API  4.3
For MATLAB, Python, Java, and C++ users
OpenSim::PrescribedForce Class Reference

This applies to a PhysicalFrame a force and/or torque that is specified as a function of time. More...

+ Inheritance diagram for OpenSim::PrescribedForce:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)

These are three functions providing the x,y,z measure numbers of the torque vector being applied to the body.

The coordinate frame in which this vector is interpreted depends on the "torqueIsGlobal" property.

bool pointIsGlobal
 "Flag indicating whether the point (specified in pointFunctions) " "is in global frame." More...
 
bool forceIsGlobal
 "Flag indicating whether the quantities (specified in " "force/torqueFunctions) is in global frame." More...
 
FunctionSet forceFunctions
 "Three functions describing the force to be applied." More...
 
FunctionSet pointFunctions
 "Three functions describing the location at which the force " "is applied." More...
 
FunctionSet torqueFunctions
 "Three functions describing the torque the PrescribedForce applies." More...
 
Sockets
PhysicalFrame frame
 "The frame onto which this force is applied." More...
 
Outputs

The point where force is applied by the PrescribedForce, this depends only on time.

The frame of this vector depends on the "pointIsGlobal" property.

SimTK::Vec3 force_applied
 Provides the value of getForceApplied() and is available at stage SimTK::Stage::Time . More...
 
SimTK::Vec3 torque_applied
 Provides the value of getTorqueApplied() and is available at stage SimTK::Stage::Time . More...
 
SimTK::Vec3 point_of_application
 Provides the value of getApplicationPoint() and is available at stage SimTK::Stage::Time . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Force
bool appliesForce
 "Flag indicating whether the force is applied or not. If true the force" "is applied to the MultibodySystem otherwise the force is not applied." "NOTE: Prior to OpenSim 4.0, this behavior was controlled by the " "'isDisabled' property, where 'true' meant that force was not being " "applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false." More...
 
double potential_energy
 Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component
Component components
 "List of components that this component owns and serializes." More...
 

Public Member Functions

 PrescribedForce ()
 
 PrescribedForce (const std::string &name, const OpenSim::PhysicalFrame &frame)
 Construct a PrescribedForce. More...
 
 PrescribedForce (SimTK::Xml::Element &aNode)
 Construct from an XML element. More...
 
void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) override
 Copy in properties from XML. More...
 
void setFrameName (const std::string &aBodyName)
 
const std::string & getFrameName () const
 
void setBodyName (const std::string &aBodyName)
 Backward compatibility pre 4.0. More...
 
const std::string & getBodyName () const
 
void setForceFunctions (Function *forceX, Function *forceY, Function *forceZ)
 Set the functions which specify the force to apply. More...
 
const FunctionSetgetForceFunctions () const
 
FunctionSetupdForceFunctions ()
 
void getForceFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setForceFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearForceFunctions ()
 
void setPointFunctions (Function *pointX, Function *pointY, Function *pointZ)
 Set the functions which specify the point at which to apply the force. More...
 
const FunctionSetgetPointFunctions () const
 
FunctionSetupdPointFunctions ()
 
void getPointFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setPointFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearPointFunctions ()
 
void setTorqueFunctions (Function *torqueX, Function *torqueY, Function *torqueZ)
 Set the functions which specify the torque to apply. More...
 
const FunctionSetgetTorqueFunctions () const
 
FunctionSetupdTorqueFunctions ()
 
void getTorqueFunctionNames (OpenSim::Array< std::string > &aFunctionNames)
 
void setTorqueFunctionNames (const OpenSim::Array< std::string > &aFunctionNames, const OpenSim::Storage &kineticsStore)
 
void clearTorqueFunctions ()
 
bool getForceIsInGlobalFrame () const
 Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates. More...
 
void setForceIsInGlobalFrame (bool isGlobal)
 Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates. More...
 
bool getPointIsInGlobalFrame () const
 Get whether the point is specified in inertial coordinates or in the body's local coordinates. More...
 
void setPointIsInGlobalFrame (bool isGlobal)
 Set whether the point is specified in inertial coordinates or in the body's local coordinates. More...
 
const OpenSim::PhysicalFramegetFrame () const
 Get the frame that the prescribed force is acting upon. More...
 
