OpenSim::PhysicalFrame Class Reference

A PhysicalFrame is a Frame that locates a physical element of the multi- body system that underlies a Model. More...

Inheritance diagram for OpenSim::PhysicalFrame:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (unnamed)
WrapObjectSet	WrapObjectSet
	"Set of wrap objects fixed to this body that GeometryPaths can wrap over." "This property used to be a member of Body but was moved up with " "the introduction of Frames." More...
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Frame
FrameGeometry	frame_geometry
	"The geometry used to display the axes of this Frame." More...
Geometry	attached_geometry
	"List of geometry attached to this Frame. Note, the geometry " "are treated as fixed to the frame and they share the transform " "of the frame when visualized" More...
SimTK::Vec3	position
	Provides the value of getPositionInGround() and is available at stage SimTK::Stage::Position . More...
SimTK::Rotation	rotation
	Provides the value of getRotationInGround() and is available at stage SimTK::Stage::Position . More...
SimTK::Transform	transform
	Provides the value of getTransformInGround() and is available at stage SimTK::Stage::Position . More...
SimTK::SpatialVec	velocity
	Provides the value of getVelocityInGround() and is available at stage SimTK::Stage::Velocity . More...
SimTK::Vec3	angular_velocity
	Provides the value of getAngularVelocityInGround() and is available at stage SimTK::Stage::Velocity . More...
SimTK::Vec3	linear_velocity
	Provides the value of getLinearVelocityInGround() and is available at stage SimTK::Stage::Velocity . More...
SimTK::SpatialVec	acceleration
	Provides the value of getAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More...
SimTK::Vec3	angular_acceleration
	Provides the value of getAngularAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More...
SimTK::Vec3	linear_acceleration
	Provides the value of getLinearAccelerationInGround() and is available at stage SimTK::Stage::Acceleration . More...
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component
Component	components
	"List of components that this component owns and serializes." More...

