This compliant contact force model is similar to HuntCrossleyForce, except that this model applies force even when not in contact. More...

Inheritance diagram for OpenSim::SmoothSphereHalfSpaceForce:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
double	stiffness
	"The stiffness constant (i.e., plain strain modulus), " "default is 1 (N/m^2)" More...

double	dissipation
	"The dissipation coefficient, default is 0 (s/m)." More...

double	static_friction
	"The coefficient of static friction, default is 0." More...

double	dynamic_friction
	"The coefficient of dynamic friction, default is 0." More...

double	viscous_friction
	"The coefficient of viscous friction, default is 0." More...

double	transition_velocity
	"The transition velocity, default is 0.01 (m/s)." More...

double	constant_contact_force
	"The constant that enforces non-null derivatives, " "default is 1e-5 (N)." More...

double	hertz_smoothing
	"The parameter that determines the smoothness of the transition " "of the tanh used to smooth the Hertz force. The larger the " "steeper the transition but the worse for optimization, " "default is 300." More...

double	hunt_crossley_smoothing
	"The parameter that determines the smoothness of the transition " "of the tanh used to smooth the Hunt-Crossley force. The larger " "the steeper the transition but the worse for optimization, " "default is 50." More...

double	force_visualization_radius
	"The radius of the cylinder that visualizes contact " "forces generated by this force component. Default: 0.01 m" More...

Properties (optional)
double	force_visualization_scale_factor
	"(Optional) The scale factor that determines the length of the " "cylinder that visualizes contact forces generated by this force " "component. The cylinder will be one meter long when the contact " "force magnitude is equal to this value. If this property is not " "specified, the total weight of the model is used " "as the scale factor." More...

Sockets
ContactSphere	sphere
	"The sphere participating in this contact." More...

ContactHalfSpace	half_space
	"The half-space participating in this contact." 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
	SmoothSphereHalfSpaceForce ()

	SmoothSphereHalfSpaceForce (const std::string &name, const ContactSphere &contactSphere, const ContactHalfSpace &contactHalfSpace)

OpenSim::Array< std::string >	getRecordLabels () const override
	Obtain names of the quantities (column labels) of the force values to be reported. More...

OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const override
	Obtain the values to be reported that correspond to the labels. More...

Property-related functions
const double &	get_stiffness () const
	Get the value of the stiffness property. More...

double &	upd_stiffness ()
	Get a writable reference to the stiffness property. More...

void	set_stiffness (const double &value)
	Set the value of the stiffness property. More...

const double &	get_dissipation () const
	Get the value of the dissipation property. More...

double &	upd_dissipation ()
	Get a writable reference to the dissipation property. More...

void	set_dissipation (const double &value)
	Set the value of the dissipation property. More...

const double &	get_static_friction () const
	Get the value of the static_friction property. More...

double &	upd_static_friction ()
	Get a writable reference to the static_friction property. More...

void	set_static_friction (const double &value)
	Set the value of the static_friction property. More...

const double &	get_dynamic_friction () const
	Get the value of the dynamic_friction property. More...

double &	upd_dynamic_friction ()
	Get a writable reference to the dynamic_friction property. More...

void	set_dynamic_friction (const double &value)
	Set the value of the dynamic_friction property. More...

const double &	get_viscous_friction () const
	Get the value of the viscous_friction property. More...

double &	upd_viscous_friction ()
	Get a writable reference to the viscous_friction property. More...

void	set_viscous_friction (const double &value)
	Set the value of the viscous_friction property. More...

const double &	get_transition_velocity () const
	Get the value of the transition_velocity property. More...

double &	upd_transition_velocity ()
	Get a writable reference to the transition_velocity property. More...

void	set_transition_velocity (const double &value)
	Set the value of the transition_velocity property. More...

const double &	get_constant_contact_force () const
	Get the value of the constant_contact_force property. More...

double &	upd_constant_contact_force ()
	Get a writable reference to the constant_contact_force property. More...

void	set_constant_contact_force (const double &value)
	Set the value of the constant_contact_force property. More...

const double &	get_hertz_smoothing () const
	Get the value of the hertz_smoothing property. More...

double &	upd_hertz_smoothing ()
	Get a writable reference to the hertz_smoothing property. More...

void	set_hertz_smoothing (const double &value)
	Set the value of the hertz_smoothing property. More...

const double &	get_hunt_crossley_smoothing () const
	Get the value of the hunt_crossley_smoothing property. More...

double &	upd_hunt_crossley_smoothing ()
	Get a writable reference to the hunt_crossley_smoothing property. More...