SimTK::Vec3 getForceAtTime (double aTime) const
 Convenience method to evaluate the prescribed force functions at an arbitrary time. More...
 
SimTK::Vec3 getPointAtTime (double aTime) const
 Convenience method to evaluate the prescribed force application point functions at an arbitrary time. More...
 
SimTK::Vec3 getTorqueAtTime (double aTime) const
 Convenience method to evaluate the prescribed torque functions at an arbitrary time. More...
 
OpenSim::Array< std::string > getRecordLabels () const override
 Methods used for reporting. More...
 
OpenSim::Array< double > getRecordValues (const SimTK::State &state) const override
 Given SimTK::State object extract all the values necessary to report forces, application location frame, etc. More...
 
SimTK::Vec3 getForceApplied (const SimTK::State &state) const
 Methods to support outputs. More...
 
SimTK::Vec3 getTorqueApplied (const SimTK::State &state) const
 
SimTK::Vec3 getApplicationPoint (const SimTK::State &state) const
 
Property-related functions
const bool & get_pointIsGlobal () const
 Get the value of the pointIsGlobal property. More...
 
bool & upd_pointIsGlobal ()
 Get a writable reference to the pointIsGlobal property. More...
 
void set_pointIsGlobal (const bool &value)
 Set the value of the pointIsGlobal property. More...
 
const bool & get_forceIsGlobal () const
 Get the value of the forceIsGlobal property. More...
 
bool & upd_forceIsGlobal ()
 Get a writable reference to the forceIsGlobal property. More...
 
void set_forceIsGlobal (const bool &value)
 Set the value of the forceIsGlobal property. More...
 
const FunctionSetget_forceFunctions () const
 Get the value of the forceFunctions property. More...
 
FunctionSetupd_forceFunctions ()
 Get a writable reference to the forceFunctions property. More...
 
void set_forceFunctions (const FunctionSet &value)
 Set the value of the forceFunctions property. More...
 
const FunctionSetget_pointFunctions () const
 Get the value of the pointFunctions property. More...
 
FunctionSetupd_pointFunctions ()
 Get a writable reference to the pointFunctions property. More...
 
void set_pointFunctions (const FunctionSet &value)
 Set the value of the pointFunctions property. More...
 
const FunctionSetget_torqueFunctions () const
 Get the value of the torqueFunctions property. More...
 
FunctionSetupd_torqueFunctions ()
 Get a writable reference to the torqueFunctions property. More...
 
void set_torqueFunctions (const FunctionSet &value)
 Set the value of the torqueFunctions property. More...
 
Socket-related functions
void connectSocket_frame (const Object &object)
 Connect the 'frame' Socket to an object of type PhysicalFrame. More...
 
- Public Member Functions inherited from OpenSim::Force
virtual bool shouldBeParallelized () const
 Tell SimBody to parallelize this force. More...
 
bool appliesForce (const SimTK::State &s) const
 Return if the Force is applied (or enabled) or not. More...
 
void setAppliesForce (SimTK::State &s, bool applyForce) const
 Set whether or not the Force is applied. More...
 
virtual bool hasGeometryPath () const
 Return a flag indicating whether the Force is applied along a Path. More...
 
const bool & get_appliesForce () const
 Get the value of the appliesForce property. More...
 
bool & upd_appliesForce ()
 Get a writable reference to the appliesForce property. More...
 
void set_appliesForce (const bool &value)
 Set the value of the appliesForce property. More...
 
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor. More...
 
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct ModelComponent from an XML file. More...
 
