OpenSim::Model::realizeAcceleration ( const SimTK::State & state ) const

Perform computations that may depend on applied forces.

◆ realizeDynamics()

void OpenSim::Model::realizeDynamics ( const SimTK::State & state ) const

Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces.

◆ realizePosition()

void OpenSim::Model::realizePosition ( const SimTK::State & state ) const

Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time).

◆ realizeReport()

void OpenSim::Model::realizeReport ( const SimTK::State & state ) const

Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior.

Referenced by OpenSim::analyze().

◆ realizeTime()

void OpenSim::Model::realizeTime ( const SimTK::State & state ) const

Perform computations that depend only on time and earlier stages.

◆ realizeVelocity()

void OpenSim::Model::realizeVelocity ( const SimTK::State & state ) const

Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time).

Referenced by OpenSim::analyze(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcAndApplyKinematicConstraintForces().

◆ removeAnalysis()

void OpenSim::Model::removeAnalysis	(	Analysis *	analysis,
		bool	deleteIt = `true`
	)

Remove an Analysis from the Model.

Parameters

analysis	Pointer to the analysis to remove.
deleteIt	Whether the removed object should be deleted.

◆ removeController()

void OpenSim::Model::removeController ( Controller * aController )

Remove a Controller from the Model.

◆ removeProbe()

void OpenSim::Model::removeProbe ( Probe * probe )

remove passed in Probe from model

◆ safeDownCast()

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

inlinestatic

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

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

◆ scale()

bool OpenSim::Model::scale	(	SimTK::State &	state,
		const ScaleSet &	scaleSet,
		bool	preserveMassDist,
		double	finalMass = `-1.0`
	)

Scale the model.

Parameters

state	State containing parameter values that might be modified here.
scaleSet	The set of XYZ scale factors for the bodies.
preserveMassDist	Whether the masses of the bodies should be scaled by the scale factors. If `false`, body masses will be adjusted only if `finalMass` has been specified; if `true`, body masses will be scaled by the product of the body's scale factors (and then a second time if `finalMass` has been specified). Inertias are always updated to reflect changes in body dimensions.
finalMass	The total mass that the scaled model should have.

Returns: Whether or not scaling was successful.

◆ set_assembly_accuracy()

void OpenSim::Model::set_assembly_accuracy ( const double & value )

inline

Set the value of the assembly_accuracy property.

◆ set_BodySet()

void OpenSim::Model::set_BodySet ( const BodySet & value )

inline

Set the value of the BodySet property.

◆ set_ComponentSet()

void OpenSim::Model::set_ComponentSet ( const ComponentSet & value )

inline

Set the value of the ComponentSet property.

◆ set_ConstraintSet()

void OpenSim::Model::set_ConstraintSet ( const ConstraintSet & value )

inline

Set the value of the ConstraintSet property.

◆ set_ContactGeometrySet()

void OpenSim::Model::set_ContactGeometrySet ( const ContactGeometrySet & value )

inline

Set the value of the ContactGeometrySet property.

◆ set_ControllerSet()

void OpenSim::Model::set_ControllerSet ( const ControllerSet & value )

inline

Set the value of the ControllerSet property.

◆ set_credits()

void OpenSim::Model::set_credits ( const std::string & value )

inline

Set the value of the credits property.

◆ set_force_units()

void OpenSim::Model::set_force_units ( const std::string & value )

inline

Set the value of the force_units property.

◆ set_ForceSet()

void OpenSim::Model::set_ForceSet ( const ForceSet & value )

inline

Set the value of the ForceSet property.

◆ set_gravity()

void OpenSim::Model::set_gravity ( const SimTK::Vec3 & value )

inline

Set the value of the gravity property.

Examples:: exampleHangingMuscle.cpp.

◆ set_ground()

void OpenSim::Model::set_ground ( const Ground & value )

inline

Set the value of the ground property.

◆ set_JointSet()

void OpenSim::Model::set_JointSet ( const JointSet & value )

inline

Set the value of the JointSet property.

◆ set_length_units()

void OpenSim::Model::set_length_units ( const std::string & value )

inline

Set the value of the length_units property.

◆ set_MarkerSet()

void OpenSim::Model::set_MarkerSet ( const MarkerSet & value )

inline

Set the value of the MarkerSet property.