Public Member Functions
	PhysicalFrame ()
virtual	~PhysicalFrame ()
Property-related functions
const WrapObjectSet &	get_WrapObjectSet () const
	Get the value of the WrapObjectSet property. More...
WrapObjectSet &	upd_WrapObjectSet ()
	Get a writable reference to the WrapObjectSet property. More...
void	set_WrapObjectSet (const WrapObjectSet &value)
	Set the value of the WrapObjectSet property. More...
Advanced: PhysicalFrame's SimTK::MobilizedBody Access
Although these methods are public, they are intended for advanced users and developers to access System resources associated with the MobilizedBody that underlies the PhysicalFrame. For example, Solvers operate on the System and not on the OpenSim modeling abstractions, such as Frames. All PhysicalFrames are backed by a SimTK::MobilizedBody, which is the fundamental rigid element of a Simbody SimTK::MultibodySystem.
const SimTK::MobilizedBodyIndex &	getMobilizedBodyIndex () const
	This method returns the MobilizedBodyIndex of the MobilizedBody for this PhysicalFrame. More...
const SimTK::MobilizedBody &	getMobilizedBody () const
	Access a readable SimTK::MobilizedBody that backs this PhysicalFrame. More...
SimTK::MobilizedBody &	updMobilizedBody ()
	Access a writable SimTK::MobilizedBody that backs this PhysicalFrame. More...
DEPRECATED API
const WrapObject *	getWrapObject (const std::string &aName) const
	Deprecated methods for intermediate integration of Frames. More...
const WrapObjectSet &	getWrapObjectSet () const
void	addWrapObject (WrapObject *wrapObject)
	Add a wrap object to the Body. More...
Public Member Functions inherited from OpenSim::Frame
	Frame ()
virtual	~Frame ()
void	attachGeometry (OpenSim::Geometry *geom)
	Attach Geometry to this Frame and have this Frame take ownership of it by adding it to this Frame's <attached_geometry> property list. More...
void	scaleAttachedGeometry (const SimTK::Vec3 &scaleFactors)
void	extendScale (const SimTK::State &s, const ScaleSet &scaleSet) override
	Scales Geometry components that reside in the Frame's attached_geometry list property. More...
const FrameGeometry &	get_frame_geometry () const
	Get the value of the frame_geometry property. More...
FrameGeometry &	upd_frame_geometry ()
	Get a writable reference to the frame_geometry property. More...
void	set_frame_geometry (const FrameGeometry &value)
	Set the value of the frame_geometry property. More...
const Geometry &	get_attached_geometry (int i) const
	Get the value of the i-th element of the attached_geometry property. More...
Geometry &	upd_attached_geometry (int i)
	Get a writable reference to the i-th element of the attached_geometry property. More...
void	set_attached_geometry (int i, const Geometry &value)
	Set the value of the i-th element of attached_geometry property. More...
int	append_attached_geometry (const Geometry &value)
	Append an element to the attached_geometry property. More...
const SimTK::Transform &	getTransformInGround (const SimTK::State &state) const
	Get the transform of this frame (F) relative to the ground frame (G). More...
const SimTK::SpatialVec &	getVelocityInGround (const SimTK::State &state) const
	The spatial velocity V_GF {omega; v} of this Frame, measured with respect to and expressed in the ground frame. More...
const SimTK::Vec3 &	getAngularVelocityInGround (const SimTK::State &state) const
	The angular velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getVelocityInGround()). More...
const SimTK::Vec3 &	getLinearVelocityInGround (const SimTK::State &state) const
	The linear velocity of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getVelocityInGround()). More...
const SimTK::SpatialVec &	getAccelerationInGround (const SimTK::State &state) const
	The spatial acceleration A_GF {alpha; a} of this Frame, measured with respect to and expressed in the ground frame. More...
const SimTK::Vec3 &	getAngularAccelerationInGround (const SimTK::State &state) const
	The angular acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the first half of the SpatialVec returned by getAccelerationInGround()). More...
const SimTK::Vec3 &	getLinearAccelerationInGround (const SimTK::State &state) const
	The linear acceleration of this Frame, measured with respect to and expressed in the ground frame (i.e., the second half of the SpatialVec returned by getAccelerationInGround()). More...
SimTK::Transform	findTransformBetween (const SimTK::State &state, const Frame &otherFrame) const
	Find the transform that describes this frame (F) relative to another frame (A). More...
SimTK::Vec3	expressVectorInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &vec_F, const Frame &otherFrame) const
	Take a vector expressed in this frame (F) and re-express the same vector in another frame (A). More...
SimTK::Vec3	expressVectorInGround (const SimTK::State &state, const SimTK::Vec3 &vec_F) const
	Take a vector in this frame (F) and re-express the same vector in Ground (G). More...
SimTK::Vec3	findStationLocationInAnotherFrame (const SimTK::State &state, const SimTK::Vec3 &station_F, const Frame &otherFrame) const
	Take a station located and expressed in this frame (F) and determine its location relative to and expressed in another frame (A). More...
SimTK::Vec3	findStationLocationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const
	Take a station located and expressed in this frame (F) and determine its location relative to and expressed in Ground (G). More...
SimTK::Vec3	findStationVelocityInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const
	Take a station located and expressed in this frame (F) and determine its velocity relative to and expressed in Ground (G). More...
SimTK::Vec3	findStationAccelerationInGround (const SimTK::State &state, const SimTK::Vec3 &station_F) const
	Take a station located and expressed in this frame (F) and determine its acceleration relative to and expressed in Ground (G). More...
const Frame &	findBaseFrame () const
	Find this Frame's base Frame. More...
SimTK::Transform	findTransformInBaseFrame () const
	Find the equivalent Transform of this Frame (F) in its base (B) Frame. More...
SimTK::Vec3	getPositionInGround (const SimTK::State &state) const
	Accessor for position of the origin of the Frame in Ground. More...
SimTK::Rotation	getRotationInGround (const SimTK::State &state) const
	Accessor for Rotation matrix of the Frame in Ground. More...
Public Member Functions inherited from OpenSim::ModelComponent
	ModelComponent ()
	Default constructor. More...
	ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct ModelComponent from an XML file. More...
	ModelComponent (SimTK::Xml::Element &aNode)
	Construct ModelComponent from a specific node in an XML document. More...
virtual	~ModelComponent ()
	Destructor is virtual to allow concrete model component cleanup. More...
void	connectToModel (Model &model)
	Connect this ModelComponent to its aggregate- a Model. More...
const Model &	getModel () const
	Get a const reference to the Model this component is part of. More...
