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

A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim. More...

+ Inheritance diagram for OpenSim::SimbodyEngine:

Public Member Functions

virtual ~SimbodyEngine ()
 
 SimbodyEngine ()
 
 SimbodyEngine (const std::string &aFileName)
 
 SimbodyEngine (const SimbodyEngine &aEngine)
 
SimbodyEngineoperator= (const SimbodyEngine &aEngine)
 
const ModelgetModel () const
 
ModelgetModel ()
 
void setModel (Model &aModel)
 
void connectSimbodyEngineToModel (Model &aModel)
 
void getUnlockedCoordinates (const SimTK::State &s, CoordinateSet &rUnlockedCoordinates) const
 
virtual void computeReactions (const SimTK::State &s, SimTK::Vector_< SimTK::Vec3 > &rForces, SimTK::Vector_< SimTK::Vec3 > &rTorques) const
 
void formCompleteStorages (const SimTK::State &s, const OpenSim::Storage &aQIn, OpenSim::Storage *&rQComplete, OpenSim::Storage *&rUComplete) const
 From a potentially partial specification of the generalized coordinates, form a complete storage of the generalized coordinates (q's) and generalized speeds (u's) in radians and radians/s respectively. More...
 
void convertRadiansToDegrees (Storage &rStorage) const
 
void convertRadiansToDegrees (TimeSeriesTable &table) const
 
void convertDegreesToRadians (Storage &rStorage) const
 
void convertDegreesToRadians (TimeSeriesTable &table) const
 
void convertDegreesToRadians (double *aQDeg, double *rQRad) const
 
void convertRadiansToDegrees (double *aQRad, double *rQDeg) const
 
void convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double rDirCos[3][3]) const
 
void convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double *rDirCos) const
 
void convertDirectionCosinesToAngles (double aDirCos[3][3], double *rE1, double *rE2, double *rE3) const
 
void convertDirectionCosinesToAngles (double *aDirCos, double *rE1, double *rE2, double *rE3) const
 
void convertDirectionCosinesToQuaternions (double aDirCos[3][3], double *rQ1, double *rQ2, double *rQ3, double *rQ4) const
 
void convertDirectionCosinesToQuaternions (double *aDirCos, double *rQ1, double *rQ2, double *rQ3, double *rQ4) const
 
void convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const
 
void convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double *rDirCos) const
 
Deprecated
void getPosition (const SimTK::State &s, const PhysicalFrame &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rPos) const
 (Deprecated) Use Frame::getPositionInGround() instead. More...
 
void getVelocity (const SimTK::State &s, const PhysicalFrame &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rVel) const
 (Deprecated) Use Frame::getVelocityInGround() instead. More...
 
void getAcceleration (const SimTK::State &s, const PhysicalFrame &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rAcc) const
 (Deprecated) Use Frame::getAccelerationInGround() instead. More...
 
void getDirectionCosines (const SimTK::State &s, const PhysicalFrame &aBody, double rDirCos[3][3]) const
 (Deprecated) Use Frame::getTransformInGround().R() instead. More...
 
void getDirectionCosines (const SimTK::State &s, const PhysicalFrame &aBody, double *rDirCos) const
 (Deprecated) Use Frame::getTransformInGround().R() instead. More...
 
void getAngularVelocity (const SimTK::State &s, const PhysicalFrame &aBody, SimTK::Vec3 &rAngVel) const
 (Deprecated) Use Frame::getVelocityInGround()[0] instead. More...
 
void getAngularVelocityBodyLocal (const SimTK::State &s, const PhysicalFrame &aBody, SimTK::Vec3 &rAngVel) const
 (Deprecated) See Frame::getVelocityInGround()[0]. More...
 
void getAngularAcceleration (const SimTK::State &s, const PhysicalFrame &aBody, SimTK::Vec3 &rAngAcc) const
 (Deprecated) Use Frame::getAccelerationInGround()[0] instead. More...
 
void getAngularAccelerationBodyLocal (const SimTK::State &s, const PhysicalFrame &aBody, SimTK::Vec3 &rAngAcc) const
 (Deprecated) See Frame::getAccelerationInGround()[0]. More...
 