void	set_hunt_crossley_smoothing (const double &value)
	Set the value of the hunt_crossley_smoothing property. More...

const double &	get_force_visualization_radius () const
	Get the value of the force_visualization_radius property. More...

double &	upd_force_visualization_radius ()
	Get a writable reference to the force_visualization_radius property. More...

void	set_force_visualization_radius (const double &value)
	Set the value of the force_visualization_radius property. More...

const double &	get_force_visualization_scale_factor () const
	Get the value of the force_visualization_scale_factor property. More...

double &	upd_force_visualization_scale_factor ()
	Get a writable reference to the force_visualization_scale_factor property. More...

void	set_force_visualization_scale_factor (const double &value)
	Set the value of the force_visualization_scale_factor property. More...

Socket-related functions
void	connectSocket_sphere (const Object &object)
	Connect the 'sphere' Socket to an object of type ContactSphere. More...

void	connectSocket_half_space (const Object &object)
	Connect the 'half_space' Socket to an object of type ContactHalfSpace. 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 Model &	getModel () const
	Get a const reference to the Model this component is part of. More...

Model &	updModel ()
	Get a modifiable reference to the Model this component is part of. More...

bool	hasModel () const
	Does this ModelComponent have a Model associated with it? More...

void	preScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...

void	scale (const SimTK::State &s, const ScaleSet &scaleSet)
	Scale the ModelComponent. More...

void	postScale (const SimTK::State &s, const ScaleSet &scaleSet)
	Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More...

Public Member Functions inherited from OpenSim::Component
	Component ()
	Default constructor. More...

	Component (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct Component from an XML file. More...

	Component (SimTK::Xml::Element &aNode)
	Construct Component from a specific node in an XML document. More...

	Component (const Component &)=default
	Use default copy constructor and assignment operator. More...

Component &	operator= (const Component &)=default

virtual	~Component ()=default
	Destructor is virtual to allow concrete Component to cleanup. More...

const SimTK::MultibodySystem &	getSystem () const
	Get the underlying MultibodySystem that this component is connected to. More...

bool	hasSystem () const
	Check if this component has an underlying MultibodySystem. More...

bool	isComponentInOwnershipTree (const Component *component) const
	Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More...

void	addComponent (Component *subcomponent)
	Add a Component (as a subcomponent) of this component. More...

template<typename T = Component>
ComponentList< const T >	getComponentList () const
	Get an iterator through the underlying subcomponents that this component is composed of. More...

template<typename T = Component>
ComponentList< T >	updComponentList ()
	Similar to getComponentList(), except the resulting list allows one to modify the components. More...

template<typename T = Component>
unsigned	countNumComponents () const
	Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More...

std::string	getAbsolutePathString () const
	Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More...

ComponentPath	getAbsolutePath () const
	Return a ComponentPath of the absolute path of this Component. More...

std::string	getRelativePathString (const Component &wrt) const
	Get the relative path of this Component with respect to another Component, as a string. More...

ComponentPath	getRelativePath (const Component &wrt) const
	Get the relative path of this Component with respect to another Component. More...

bool	hasComponent (const std::string &pathname) const
	Query if there is a component (of any type) at the specified path name. More...

template<class C = Component>
bool	hasComponent (const std::string &pathname) const
	Query if there is a component of a given type at the specified path name. More...

template<class C = Component>
const C &	getComponent (const std::string &pathname) const
	Get a unique subcomponent of this Component by its path name and type 'C'. More...

template<class C = Component>
const C &	getComponent (const ComponentPath &pathname) const

const Component &	getComponent (const std::string &pathname) const
	Similar to the templatized getComponent(), except this returns the component as the generic Component type. More...

template<class C = Component>
C &	updComponent (const std::string &name)
	Get a writable reference to a subcomponent. More...

template<class C = Component>
C &	updComponent (const ComponentPath &name)

Component &	updComponent (const std::string &pathname)
	Similar to the templatized updComponent(), except this returns the component as the generic Component type. More...

unsigned	printComponentsMatching (const std::string &substring) const
	Print a list to the console of all components whose absolute path name contains the given string. More...

int	getNumStateVariables () const
	Get the number of "continuous" state variables maintained by the Component and its subcomponents. More...

Array< std::string >	getStateVariableNames () const
	Get the names of "continuous" state variables maintained by the Component and its subcomponents. More...

template<class C = Component>
const C *	findComponent (const ComponentPath &pathToFind) const
	Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More...

template<class C = Component>
const C *	findComponent (const std::string &pathToFind) const
	Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More...

const StateVariable *	traverseToStateVariable (const std::string &pathName) const
	Get a StateVariable anywhere in the Component tree, given a StateVariable path. More...

void	finalizeFromProperties ()
	Define a Component's internal data members and structure according to its properties. More...