Model &	updModel ()
	Get a modifiable reference to the Model this component is part of. More...
bool	hasModel () const
	Does this ModelComponent have a Model associated with it? More...
void	preScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...
void	scale (const SimTK::State &s, const ScaleSet &scaleSet)
	Scale the ModelComponent. More...
void	postScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More...
Public Member Functions inherited from OpenSim::Component
	Component ()
	Default constructor. More...
	Component (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct Component from an XML file. More...
	Component (SimTK::Xml::Element &aNode)
	Construct Component from a specific node in an XML document. More...
	Component (const Component &)=default
	Use default copy constructor and assignment operator. More...
Component &	operator= (const Component &)=default
virtual	~Component ()=default
	Destructor is virtual to allow concrete Component to cleanup. More...
virtual void	generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
	Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More...
const SimTK::MultibodySystem &	getSystem () const
	Get the underlying MultibodySystem that this component is connected to. More...
bool	hasSystem () const
	Check if this component has an underlying MultibodySystem. More...
bool	isComponentInOwnershipTree (const Component *component) const
	Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More...
void	addComponent (Component *subcomponent)
	Add a Component (as a subcomponent) of this component. More...
template<typename T = Component>
ComponentList< const T >	getComponentList () const
	Get an iterator through the underlying subcomponents that this component is composed of. More...
template<typename T = Component>
ComponentList< T >	updComponentList ()
	Similar to getComponentList(), except the resulting list allows one to modify the components. More...
template<typename T = Component>
unsigned	countNumComponents () const
	Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More...
std::string	getAbsolutePathString () const
	Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More...
ComponentPath	getAbsolutePath () const
	Return a ComponentPath of the absolute path of this Component. More...
std::string	getRelativePathString (const Component &wrt) const
	Get the relative path of this Component with respect to another Component, as a string. More...
ComponentPath	getRelativePath (const Component &wrt) const
	Get the relative path of this Component with respect to another Component. More...
bool	hasComponent (const std::string &pathname) const
	Query if there is a component (of any type) at the specified path name. More...
template<class C = Component>
bool	hasComponent (const std::string &pathname) const
	Query if there is a component of a given type at the specified path name. More...
template<class C = Component>
const C &	getComponent (const std::string &pathname) const
	Get a unique subcomponent of this Component by its path name and type 'C'. More...
template<class C = Component>
const C &	getComponent (const ComponentPath &pathname) const
const Component &	getComponent (const std::string &pathname) const
	Similar to the templatized getComponent(), except this returns the component as the generic Component type. More...
template<class C = Component>
C &	updComponent (const std::string &name)
	Get a writable reference to a subcomponent. More...
template<class C = Component>
C &	updComponent (const ComponentPath &name)
Component &	updComponent (const std::string &pathname)
	Similar to the templatized updComponent(), except this returns the component as the generic Component type. More...
unsigned	printComponentsMatching (const std::string &substring) const
	Print a list to the console of all components whose absolute path name contains the given string. More...
int	getNumStateVariables () const
	Get the number of "continuous" state variables maintained by the Component and its subcomponents. More...
Array< std::string >	getStateVariableNames () const
	Get the names of "continuous" state variables maintained by the Component and its subcomponents. More...
template<class C = Component>
const C *	findComponent (const ComponentPath &pathToFind) const
	Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More...
template<class C = Component>
const C *	findComponent (const std::string &pathToFind) const
	Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More...
const StateVariable *	traverseToStateVariable (const std::string &pathName) const
	Get a StateVariable anywhere in the Component tree, given a StateVariable path. More...
void	finalizeFromProperties ()
	Define a Component's internal data members and structure according to its properties. More...
void	finalizeConnections (Component &root)
	Satisfy the Component's connections specified by its Sockets and Inputs. More...
void	clearConnections ()
	Disconnect/clear this Component from its aggregate component. More...
void	addToSystem (SimTK::MultibodySystem &system) const
	Have the Component add itself to the underlying computational System. More...
void	initStateFromProperties (SimTK::State &state) const
	Initialize Component's state variable values from its properties. More...
void	setPropertiesFromState (const SimTK::State &state)
	Set Component's properties given a state. More...
int	getNumSockets () const
	Get the number of Sockets in this Component. More...
std::vector< std::string >	getSocketNames ()
	Collect and return the names of the sockets in this component. More...
template<typename T >
const T &	getConnectee (const std::string &name) const
	Get the "connectee" object that the Component's Socket is bound to. More...
const Object &	getConnectee (const std::string &name) const
	Get the connectee as an Object. More...
const AbstractSocket &	getSocket (const std::string &name) const
	Get an AbstractSocket for the given socket name. More...
AbstractSocket &	updSocket (const std::string &name)
	Get a writable reference to the AbstractSocket for the given socket name. More...
template<typename T >
const Socket< T > &	getSocket (const std::string &name) const
	Get a const reference to the concrete Socket provided by this Component by name. More...
template<typename T >
Socket< T > &	updSocket (const std::string &name)
	Get a writable reference to the concrete Socket provided by this Component by name. More...
void	printSubcomponentInfo () const
	List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More...
void	printSocketInfo () const
	List all the Sockets of this component and whether or not they are connected. More...
void	printInputInfo () const
	List all the inputs of this component and whether or not they are connected. More...
template<typename C >
void	printSubcomponentInfo () const
void	printOutputInfo (const bool includeDescendants=true) const
	Print outputs of this component and optionally, those of all subcomponents. More...
int	getNumInputs () const