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document. More...
 
virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup. More...
 
void connectToModel (Model &model)
 Connect this ModelComponent to its aggregate- a Model. More...
 
const ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 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...
 
Componentoperator= (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 ComponentgetComponent (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)
 
ComponentupdComponent (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 StateVariabletraverseToStateVariable (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 ObjectgetConnectee (const std::string &name) const
 Get the connectee as an Object. More...
 
const AbstractSocketgetSocket (const std::string &name) const
 Get an AbstractSocket for the given socket name. More...
 
AbstractSocketupdSocket (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 AbstractInputgetInput (const std::string &name) const
 Get an Input provided by this Component by name. More...
 
AbstractInputupdInput (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 AbstractOutputgetOutput (const std::string &name) const
 Get the Output provided by this Component by name. More...
 
AbstractOutputupdOutput (const std::string &name)
 Get a writable reference to an Output provided by this Component by name. More...
 
SimTK::IteratorRange< OutputConstIteratorgetOutputs () 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 ComponentgetOwner () const
 Access the owner of this Component. More...
 
bool hasOwner () const
 (For advanced users) Check if this Component has an owner. More...
 
const ComponentgetRoot () 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...
 
Objectoperator= (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 AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (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 AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Auto-generated functions

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

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Force
static ForcesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Force". More...
 
- Static Public Member Functions inherited from OpenSim::ModelComponent
static ModelComponentsafeDownCast (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 ComponentsafeDownCast (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 ObjectgetDefaultInstanceOfType (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 ObjectnewInstanceOfType (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 ObjectmakeObjectFromFile (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 ObjectSafeCopy (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

This applies to a PhysicalFrame a force and/or torque that is specified as a function of time.

It is defined by three sets of functions, all of which are optional:

  • Three functions that specify the (x,y,z) components of a force vector to apply (at a given point) as a function of time. If these functions are not provided, no force is applied.
  • Three functions that specify the (x,y,z) components of a point location at which the force should be applied. If these functions are not provided, the force is applied at the frame's origin.
  • Three functions that specify the (x,y,z) components of a pure torque vector to apply. This is in addition to any torque resulting from the applied force. If these functions are not provided, no additional torque is applied.
Author
Peter Eastman, Matt DeMers

Constructor & Destructor Documentation

◆ PrescribedForce() [1/3]

OpenSim::PrescribedForce::PrescribedForce ( )

◆ PrescribedForce() [2/3]

OpenSim::PrescribedForce::PrescribedForce ( const std::string &  name,
const OpenSim::PhysicalFrame frame 
)
explicit

Construct a PrescribedForce.

By default, the force, torque, and point functions are all unspecified, meaning that it applies no force or torque. To specify them, call setForceFunctions(), setTorqueFunctions(), and setPointFunctions().

Parameters
namethe name of the PrescribedForce
framethe PhysicalFrame to apply the force to

◆ PrescribedForce() [3/3]

OpenSim::PrescribedForce::PrescribedForce ( SimTK::Xml::Element &  aNode)
explicit

Construct from an XML element.

Member Function Documentation

◆ clearForceFunctions()

void OpenSim::PrescribedForce::clearForceFunctions ( )
inline

◆ clearPointFunctions()

void OpenSim::PrescribedForce::clearPointFunctions ( )
inline

◆ clearTorqueFunctions()

void OpenSim::PrescribedForce::clearTorqueFunctions ( )
inline

◆ clone()

PrescribedForce* OpenSim::PrescribedForce::clone ( ) const
inlineoverridevirtual

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

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

Implements OpenSim::Force.

◆ computeForce()

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

Force interface.

Reimplemented from OpenSim::Force.

◆ connectSocket_frame()

void OpenSim::PrescribedForce::connectSocket_frame ( const Object object)
inline

Connect the 'frame' Socket to an object of type PhysicalFrame.