SimTK::Transform getTransform (const SimTK::State &s, const PhysicalFrame &aBody) const
 (Deprecated) Use Frame::getTransformInGround() instead. More...
 
void transform (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const double aVec[3], const PhysicalFrame &aBodyTo, double rVec[3]) const
 (Deprecated) Use Frame::expressVectorInAnotherFrame() instead. More...
 
void transform (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const SimTK::Vec3 &aVec, const PhysicalFrame &aBodyTo, SimTK::Vec3 &rVec) const
 (Deprecated) Use Frame::expressVectorInAnotherFrame() instead. More...
 
void transformPosition (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const double aPos[3], const PhysicalFrame &aBodyTo, double rPos[3]) const
 (Deprecated) Use Frame::findStationLocationInAnotherFrame() instead. More...
 
void transformPosition (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const SimTK::Vec3 &aPos, const PhysicalFrame &aBodyTo, SimTK::Vec3 &rPos) const
 (Deprecated) Use Frame::findStationLocationInAnotherFrame() instead. More...
 
void transformPosition (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const double aPos[3], double rPos[3]) const
 (Deprecated) Use Frame::findStationLocationInGround() instead. More...
 
void transformPosition (const SimTK::State &s, const PhysicalFrame &aBodyFrom, const SimTK::Vec3 &aPos, SimTK::Vec3 &rPos) const
 (Deprecated) Use Frame::findStationLocationInGround() instead. More...
 
double calcDistance (const SimTK::State &s, const PhysicalFrame &aBody1, const SimTK::Vec3 &aPoint1, const PhysicalFrame &aBody2, const SimTK::Vec3 &aPoint2) const
 (Deprecated) Use Point::calcDistanceBetween() or Frame::findStationLocationInGround() instead More...
 
double calcDistance (const SimTK::State &s, const PhysicalFrame &aBody1, const double aPoint1[3], const PhysicalFrame &aBody2, const double aPoint2[3]) const
 (Deprecated) Use Point::calcDistanceBetween() or Frame::findStationLocationInGround() instead 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...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element. 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 SimbodyEnginesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "SimbodyEngine". More...
 
SimbodyEngineclone () 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::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

A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim.

Authors
Frank C. Anderson, Ajay Seth
Version
1.0

Constructor & Destructor Documentation

◆ ~SimbodyEngine()

virtual OpenSim::SimbodyEngine::~SimbodyEngine ( )
virtual

◆ SimbodyEngine() [1/3]

OpenSim::SimbodyEngine::SimbodyEngine ( )

◆ SimbodyEngine() [2/3]

OpenSim::SimbodyEngine::SimbodyEngine ( const std::string &  aFileName)

◆ SimbodyEngine() [3/3]

OpenSim::SimbodyEngine::SimbodyEngine ( const SimbodyEngine aEngine)

Member Function Documentation

◆ calcDistance() [1/2]

double OpenSim::SimbodyEngine::calcDistance ( const SimTK::State &  s,
const PhysicalFrame aBody1,
const SimTK::Vec3 &  aPoint1,
const PhysicalFrame aBody2,
const SimTK::Vec3 &  aPoint2 
) const

◆ calcDistance() [2/2]

double OpenSim::SimbodyEngine::calcDistance ( const SimTK::State &  s,
const PhysicalFrame aBody1,
const double  aPoint1[3],
const PhysicalFrame aBody2,
const double  aPoint2[3] 
) const

◆ clone()

SimbodyEngine* OpenSim::SimbodyEngine::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::Object.

◆ computeReactions()

virtual void OpenSim::SimbodyEngine::computeReactions ( const SimTK::State &  s,
SimTK::Vector_< SimTK::Vec3 > &  rForces,
SimTK::Vector_< SimTK::Vec3 > &  rTorques 
) const
virtual

◆ connectSimbodyEngineToModel()

void OpenSim::SimbodyEngine::connectSimbodyEngineToModel ( Model aModel)

◆ convertAnglesToDirectionCosines() [1/2]

void OpenSim::SimbodyEngine::convertAnglesToDirectionCosines ( double  aE1,
double  aE2,
double  aE3,
double  rDirCos[3][3] 
) const

◆ convertAnglesToDirectionCosines() [2/2]

void OpenSim::SimbodyEngine::convertAnglesToDirectionCosines ( double  aE1,
double  aE2,
double  aE3,
double *  rDirCos 
) const

◆ convertDegreesToRadians() [1/3]

void OpenSim::SimbodyEngine::convertDegreesToRadians ( Storage rStorage) const

◆ convertDegreesToRadians() [2/3]

void OpenSim::SimbodyEngine::convertDegreesToRadians ( TimeSeriesTable table) const