	Access the number of Inputs that this component has. More...
int	getNumOutputs () const
	Access the number of Outputs that this component has. More...
std::vector< std::string >	getInputNames () const
	Collect and return the names of Inputs in this component as an std::vector. More...
std::vector< std::string >	getOutputNames () const
	Collect and return the names of Outputs in this component as an std::vector. More...
const AbstractInput &	getInput (const std::string &name) const
	Get an Input provided by this Component by name. More...
AbstractInput &	updInput (const std::string &name)
	Get a writable reference to an Input provided by this Component by name. More...
template<typename T >
const Input< T > &	getInput (const std::string &name) const
	Get a concrete Input that you can directly ask for its values. More...
const AbstractOutput &	getOutput (const std::string &name) const
	Get the Output provided by this Component by name. More...
AbstractOutput &	updOutput (const std::string &name)
	Get a writable reference to an Output provided by this Component by name. More...
SimTK::IteratorRange< OutputConstIterator >	getOutputs () const
	Iterate through all Outputs of this component. More...
int	getModelingOption (const SimTK::State &state, const std::string &name) const
	Get a ModelingOption flag for this Component by name. More...
void	setModelingOption (SimTK::State &state, const std::string &name, int flag) const
	Set the value of a ModelingOption flag for this Component. More...
template<typename T >
const T &	getInputValue (const SimTK::State &state, const std::string &name) const
	Get the Input value that this component is dependent on. More...
template<typename T >
const T &	getOutputValue (const SimTK::State &state, const std::string &name) const
	Get the Output value provided by this Component by name. More...
double	getStateVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable allocated by this Component. More...
void	setStateVariableValue (SimTK::State &state, const std::string &name, double value) const
	Set the value of a state variable allocated by this Component by name. More...
SimTK::Vector	getStateVariableValues (const SimTK::State &state) const
	Get all values of the state variables allocated by this Component. More...
void	setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const
	Set all values of the state variables allocated by this Component. More...
double	getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable derivative computed by this Component. More...
double	getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a discrete variable allocated by this Component by name. More...
void	setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const
	Set the value of a discrete variable allocated by this Component by name. More...
template<class T >
SimTK::CacheEntryIndex	getCacheVariableIndex (const CacheVariable< T > &cv) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...
SimTK::CacheEntryIndex	getCacheVariableIndex (const std::string &name) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...
template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a cache variable allocated by this Component by name. More...
template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Get the value of a cache variable allocated by this Component. More...
template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const
	Set the value of a cache variable, identified by name, to a new value and mark the cache variable as valid. More...
template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const
	Set the value of a cache variable to a new value and mark the cache variable as valid. More...
template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Returns a mutable reference to the value of a cache variable identified by name. More...
template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns a mutable reference to the value of a cache variable. More...
bool	isCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Returns true if the cache variable, identified by name, is valid. More...
template<class T >
bool	isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns true if the cache variable is valid. More...
void	markCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by name, as valid. More...
template<typename T >
void	markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as valid. More...
void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by name, as invalid. More...
template<class T >
void	markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as invalid. More...
const Component &	getOwner () const
	Access the owner of this Component. More...
bool	hasOwner () const
	(For advanced users) Check if this Component has an owner. More...
const Component &	getRoot () const
	Obtain the root Component, which is this component if it is orphaned. More...
Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...
bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...
Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...
virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...
virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...
void	setName (const std::string &name)
	Set the name of the Object. More...
const std::string &	getName () const
	Get the name of this Object. More...
void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...
const std::string &	getDescription () const
	Get description, a one-liner summary. More...
const std::string &	getAuthors () const
	Get Authors of this Object. More...
void	setAuthors (const std::string &authors)
	Set Authors of this object. More...
const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...
void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...
int	getNumProperties () const
	Determine how many properties are stored with this Object. More...
const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...
AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty. More...
const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...
AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty. More...
template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
bool	isObjectUpToDateWithProperties () const
	Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...
void	updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
	Serialize this object into the XML node that represents it. More...
bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...
void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...
int	getDocumentFileVersion () const
	If there is a document associated with this object then return its version number. More...
void	setAllPropertiesUseDefault (bool aUseDefault)
bool	print (const std::string &fileName) const
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
std::string	dump () const
	dump the XML representation of this Object into an std::string and return it. More...
virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
const PropertySet &	getPropertySet () const