◆ set_ModelVisualPreferences()

void OpenSim::Model::set_ModelVisualPreferences ( const ModelVisualPreferences & value )

inline

Set the value of the ModelVisualPreferences property.

◆ set_ProbeSet()

void OpenSim::Model::set_ProbeSet ( const ProbeSet & value )

inline

Set the value of the ProbeSet property.

◆ set_publications()

void OpenSim::Model::set_publications ( const std::string & value )

inline

Set the value of the publications property.

◆ setAllControllersEnabled()

void OpenSim::Model::setAllControllersEnabled ( bool enabled )

◆ setAuthors()

void OpenSim::Model::setAuthors ( const std::string & aCredits )

inline

Set the credits (e.g., model author names) associated with the model.

Parameters

aCredits The string of credits.

◆ setControls()

void OpenSim::Model::setControls	(	const SimTK::State &	s,
		const SimTK::Vector &	controls
	)		const

Alternatively, set the controls on the model at a given state.

Note, this method will invalidate the dynamics of the model, but will mark the controls as valid. (E.g. controllers will not be invoked)

Parameters

[in]	s	System state at which to apply the controls
[in]	controls	The complete Vector of controls to be applied

Referenced by OpenSim::analyze().

◆ setDefaultControls()

void OpenSim::Model::setDefaultControls ( const SimTK::Vector & controls ) const

inline

◆ setGravity()

bool OpenSim::Model::setGravity ( const SimTK::Vec3 & aGrav )

Set the gravity vector in the global frame.

Parameters

aGrav The XYZ gravity vector

Returns: Whether or not the gravity vector was successfully set.

◆ setInputFileName()

void OpenSim::Model::setInputFileName ( const std::string & fileName )

inline

Set the XML file name used to construct the model.

Parameters

fileName The XML file name.

◆ setPublications()

void OpenSim::Model::setPublications ( const std::string & aPublications )

inline

Set the publications associated with the model.

Parameters

aPublications The string of publications.

◆ setup()

void OpenSim::Model::setup ( )

Perform some set up functions that happen after the object has been deserialized.

TODO: this method is not yet designed to be called after a model has been copied.

◆ setUseVisualizer()

void OpenSim::Model::setUseVisualizer ( bool visualize )

inline

Request or suppress visualization of this Model.

This flag is checked during initSystem() and if set causes the Model to allocate a ModelVisualizer that provides visualization and interaction with the Model as it is executing. The default is no visualization.

See also: getModelVisualizer()

◆ storeControls()

void OpenSim::Model::storeControls	(	const SimTK::State &	s,
		int	step
	)

◆ upd_assembly_accuracy()

double& OpenSim::Model::upd_assembly_accuracy ( )

inline

Get a writable reference to the assembly_accuracy property.

◆ upd_BodySet()

BodySet& OpenSim::Model::upd_BodySet ( )

inline

Get a writable reference to the BodySet property.

◆ upd_ComponentSet()

ComponentSet& OpenSim::Model::upd_ComponentSet ( )

inline

Get a writable reference to the ComponentSet property.

◆ upd_ConstraintSet()

ConstraintSet& OpenSim::Model::upd_ConstraintSet ( )

inline

Get a writable reference to the ConstraintSet property.

◆ upd_ContactGeometrySet()

ContactGeometrySet& OpenSim::Model::upd_ContactGeometrySet ( )

inline

Get a writable reference to the ContactGeometrySet property.

◆ upd_ControllerSet()

ControllerSet& OpenSim::Model::upd_ControllerSet ( )

inline

Get a writable reference to the ControllerSet property.

◆ upd_credits()

std::string& OpenSim::Model::upd_credits ( )

inline

Get a writable reference to the credits property.

◆ upd_force_units()

std::string& OpenSim::Model::upd_force_units ( )

inline

Get a writable reference to the force_units property.

◆ upd_ForceSet()

ForceSet& OpenSim::Model::upd_ForceSet ( )

inline

Get a writable reference to the ForceSet property.

◆ upd_gravity()

SimTK::Vec3& OpenSim::Model::upd_gravity ( )

inline

Get a writable reference to the gravity property.

◆ upd_ground()

Ground& OpenSim::Model::upd_ground ( )

inline

Get a writable reference to the ground property.

◆ upd_JointSet()

JointSet& OpenSim::Model::upd_JointSet ( )

inline

Get a writable reference to the JointSet property.