Call finalizeConnections() afterwards to update the socket's connectee path property. The reference to the connectee set here takes precedence over the connectee path property.

◆ get_forceFunctions()

const FunctionSet& OpenSim::PrescribedForce::get_forceFunctions ( ) const
inline

Get the value of the forceFunctions property.

◆ get_forceIsGlobal()

const bool& OpenSim::PrescribedForce::get_forceIsGlobal ( ) const
inline

Get the value of the forceIsGlobal property.

◆ get_pointFunctions()

const FunctionSet& OpenSim::PrescribedForce::get_pointFunctions ( ) const
inline

Get the value of the pointFunctions property.

◆ get_pointIsGlobal()

const bool& OpenSim::PrescribedForce::get_pointIsGlobal ( ) const
inline

Get the value of the pointIsGlobal property.

◆ get_torqueFunctions()

const FunctionSet& OpenSim::PrescribedForce::get_torqueFunctions ( ) const
inline

Get the value of the torqueFunctions property.

◆ getApplicationPoint()

SimTK::Vec3 OpenSim::PrescribedForce::getApplicationPoint ( const SimTK::State &  state) const
inline

◆ getBodyName()

const std::string& OpenSim::PrescribedForce::getBodyName ( ) const
inline

◆ getClassName()

static const std::string& OpenSim::PrescribedForce::getClassName ( )
inlinestatic

This returns "PrescribedForce".

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

◆ getConcreteClassName()

const std::string& OpenSim::PrescribedForce::getConcreteClassName ( ) const
inlineoverridevirtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also
getClassName()

Implements OpenSim::Force.

◆ getForceApplied()

SimTK::Vec3 OpenSim::PrescribedForce::getForceApplied ( const SimTK::State &  state) const
inline

Methods to support outputs.

◆ getForceAtTime()

SimTK::Vec3 OpenSim::PrescribedForce::getForceAtTime ( double  aTime) const

Convenience method to evaluate the prescribed force functions at an arbitrary time.

Returns zero if there aren't three functions defined.

◆ getForceFunctionNames()

void OpenSim::PrescribedForce::getForceFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline

◆ getForceFunctions()

const FunctionSet& OpenSim::PrescribedForce::getForceFunctions ( ) const
inline

◆ getForceIsInGlobalFrame()

bool OpenSim::PrescribedForce::getForceIsInGlobalFrame ( ) const
inline

Get whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

◆ getFrame()

const OpenSim::PhysicalFrame& OpenSim::PrescribedForce::getFrame ( ) const
inline

Get the frame that the prescribed force is acting upon.

◆ getFrameName()

const std::string& OpenSim::PrescribedForce::getFrameName ( ) const

◆ getPointAtTime()

SimTK::Vec3 OpenSim::PrescribedForce::getPointAtTime ( double  aTime) const

Convenience method to evaluate the prescribed force application point functions at an arbitrary time.

Returns zero if there aren't three functions defined.

◆ getPointFunctionNames()

void OpenSim::PrescribedForce::getPointFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline

◆ getPointFunctions()

const FunctionSet& OpenSim::PrescribedForce::getPointFunctions ( ) const
inline

◆ getPointIsInGlobalFrame()

bool OpenSim::PrescribedForce::getPointIsInGlobalFrame ( ) const
inline

Get whether the point is specified in inertial coordinates or in the body's local coordinates.

◆ getRecordLabels()

OpenSim::Array<std::string> OpenSim::PrescribedForce::getRecordLabels ( ) const
overridevirtual

Methods used for reporting.

Reimplemented from OpenSim::Force.

◆ getRecordValues()

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

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

used in conjunction with getRecordLabels() and should return same size Array.

Reimplemented from OpenSim::Force.

◆ getTorqueApplied()

SimTK::Vec3 OpenSim::PrescribedForce::getTorqueApplied ( const SimTK::State &  state) const
inline

◆ getTorqueAtTime()

SimTK::Vec3 OpenSim::PrescribedForce::getTorqueAtTime ( double  aTime) const

Convenience method to evaluate the prescribed torque functions at an arbitrary time.