Auto-generated functions
static PhysicalFrame *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...
static const std::string &	getClassName ()
	This returns "PhysicalFrame". More...
PhysicalFrame *	clone () const override=0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...
const std::string &	getConcreteClassName () const override=0
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::Frame
static Frame *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...
static const std::string &	getClassName ()
	This returns "Frame". 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 PhysicalFrame is a Frame that locates a physical element of the multi- body system that underlies a Model.

A PhysicalFrame supports physical connections (e.g. Joints, Constraints) and is the Frame type upon which forces can be applied. A concrete example of a PhysicalFrame is a Body. Attributes of a Body (its center-of-mass, geometry, ...) are located in the Body frame. Bodies are connected by Joints and Constraints and Forces are readily applied to them. A location that represents an offset from the Body frame, can also be a PhysicalFrame (e.g. a PhysicalOffsetFrame).

See also

PhysicalOffsetFrame

Author

Matt DeMers

Ajay Seth

Constructor & Destructor Documentation

PhysicalFrame()

OpenSim::PhysicalFrame::PhysicalFrame

(

)

~PhysicalFrame()

virtual OpenSim::PhysicalFrame::~PhysicalFrame ( )

inlinevirtual

Member Function Documentation

addWrapObject()

void OpenSim::PhysicalFrame::addWrapObject

(

WrapObject *

wrapObject

)

Add a wrap object to the Body.

Note that the Body takes ownership of the WrapObject.

clone()

PhysicalFrame* OpenSim::PhysicalFrame::clone ( ) const

overridepure virtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Frame.

Implemented in OpenSim::OffsetFrame< PhysicalFrame >, OpenSim::PhysicalOffsetFrame, OpenSim::Body, and OpenSim::Ground.

extendConnectToModel()

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

overrideprotectedvirtual

Connect bound WrapObjects.

Reimplemented from OpenSim::Frame.

Reimplemented in OpenSim::OffsetFrame< PhysicalFrame >, and OpenSim::Body.

extendFinalizeFromProperties()

void OpenSim::PhysicalFrame::extendFinalizeFromProperties ( )

overrideprotectedvirtual

Associate a FrameGeometry (visualization) with the this PhysicalFrame.

Reimplemented from OpenSim::ModelComponent.

Reimplemented in OpenSim::OffsetFrame< PhysicalFrame >, and OpenSim::Body.

extendFindBaseFrame()

const Frame& OpenSim::PhysicalFrame::extendFindBaseFrame ( ) const

inlineoverrideprotectedvirtual

Extend how PhysicalFrame determines its base Frame.

Implements OpenSim::Frame.

Reimplemented in OpenSim::OffsetFrame< PhysicalFrame >.

extendFindTransformInBaseFrame()

SimTK::Transform OpenSim::PhysicalFrame::extendFindTransformInBaseFrame ( ) const

overrideprotectedvirtual

Extend how PhysicalFrame determines its Transform in the base Frame.