◆ upd_length_units()

std::string& OpenSim::Model::upd_length_units ( )

inline

Get a writable reference to the length_units property.

◆ upd_MarkerSet()

MarkerSet& OpenSim::Model::upd_MarkerSet ( )

inline

Get a writable reference to the MarkerSet property.

◆ upd_ModelVisualPreferences()

ModelVisualPreferences& OpenSim::Model::upd_ModelVisualPreferences ( )

inline

Get a writable reference to the ModelVisualPreferences property.

◆ upd_ProbeSet()

ProbeSet& OpenSim::Model::upd_ProbeSet ( )

inline

Get a writable reference to the ProbeSet property.

◆ upd_publications()

std::string& OpenSim::Model::upd_publications ( )

inline

Get a writable reference to the publications property.

◆ updActuators()

Set<Actuator>& OpenSim::Model::updActuators ( )

◆ updAnalysisSet()

AnalysisSet& OpenSim::Model::updAnalysisSet ( )

inline

◆ updateAssemblyConditions()

void OpenSim::Model::updateAssemblyConditions ( SimTK::State & s )

Update the AssemblySolver to the latest coordinate locking/constraints.

◆ updateFromXMLNode()

void OpenSim::Model::updateFromXMLNode	(	SimTK::Xml::Element &	aNode,
		int	versionNumber = `-1`
	)

overridevirtual

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Component.

◆ updateMarkerSet()

void OpenSim::Model::updateMarkerSet ( MarkerSet & newMarkerSet )

Update the markers in the model by appending the ones in the passed-in marker set.

If the marker of the same name exists in the model, then replace it.

Parameters

newMarkerSet the set of markers used to update the model's set.

◆ updBodySet()

BodySet& OpenSim::Model::updBodySet ( )

inline

◆ updConstraintSet()

ConstraintSet& OpenSim::Model::updConstraintSet ( )

inline

◆ updContactGeometrySet()

ContactGeometrySet& OpenSim::Model::updContactGeometrySet ( )

inline

◆ updControllerSet()

ControllerSet& OpenSim::Model::updControllerSet ( )

◆ updControls()

SimTK::Vector& OpenSim::Model::updControls ( const SimTK::State & s ) const

Update the controls for this the model at a given state.

Only callable once underlying system for the model has been created. Throws an exception if called before Model::initSystem() This call invalidates the dynamics of the model and invalidates the value of the controls until they are marked as valid when the update is completed (

See also: markControlsAsValid)

Parameters

[in] s System state at which to apply the controls

Returns: writable controls Vector

◆ updCoordinateSet()

CoordinateSet& OpenSim::Model::updCoordinateSet ( )

inline

◆ updDefaultControls()

SimTK::Vector& OpenSim::Model::updDefaultControls ( ) const

inline

Writable access to the default values for controls.

These values are used for control value during a simulation unless updated, for example, by a Controller

◆ updDefaultSubsystem()

SimTK::DefaultSystemSubsystem& OpenSim::Model::updDefaultSubsystem ( )

inline

(Advanced) Get writable access to the internal DefaultSystemSubsystem allocated by this Model's Simbody MultibodySystem.

◆ updDisplayHints()

ModelDisplayHints& OpenSim::Model::updDisplayHints ( )

inline

Get writable access to the ModelDisplayHints object stored with this Model.

The GUI or ModelVisualizer can update these as a result of user requests, or an OpenSim API program can set them programmatically.

◆ updForceSet()

ForceSet& OpenSim::Model::updForceSet ( )

inline

◆ updForceSubsystem()

SimTK::GeneralForceSubsystem& OpenSim::Model::updForceSubsystem ( )

inline

(Advanced) Get writable access to the internal Simbody GeneralForceSubsystem allocated by this Model.

◆ updGravityForce()

SimTK::Force::Gravity& OpenSim::Model::updGravityForce ( )

inline

(Advanced) Get writable access to the Simbody Force::Gravity element that was allocated by this Model.

◆ updGround()

Ground& OpenSim::Model::updGround ( )

Get a writable reference to the Ground reference frame.

Examples:: exampleHangingMuscle.cpp.