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

void	clearConnections ()
	Disconnect/clear this Component from its aggregate component. More...

void	addToSystem (SimTK::MultibodySystem &system) const
	Have the Component add itself to the underlying computational System. More...

void	initStateFromProperties (SimTK::State &state) const
	Initialize Component's state variable values from its properties. More...

void	setPropertiesFromState (const SimTK::State &state)
	Set Component's properties given a state. More...

int	getNumSockets () const
	Get the number of Sockets in this Component. More...

std::vector< std::string >	getSocketNames ()
	Collect and return the names of the sockets in this component. More...

template<typename T >
const T &	getConnectee (const std::string &name) const
	Get the "connectee" object that the Component's Socket is bound to. More...

const Object &	getConnectee (const std::string &name) const
	Get the connectee as an Object. More...

const AbstractSocket &	getSocket (const std::string &name) const
	Get an AbstractSocket for the given socket name. More...

AbstractSocket &	updSocket (const std::string &name)
	Get a writable reference to the AbstractSocket for the given socket name. More...

template<typename T >
const Socket< T > &	getSocket (const std::string &name) const
	Get a const reference to the concrete Socket provided by this Component by name. More...

template<typename T >
Socket< T > &	updSocket (const std::string &name)
	Get a writable reference to the concrete Socket provided by this Component by name. More...

void	printSubcomponentInfo () const
	List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More...

void	printSocketInfo () const
	List all the Sockets of this component and whether or not they are connected. More...

void	printInputInfo () const
	List all the inputs of this component and whether or not they are connected. More...

template<typename C >
void	printSubcomponentInfo () const

void	printOutputInfo (const bool includeDescendants=true) const
	Print outputs of this component and optionally, those of all subcomponents. More...

int	getNumInputs () const
	Access the number of Inputs that this component has. More...

int	getNumOutputs () const
	Access the number of Outputs that this component has. More...

std::vector< std::string >	getInputNames () const
	Collect and return the names of Inputs in this component as an std::vector. More...

std::vector< std::string >	getOutputNames () const
	Collect and return the names of Outputs in this component as an std::vector. More...

const AbstractInput &	getInput (const std::string &name) const
	Get an Input provided by this Component by name. More...

AbstractInput &	updInput (const std::string &name)
	Get a writable reference to an Input provided by this Component by name. More...

template<typename T >
const Input< T > &	getInput (const std::string &name) const
	Get a concrete Input that you can directly ask for its values. More...

const AbstractOutput &	getOutput (const std::string &name) const
	Get the Output provided by this Component by name. More...

AbstractOutput &	updOutput (const std::string &name)
	Get a writable reference to an Output provided by this Component by name. More...

SimTK::IteratorRange< OutputConstIterator >	getOutputs () const
	Iterate through all Outputs of this component. More...

int	getModelingOption (const SimTK::State &state, const std::string &name) const
	Get a ModelingOption flag for this Component by name. More...

void	setModelingOption (SimTK::State &state, const std::string &name, int flag) const
	Set the value of a ModelingOption flag for this Component. More...

template<typename T >
const T &	getInputValue (const SimTK::State &state, const std::string &name) const
	Get the Input value that this component is dependent on. More...

template<typename T >
const T &	getOutputValue (const SimTK::State &state, const std::string &name) const
	Get the Output value provided by this Component by name. More...

double	getStateVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable allocated by this Component. More...

void	setStateVariableValue (SimTK::State &state, const std::string &name, double value) const
	Set the value of a state variable allocated by this Component by name. More...

SimTK::Vector	getStateVariableValues (const SimTK::State &state) const
	Get all values of the state variables allocated by this Component. More...

void	setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const
	Set all values of the state variables allocated by this Component. More...

double	getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const
	Get the value of a state variable derivative computed by this Component. More...

double	getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a discrete variable allocated by this Component by name. More...

void	setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const
	Set the value of a discrete variable allocated by this Component by name. More...

template<class T >
SimTK::CacheEntryIndex	getCacheVariableIndex (const CacheVariable< T > &cv) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...