Returns zero if there aren't three functions defined.

◆ getTorqueFunctionNames()

void OpenSim::PrescribedForce::getTorqueFunctionNames ( OpenSim::Array< std::string > &  aFunctionNames)
inline

◆ getTorqueFunctions()

const FunctionSet& OpenSim::PrescribedForce::getTorqueFunctions ( ) const
inline

◆ safeDownCast()

static PrescribedForce* OpenSim::PrescribedForce::safeDownCast ( OpenSim::Object obj)
inlinestatic

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

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

◆ set_forceFunctions()

void OpenSim::PrescribedForce::set_forceFunctions ( const FunctionSet value)
inline

Set the value of the forceFunctions property.

◆ set_forceIsGlobal()

void OpenSim::PrescribedForce::set_forceIsGlobal ( const bool &  value)
inline

Set the value of the forceIsGlobal property.

◆ set_pointFunctions()

void OpenSim::PrescribedForce::set_pointFunctions ( const FunctionSet value)
inline

Set the value of the pointFunctions property.

◆ set_pointIsGlobal()

void OpenSim::PrescribedForce::set_pointIsGlobal ( const bool &  value)
inline

Set the value of the pointIsGlobal property.

◆ set_torqueFunctions()

void OpenSim::PrescribedForce::set_torqueFunctions ( const FunctionSet value)
inline

Set the value of the torqueFunctions property.

◆ setBodyName()

void OpenSim::PrescribedForce::setBodyName ( const std::string &  aBodyName)
inline

Backward compatibility pre 4.0.

◆ setForceFunctionNames()

void OpenSim::PrescribedForce::setForceFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)

◆ setForceFunctions()

void OpenSim::PrescribedForce::setForceFunctions ( Function forceX,
Function forceY,
Function forceZ 
)

Set the functions which specify the force to apply.

By default the force is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
forceXa function of time which calculates the X component of the force to apply
forceYa function of time which calculates the Y component of the force to apply
forceZa function of time which calculates the Z component of the force to apply

◆ setForceIsInGlobalFrame()

void OpenSim::PrescribedForce::setForceIsInGlobalFrame ( bool  isGlobal)
inline

Set whether the force and torque are specified in inertial coordinates or in the body's local coordinates.

◆ setFrameName()

void OpenSim::PrescribedForce::setFrameName ( const std::string &  aBodyName)

◆ setPointFunctionNames()

void OpenSim::PrescribedForce::setPointFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)

◆ setPointFunctions()

void OpenSim::PrescribedForce::setPointFunctions ( Function pointX,
Function pointY,
Function pointZ 
)

Set the functions which specify the point at which to apply the force.

By default the point is specified in the body's local coordinates.
This can be changed by calling setPointIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
pointXa function of time which calculates the X coordinate of the point at which to apply the force
pointYa function of time which calculates the Y coordinate of the point at which to apply the force
pointZa function of time which calculates the Z coordinate of the point at which to apply the force

◆ setPointIsInGlobalFrame()

void OpenSim::PrescribedForce::setPointIsInGlobalFrame ( bool  isGlobal)
inline

Set whether the point is specified in inertial coordinates or in the body's local coordinates.

◆ setTorqueFunctionNames()

void OpenSim::PrescribedForce::setTorqueFunctionNames ( const OpenSim::Array< std::string > &  aFunctionNames,
const OpenSim::Storage kineticsStore 
)

◆ setTorqueFunctions()

void OpenSim::PrescribedForce::setTorqueFunctions ( Function torqueX,
Function torqueY,
Function torqueZ 
)

Set the functions which specify the torque to apply.

By default the torque is specified in inertial coordinates. This can be changed by calling setForceIsInGlobalFrame().