◆ updJointSet()

JointSet& OpenSim::Model::updJointSet ( )

◆ updMarkerSet()

MarkerSet& OpenSim::Model::updMarkerSet ( )

inline

◆ updMatterSubsystem()

SimTK::SimbodyMatterSubsystem& OpenSim::Model::updMatterSubsystem ( )

inline

(Advanced) Get writable access to the internal SimbodyMatterSubsystem allocated by this Model.

◆ updMiscModelComponentSet()

ComponentSet& OpenSim::Model::updMiscModelComponentSet ( )

inline

◆ updMultibodySystem()

SimTK::MultibodySystem& OpenSim::Model::updMultibodySystem ( ) const

inline

(Advanced) Get writable access to the internal Simbody MultibodySystem that was created by this Model at the last initSystem() call.

Be careful if you make modifications to the System because that will invalidate initialization already performed by the Model.

See also: initStateWithoutRecreatingSystem()

◆ updMuscles()

Set<Muscle>& OpenSim::Model::updMuscles ( )

◆ updProbeSet()

ProbeSet& OpenSim::Model::updProbeSet ( )

inline

◆ updSimbodyEngine()

SimbodyEngine& OpenSim::Model::updSimbodyEngine ( )

inline

◆ updVisualizer()

ModelVisualizer& OpenSim::Model::updVisualizer ( )

inline

Obtain writable access to the ModelVisualizer.

This will throw an exception if visualization was not requested or initSystem() not yet called. Writable access to the ModelVisualizer requires that you have writable access to this containing Model.

Returns: A non-const reference to the allocated ModelVisualizer.

◆ updWorkingState()

SimTK::State& OpenSim::Model::updWorkingState ( )

◆ writeMarkerFile()

void OpenSim::Model::writeMarkerFile ( const std::string & aFileName )

OpenSim Property, Socket, Output, Input Documentation

◆ assembly_accuracy

double OpenSim::Model::assembly_accuracy

"Specify how accurate the resulting configuration of a model assembly " "should be. This translates to the number of significant digits in the " "resulting coordinate values. Therefore, if you require initial conditions " "accurate to four significant digits, use a minimum of 1e-4 as the accuracy." "The default setting is 1e-9 as to satisfy the most stringent requirements by " "default. NOTE: Failure for a model to satisfy the assembly accuracy often " "indicates inconsistency in the constraints. For example, the feet are welded " "at locations measured to five significant digits while the model lacks dofs " "to change stance width, in which case it cannot achieve 1e-9 accuracy."

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

See also: get_assembly_accuracy(), upd_assembly_accuracy(), set_assembly_accuracy()

◆ BodySet

BodySet OpenSim::Model::BodySet

"List of bodies that make up this model."

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

See also: get_BodySet(), upd_BodySet(), set_BodySet()

◆ com_acceleration

SimTK::Vec3 OpenSim::Model::com_acceleration

Provides the value of calcMassCenterAcceleration() and is available at stage SimTK::Stage::Acceleration .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ com_position

SimTK::Vec3 OpenSim::Model::com_position

Provides the value of calcMassCenterPosition() and is available at stage SimTK::Stage::Position .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ com_velocity

SimTK::Vec3 OpenSim::Model::com_velocity

Provides the value of calcMassCenterVelocity() and is available at stage SimTK::Stage::Velocity .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ ComponentSet

ComponentSet OpenSim::Model::ComponentSet

"Additional components in the model."

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

See also: get_ComponentSet(), upd_ComponentSet(), set_ComponentSet()

◆ ConstraintSet

ConstraintSet OpenSim::Model::ConstraintSet

"Constraints in the model."

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

See also: get_ConstraintSet(), upd_ConstraintSet(), set_ConstraintSet()

◆ ContactGeometrySet

ContactGeometrySet OpenSim::Model::ContactGeometrySet

"Geometry to be used in contact forces."

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

See also: get_ContactGeometrySet(), upd_ContactGeometrySet(), set_ContactGeometrySet()

◆ ControllerSet

ControllerSet OpenSim::Model::ControllerSet

"Controllers that provide the control inputs for Actuators."

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

See also: get_ControllerSet(), upd_ControllerSet(), set_ControllerSet()

◆ credits

std::string OpenSim::Model::credits

"Credits (e.g., model author names) associated with the model."

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

See also: get_credits(), upd_credits(), set_credits()

◆ force_units

std::string OpenSim::Model::force_units

"Units for all forces."