SimTK::CacheEntryIndex	getCacheVariableIndex (const std::string &name) const
	Get the index of a Component's cache variable in the Subsystem for allocations. More...

template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Get the value of a cache variable allocated by this Component by name. More...

template<class T >
const T &	getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Get the value of a cache variable allocated by this Component. More...

template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const
	Set the value of a cache variable, identified by `name`, to a new value and mark the cache variable as valid. More...

template<typename T >
void	setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const
	Set the value of a cache variable to a new value and mark the cache variable as valid. More...

template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const std::string &name) const
	Returns a mutable reference to the value of a cache variable identified by `name`. More...

template<typename T >
T &	updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns a mutable reference to the value of a cache variable. More...

bool	isCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Returns true if the cache variable, identified by `name`, is valid. More...

template<class T >
bool	isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Returns true if the cache variable is valid. More...

void	markCacheVariableValid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by `name`, as valid. More...

template<typename T >
void	markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as valid. More...

void	markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
	Marks the value of a cache variable, identified by `name`, as invalid. More...

template<class T >
void	markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const
	Marks the value of a cache variable as invalid. More...

const Component &	getOwner () const
	Access the owner of this Component. More...

bool	hasOwner () const
	(For advanced users) Check if this Component has an owner. More...

const Component &	getRoot () const
	Obtain the root Component, which is this component if it is orphaned. More...

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...

virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...

virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...

void	setName (const std::string &name)
	Set the name of the Object. More...

const std::string &	getName () const
	Get the name of this Object. More...

void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...

const std::string &	getDescription () const
	Get description, a one-liner summary. More...

const std::string &	getAuthors () const
	Get Authors of this Object. More...

void	setAuthors (const std::string &authors)
	Set Authors of this object. More...

const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...

void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...

int	getNumProperties () const
	Determine how many properties are stored with this Object. More...

const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...

bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty. More...

const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty. More...

template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...

template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...

template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...

bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...

void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...

void	updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
	Serialize this object into the XML node that represents it. More...

bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...

void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...

std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...

int	getDocumentFileVersion () const
	If there is a document associated with this object then return its version number. More...

void	setAllPropertiesUseDefault (bool aUseDefault)

bool	print (const std::string &fileName) const
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...

std::string	dump () const
	dump the XML representation of this Object into an std::string and return it. More...

virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...

const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

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

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

SmoothSphereHalfSpaceForce *	clone () 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 Force *	safeDownCast (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 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

This compliant contact force model is similar to HuntCrossleyForce, except that this model applies force even when not in contact.

Unlike HuntCrossleyForce, the normal force is differentiable as a function of penetration depth. This component is designed for use in gradient-based optimizations, in which the model is required to be differentiable. This component models contact between a single sphere and a single half space. This force does NOT use ContactGeometry objects; the description of the contact geometries is done through properties of this component.

Constant contact force

This force applies a constant contact force even when the sphere and half-space are not contacting. This constant force is set with the constant_contact_force property. Its default value is appropriate for walking; the value may need to be adjusted for different contact scenarios or models with a very light mass.

See also: SimTK::SmoothSphereHalfSpaceForce

The graph below compares the smooth approximation of the Hertz force to that from HuntCrossleyForce.

Curves produced using E=1e6, R=0.8, cf=1e-5, and bd=300

The graph below compares the smooth approximation of the dissipative force to that from HuntCrossleyForce.

Curves produced using x=0.1, E=1e6, R=0.8, c=2, cf=1e-5, bd=300, and bv=50

Serrancoli, G., Falisse, A., Dembia, C., Vantilt, J., Tanghe, K., Lefeber, D., Jonkers, I., De Schutter, J., De Groote, F. (2019). Subject-exoskeleton contact model calibration leads to accurate interaction force predictions. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 1–1. doi:10.1109/tnsre.2019.2924536

Constructor & Destructor Documentation

◆ SmoothSphereHalfSpaceForce() [1/2]

OpenSim::SmoothSphereHalfSpaceForce::SmoothSphereHalfSpaceForce ( )

◆ SmoothSphereHalfSpaceForce() [2/2]

OpenSim::SmoothSphereHalfSpaceForce::SmoothSphereHalfSpaceForce	(	const std::string &	name,
		const ContactSphere &	contactSphere,
		const ContactHalfSpace &	contactHalfSpace
	)

Member Function Documentation

◆ clone()

SmoothSphereHalfSpaceForce* OpenSim::SmoothSphereHalfSpaceForce::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.

◆ connectSocket_half_space()

void OpenSim::SmoothSphereHalfSpaceForce::connectSocket_half_space ( const Object & object )

inline

Connect the 'half_space' Socket to an object of type ContactHalfSpace.

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.

◆ connectSocket_sphere()

void OpenSim::SmoothSphereHalfSpaceForce::connectSocket_sphere ( const Object & object )

inline

Connect the 'sphere' Socket to an object of type ContactSphere.