◆ convertDegreesToRadians() [3/3]

void OpenSim::SimbodyEngine::convertDegreesToRadians ( double *  aQDeg,
double *  rQRad 
) const

◆ convertDirectionCosinesToAngles() [1/2]

void OpenSim::SimbodyEngine::convertDirectionCosinesToAngles ( double  aDirCos[3][3],
double *  rE1,
double *  rE2,
double *  rE3 
) const

◆ convertDirectionCosinesToAngles() [2/2]

void OpenSim::SimbodyEngine::convertDirectionCosinesToAngles ( double *  aDirCos,
double *  rE1,
double *  rE2,
double *  rE3 
) const

◆ convertDirectionCosinesToQuaternions() [1/2]

void OpenSim::SimbodyEngine::convertDirectionCosinesToQuaternions ( double  aDirCos[3][3],
double *  rQ1,
double *  rQ2,
double *  rQ3,
double *  rQ4 
) const

◆ convertDirectionCosinesToQuaternions() [2/2]

void OpenSim::SimbodyEngine::convertDirectionCosinesToQuaternions ( double *  aDirCos,
double *  rQ1,
double *  rQ2,
double *  rQ3,
double *  rQ4 
) const

◆ convertQuaternionsToDirectionCosines() [1/2]

void OpenSim::SimbodyEngine::convertQuaternionsToDirectionCosines ( double  aQ1,
double  aQ2,
double  aQ3,
double  aQ4,
double  rDirCos[3][3] 
) const

◆ convertQuaternionsToDirectionCosines() [2/2]

void OpenSim::SimbodyEngine::convertQuaternionsToDirectionCosines ( double  aQ1,
double  aQ2,
double  aQ3,
double  aQ4,
double *  rDirCos 
) const

◆ convertRadiansToDegrees() [1/3]

void OpenSim::SimbodyEngine::convertRadiansToDegrees ( Storage rStorage) const

◆ convertRadiansToDegrees() [2/3]

void OpenSim::SimbodyEngine::convertRadiansToDegrees ( TimeSeriesTable table) const

◆ convertRadiansToDegrees() [3/3]

void OpenSim::SimbodyEngine::convertRadiansToDegrees ( double *  aQRad,
double *  rQDeg 
) const

◆ formCompleteStorages()

void OpenSim::SimbodyEngine::formCompleteStorages ( const SimTK::State &  s,
const OpenSim::Storage aQIn,
OpenSim::Storage *&  rQComplete,
OpenSim::Storage *&  rUComplete 
) const

From a potentially partial specification of the generalized coordinates, form a complete storage of the generalized coordinates (q's) and generalized speeds (u's) in radians and radians/s respectively.

Parameters
sUsed as working memory.
aQInStorage containing the q's or a subset of the q's.
rQCompleteStorage containing all the q's. If q's were not in aQIn, the values are set to 0.0. When a q is constrained, its value is altered to be consistent with the constraint. The caller is responsible for deleting the memory associated with this storage. Units are radians.
rUCompleteStorage containing all the u's. The generalized speeds are obtained by spline fitting the q's and differentiating the splines. When a u is constrained, its value is altered to be consistent with the constraint. The caller is responsible for deleting the memory associated with this storage. Units are radians/s.

◆ getAcceleration()

void OpenSim::SimbodyEngine::getAcceleration ( const SimTK::State &  s,
const PhysicalFrame aBody,
const SimTK::Vec3 &  aPoint,
SimTK::Vec3 &  rAcc 
) const

(Deprecated) Use Frame::getAccelerationInGround() instead.

◆ getAngularAcceleration()

void OpenSim::SimbodyEngine::getAngularAcceleration ( const SimTK::State &  s,
const PhysicalFrame aBody,
SimTK::Vec3 &  rAngAcc 
) const

(Deprecated) Use Frame::getAccelerationInGround()[0] instead.

◆ getAngularAccelerationBodyLocal()

void OpenSim::SimbodyEngine::getAngularAccelerationBodyLocal ( const SimTK::State &  s,
const PhysicalFrame aBody,
SimTK::Vec3 &  rAngAcc 
) const

(Deprecated) See Frame::getAccelerationInGround()[0].

◆ getAngularVelocity()

void OpenSim::SimbodyEngine::getAngularVelocity ( const SimTK::State &  s,
const PhysicalFrame aBody,
SimTK::Vec3 &  rAngVel 
) const

(Deprecated) Use Frame::getVelocityInGround()[0] instead.