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

See also: get_force_units(), upd_force_units(), set_force_units()

◆ ForceSet

ForceSet OpenSim::Model::ForceSet

"Forces in the model (includes Actuators)."

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

See also: get_ForceSet(), upd_ForceSet(), set_ForceSet()

◆ gravity

SimTK::Vec3 OpenSim::Model::gravity

"Acceleration due to gravity, expressed in ground."

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

See also: get_gravity(), upd_gravity(), set_gravity()

◆ ground

Ground OpenSim::Model::ground

"The model's ground reference frame."

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

See also: get_ground(), upd_ground(), set_ground()

◆ JointSet

JointSet OpenSim::Model::JointSet

"List of joints that connect the bodies."

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

See also: get_JointSet(), upd_JointSet(), set_JointSet()

◆ kinetic_energy

double OpenSim::Model::kinetic_energy

Provides the value of calcKineticEnergy() and is available at stage SimTK::Stage::Position .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ length_units

std::string OpenSim::Model::length_units

"Units for all lengths."

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

See also: get_length_units(), upd_length_units(), set_length_units()

◆ MarkerSet

MarkerSet OpenSim::Model::MarkerSet

"Markers in the model."

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

See also: get_MarkerSet(), upd_MarkerSet(), set_MarkerSet()

◆ ModelVisualPreferences

ModelVisualPreferences OpenSim::Model::ModelVisualPreferences

"Visual preferences for this model."

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

See also: get_ModelVisualPreferences(), upd_ModelVisualPreferences(), set_ModelVisualPreferences()

◆ potential_energy

double OpenSim::Model::potential_energy

Provides the value of calcPotentialEnergy() and is available at stage SimTK::Stage::Velocity .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ ProbeSet

ProbeSet OpenSim::Model::ProbeSet

"Probes in the model."

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

See also: get_ProbeSet(), upd_ProbeSet(), set_ProbeSet()

◆ publications

std::string OpenSim::Model::publications

"Publications and references associated with the model."

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

See also: get_publications(), upd_publications(), set_publications()

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

OpenSim/Simulation/Model/Model.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Model() [1/2]

◆ Model() [2/2]

◆ ~Model()

Member Function Documentation

◆ addAnalysis()

◆ addBody()

◆ addConstraint()

◆ addContactGeometry()

◆ addController()

◆ addForce()

◆ addJoint()

◆ addMarker()

◆ addModelComponent()

◆ addProbe()

◆ appendToValidationLog()

◆ applyDefaultConfiguration()

◆ assemble()

◆ buildSystem()

◆ calcKineticEnergy()

◆ calcMassCenterAcceleration()

◆ calcMassCenterPosition()

◆ calcMassCenterVelocity()

◆ calcPotentialEnergy()

◆ cleanup()

◆ clearValidationLog()

◆ clone()

◆ computeControls()

◆ computeStateVariableDerivatives()

◆ deleteUnusedMarkers()

◆ disownAllComponents()

◆ equilibrateMuscles()

◆ extendAddToSystem()

◆ extendConnectToModel()

◆ extendFinalizeFromProperties()

◆ extendInitStateFromProperties()

◆ extendSetPropertiesFromState()

◆ finalizeConnections() [1/2]

◆ finalizeConnections() [2/2]

◆ formQStorage()

◆ formStateStorage()

◆ generateDecorations()

◆ get_assembly_accuracy()

◆ get_BodySet()

◆ get_ComponentSet()

◆ get_ConstraintSet()

◆ get_ContactGeometrySet()

◆ get_ControllerSet()

◆ get_credits()

◆ get_force_units()

◆ get_ForceSet()

◆ get_gravity()

◆ get_ground()

◆ get_JointSet()

◆ get_length_units()

◆ get_MarkerSet()

◆ get_ModelVisualPreferences()

◆ get_ProbeSet()

◆ get_publications()

◆ getActuators()

◆ getAllControllersEnabled()

◆ getAnalysisSet()

◆ getBodySet()

◆ getClassName()

◆ getConcreteClassName()

◆ getConstraintSet()

◆ getContactGeometrySet()

◆ getControllerSet()

◆ getControls()

◆ getControlsTable()

◆ getCoordinateSet()

◆ getCoordinatesInMultibodyTreeOrder()

◆ getCredits()

◆ getDefaultControls()

◆ getDefaultSubsystem()

◆ getDisplayHints()