All of the Function objects should have been allocated on the heap with the "new" operator. This object takes over ownership of them, and will delete them when it is deleted itself.

Parameters
torqueXa function of time which calculates the X component of the torque to apply
torqueYa function of time which calculates the Y component of the torque to apply
torqueZa function of time which calculates the Z component of the torque to apply

◆ upd_forceFunctions()

FunctionSet& OpenSim::PrescribedForce::upd_forceFunctions ( )
inline

Get a writable reference to the forceFunctions property.

◆ upd_forceIsGlobal()

bool& OpenSim::PrescribedForce::upd_forceIsGlobal ( )
inline

Get a writable reference to the forceIsGlobal property.

◆ upd_pointFunctions()

FunctionSet& OpenSim::PrescribedForce::upd_pointFunctions ( )
inline

Get a writable reference to the pointFunctions property.

◆ upd_pointIsGlobal()

bool& OpenSim::PrescribedForce::upd_pointIsGlobal ( )
inline

Get a writable reference to the pointIsGlobal property.

◆ upd_torqueFunctions()

FunctionSet& OpenSim::PrescribedForce::upd_torqueFunctions ( )
inline

Get a writable reference to the torqueFunctions property.

◆ updateFromXMLNode()

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

Copy in properties from XML.

Reimplemented from OpenSim::Force.

◆ updForceFunctions()

FunctionSet& OpenSim::PrescribedForce::updForceFunctions ( )
inline

◆ updPointFunctions()

FunctionSet& OpenSim::PrescribedForce::updPointFunctions ( )
inline

◆ updTorqueFunctions()

FunctionSet& OpenSim::PrescribedForce::updTorqueFunctions ( )
inline

OpenSim Property, Socket, Output, Input Documentation

◆ force_applied

SimTK::Vec3 OpenSim::PrescribedForce::force_applied

Provides the value of getForceApplied() and is available at stage SimTK::Stage::Time .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ forceFunctions

FunctionSet OpenSim::PrescribedForce::forceFunctions

"Three functions describing the force to be applied."

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

See also
get_forceFunctions(), upd_forceFunctions(), set_forceFunctions()

◆ forceIsGlobal

bool OpenSim::PrescribedForce::forceIsGlobal

"Flag indicating whether the quantities (specified in " "force/torqueFunctions) is in global frame."

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

See also
get_forceIsGlobal(), upd_forceIsGlobal(), set_forceIsGlobal()

◆ frame

PhysicalFrame OpenSim::PrescribedForce::frame

"The frame onto which this force is applied."

In an XML file, you can set this Socket's connectee path via the <socket_frame > element. This socket was generated with the OpenSim_DECLARE_SOCKET macro; see AbstractSocket for more information.

See also
connectSocket_frame()

◆ point_of_application

SimTK::Vec3 OpenSim::PrescribedForce::point_of_application

Provides the value of getApplicationPoint() and is available at stage SimTK::Stage::Time .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ pointFunctions

FunctionSet OpenSim::PrescribedForce::pointFunctions

"Three functions describing the location at which the force " "is applied."

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

See also
get_pointFunctions(), upd_pointFunctions(), set_pointFunctions()

◆ pointIsGlobal

bool OpenSim::PrescribedForce::pointIsGlobal

"Flag indicating whether the point (specified in pointFunctions) " "is in global frame."

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

See also
get_pointIsGlobal(), upd_pointIsGlobal(), set_pointIsGlobal()

◆ torque_applied

SimTK::Vec3 OpenSim::PrescribedForce::torque_applied

Provides the value of getTorqueApplied() and is available at stage SimTK::Stage::Time .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

◆ torqueFunctions

FunctionSet OpenSim::PrescribedForce::torqueFunctions

"Three functions describing the torque the PrescribedForce applies."

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

See also
get_torqueFunctions(), upd_torqueFunctions(), set_torqueFunctions()

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