◆ getAngularVelocityBodyLocal()

void OpenSim::SimbodyEngine::getAngularVelocityBodyLocal ( const SimTK::State &  s,
const PhysicalFrame aBody,
SimTK::Vec3 &  rAngVel 
) const

(Deprecated) See Frame::getVelocityInGround()[0].

◆ getClassName()

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

This returns "SimbodyEngine".

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

◆ getConcreteClassName()

const std::string& OpenSim::SimbodyEngine::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::Object.

◆ getDirectionCosines() [1/2]

void OpenSim::SimbodyEngine::getDirectionCosines ( const SimTK::State &  s,
const PhysicalFrame aBody,
double  rDirCos[3][3] 
) const

(Deprecated) Use Frame::getTransformInGround().R() instead.

◆ getDirectionCosines() [2/2]

void OpenSim::SimbodyEngine::getDirectionCosines ( const SimTK::State &  s,
const PhysicalFrame aBody,
double *  rDirCos 
) const

(Deprecated) Use Frame::getTransformInGround().R() instead.

◆ getModel() [1/2]

const Model& OpenSim::SimbodyEngine::getModel ( ) const
inline

◆ getModel() [2/2]

Model& OpenSim::SimbodyEngine::getModel ( )
inline

◆ getPosition()

void OpenSim::SimbodyEngine::getPosition ( const SimTK::State &  s,
const PhysicalFrame aBody,
const SimTK::Vec3 &  aPoint,
SimTK::Vec3 &  rPos 
) const

(Deprecated) Use Frame::getPositionInGround() instead.

◆ getTransform()

SimTK::Transform OpenSim::SimbodyEngine::getTransform ( const SimTK::State &  s,
const PhysicalFrame aBody 
) const

(Deprecated) Use Frame::getTransformInGround() instead.

◆ getUnlockedCoordinates()

void OpenSim::SimbodyEngine::getUnlockedCoordinates ( const SimTK::State &  s,
CoordinateSet rUnlockedCoordinates 
) const

◆ getVelocity()

void OpenSim::SimbodyEngine::getVelocity ( const SimTK::State &  s,
const PhysicalFrame aBody,
const SimTK::Vec3 &  aPoint,
SimTK::Vec3 &  rVel 
) const

(Deprecated) Use Frame::getVelocityInGround() instead.

◆ operator=()

SimbodyEngine& OpenSim::SimbodyEngine::operator= ( const SimbodyEngine aEngine)

◆ safeDownCast()

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

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

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

◆ setModel()

void OpenSim::SimbodyEngine::setModel ( Model aModel)
inline

◆ transform() [1/2]

void OpenSim::SimbodyEngine::transform ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const double  aVec[3],
const PhysicalFrame aBodyTo,
double  rVec[3] 
) const

(Deprecated) Use Frame::expressVectorInAnotherFrame() instead.

◆ transform() [2/2]

void OpenSim::SimbodyEngine::transform ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const SimTK::Vec3 &  aVec,
const PhysicalFrame aBodyTo,
SimTK::Vec3 &  rVec 
) const

(Deprecated) Use Frame::expressVectorInAnotherFrame() instead.

◆ transformPosition() [1/4]

void OpenSim::SimbodyEngine::transformPosition ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const double  aPos[3],
const PhysicalFrame aBodyTo,
double  rPos[3] 
) const

(Deprecated) Use Frame::findStationLocationInAnotherFrame() instead.

◆ transformPosition() [2/4]

void OpenSim::SimbodyEngine::transformPosition ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const SimTK::Vec3 &  aPos,
const PhysicalFrame aBodyTo,
SimTK::Vec3 &  rPos 
) const

(Deprecated) Use Frame::findStationLocationInAnotherFrame() instead.

◆ transformPosition() [3/4]

void OpenSim::SimbodyEngine::transformPosition ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const double  aPos[3],
double  rPos[3] 
) const

(Deprecated) Use Frame::findStationLocationInGround() instead.

◆ transformPosition() [4/4]

void OpenSim::SimbodyEngine::transformPosition ( const SimTK::State &  s,
const PhysicalFrame aBodyFrom,
const SimTK::Vec3 &  aPos,
SimTK::Vec3 &  rPos 
) const

(Deprecated) Use Frame::findStationLocationInGround() instead.


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