Implements OpenSim::Frame.

Reimplemented in OpenSim::OffsetFrame< PhysicalFrame >.

get_WrapObjectSet()

const WrapObjectSet& OpenSim::PhysicalFrame::get_WrapObjectSet ( ) const

inline

Get the value of the WrapObjectSet property.

getClassName()

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

inlinestatic

This returns "PhysicalFrame".

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

getConcreteClassName()

const std::string& OpenSim::PhysicalFrame::getConcreteClassName ( ) const

overridepure virtual

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::Frame.

Implemented in OpenSim::OffsetFrame< PhysicalFrame >, OpenSim::PhysicalOffsetFrame, OpenSim::Body, and OpenSim::Ground.

getMobilizedBody()

const SimTK::MobilizedBody& OpenSim::PhysicalFrame::getMobilizedBody

(

)

const

Access a readable SimTK::MobilizedBody that backs this PhysicalFrame.

The MobilizedBody is only available after Model::initSystem() has been invoked.

See also

getMobilizedBodyIndex

Referenced by OpenSim::Joint::createMobilizedBody().

getMobilizedBodyIndex()

const SimTK::MobilizedBodyIndex& OpenSim::PhysicalFrame::getMobilizedBodyIndex ( ) const

inline

This method returns the MobilizedBodyIndex of the MobilizedBody for this PhysicalFrame.

This index is only available after Model::initSystem() has been invoked.

The MobilizedBodyIndex is necessary to access the underlying MobilizedBody in the System. It allows access to physical quantities (e.g. forces) associated with individual PhysicalFrames. For examples, the underlying MultibodySystem's net body forces are represented as a Vector of spatial forces (torque and force on each body) and it is indexed by the MobilizedBodyIndex.

Returns

index The MobilizedBodyIndex corresponding to this PhysicalFrame's underlying MobilizedBody

See also

getMobilizedBody, updMobilizedBody

Referenced by OpenSim::IMU::generateDecorations().

getWrapObject()

const WrapObject* OpenSim::PhysicalFrame::getWrapObject

(

const std::string &

aName

)

const

Deprecated methods for intermediate integration of Frames.

Get the named wrap object, if it exists.

Parameters

aName

Name of the wrap object.

Returns

const Pointer to the wrap object.

getWrapObjectSet()

const WrapObjectSet& OpenSim::PhysicalFrame::getWrapObjectSet ( ) const

inline

safeDownCast()

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

inlinestatic

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

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

set_WrapObjectSet()

void OpenSim::PhysicalFrame::set_WrapObjectSet ( const WrapObjectSet &  value )

inline

Set the value of the WrapObjectSet property.

setMobilizedBodyIndex()

void OpenSim::PhysicalFrame::setMobilizedBodyIndex ( const SimTK::MobilizedBodyIndex &  mbix ) const

protected

Specify the MobilizedBody that implements this PhysicalFrame in the underlying MultibodySystem.

The PhysicalFrame's MobilizedBodyIndex must be set by the end of PhysicalFrame::addToSystem()

upd_WrapObjectSet()

WrapObjectSet& OpenSim::PhysicalFrame::upd_WrapObjectSet ( )

inline

Get a writable reference to the WrapObjectSet property.

updateFromXMLNode()

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

overrideprotectedvirtual

Override to account for version updates in the XML format.

Reimplemented from OpenSim::ModelComponent.

updMobilizedBody()

SimTK::MobilizedBody& OpenSim::PhysicalFrame::updMobilizedBody

(

)

Access a writable SimTK::MobilizedBody that backs this PhysicalFrame.

The MobilizedBody is only available after Model::initSystem() has been invoked.

See also

getMobilizedBodyIndex

OpenSim Property, Socket, Output, Input Documentation

WrapObjectSet

WrapObjectSet OpenSim::PhysicalFrame::WrapObjectSet

"Set of wrap objects fixed to this body that GeometryPaths can wrap over." "This property used to be a member of Body but was moved up with " "the introduction of Frames."

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

See also

get_WrapObjectSet(), upd_WrapObjectSet(), set_WrapObjectSet()

---

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

• OpenSim/Simulation/Model/PhysicalFrame.h