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.

◆ extendAddToSystem()

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

overrideprotectedvirtual

Create a SimTK::Force which implements this Force.

Reimplemented from OpenSim::Force.

◆ extendRealizeInstance()

void OpenSim::SmoothSphereHalfSpaceForce::extendRealizeInstance ( const SimTK::State & state ) const

overrideprotectedvirtual

Perform computations that depend only on instance variables, like lengths and masses.

Reimplemented from OpenSim::Component.

◆ generateDecorations()

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

overrideprotectedvirtual

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

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

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

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

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

Parameters

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

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

Reimplemented from OpenSim::Component.

◆ get_constant_contact_force()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_constant_contact_force ( ) const

inline

Get the value of the constant_contact_force property.

◆ get_dissipation()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_dissipation ( ) const

inline

Get the value of the dissipation property.

◆ get_dynamic_friction()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_dynamic_friction ( ) const

inline

Get the value of the dynamic_friction property.

◆ get_force_visualization_radius()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_force_visualization_radius ( ) const

inline

Get the value of the force_visualization_radius property.

◆ get_force_visualization_scale_factor()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_force_visualization_scale_factor ( ) const

inline

Get the value of the force_visualization_scale_factor property.

◆ get_hertz_smoothing()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_hertz_smoothing ( ) const

inline

Get the value of the hertz_smoothing property.

◆ get_hunt_crossley_smoothing()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_hunt_crossley_smoothing ( ) const

inline

Get the value of the hunt_crossley_smoothing property.

◆ get_static_friction()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_static_friction ( ) const

inline

Get the value of the static_friction property.

◆ get_stiffness()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_stiffness ( ) const

inline

Get the value of the stiffness property.

◆ get_transition_velocity()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_transition_velocity ( ) const

inline

Get the value of the transition_velocity property.

◆ get_viscous_friction()

const double& OpenSim::SmoothSphereHalfSpaceForce::get_viscous_friction ( ) const

inline

Get the value of the viscous_friction property.

◆ getClassName()

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

inlinestatic

This returns "SmoothSphereHalfSpaceForce".

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

◆ getConcreteClassName()

const std::string& OpenSim::SmoothSphereHalfSpaceForce::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.

◆ getRecordLabels()

OpenSim::Array<std::string> OpenSim::SmoothSphereHalfSpaceForce::getRecordLabels ( ) const

overridevirtual

Obtain names of the quantities (column labels) of the force values to be reported.

The order is the three forces (XYZ) and three torques (XYZ) applied on the sphere followed by the three forces (XYZ) and three torques (XYZ) applied on the half space. Forces and torques are expressed in the ground frame.

Reimplemented from OpenSim::Force.

◆ getRecordValues()

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

overridevirtual

Obtain the values to be reported that correspond to the labels.

The values are expressed in the ground frame.

Reimplemented from OpenSim::Force.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_constant_contact_force()

void OpenSim::SmoothSphereHalfSpaceForce::set_constant_contact_force ( const double & value )

inline

Set the value of the constant_contact_force property.

◆ set_dissipation()

void OpenSim::SmoothSphereHalfSpaceForce::set_dissipation ( const double & value )

inline

Set the value of the dissipation property.

◆ set_dynamic_friction()

void OpenSim::SmoothSphereHalfSpaceForce::set_dynamic_friction ( const double & value )

inline

Set the value of the dynamic_friction property.

◆ set_force_visualization_radius()

void OpenSim::SmoothSphereHalfSpaceForce::set_force_visualization_radius ( const double & value )

inline

Set the value of the force_visualization_radius property.

◆ set_force_visualization_scale_factor()

void OpenSim::SmoothSphereHalfSpaceForce::set_force_visualization_scale_factor ( const double & value )

inline

Set the value of the force_visualization_scale_factor property.

◆ set_hertz_smoothing()

void OpenSim::SmoothSphereHalfSpaceForce::set_hertz_smoothing ( const double & value )

inline

Set the value of the hertz_smoothing property.

◆ set_hunt_crossley_smoothing()

void OpenSim::SmoothSphereHalfSpaceForce::set_hunt_crossley_smoothing ( const double & value )

inline

Set the value of the hunt_crossley_smoothing property.

◆ set_static_friction()

void OpenSim::SmoothSphereHalfSpaceForce::set_static_friction ( const double & value )

inline

Set the value of the static_friction property.

◆ set_stiffness()

void OpenSim::SmoothSphereHalfSpaceForce::set_stiffness ( const double & value )

inline

Set the value of the stiffness property.

◆ set_transition_velocity()

void OpenSim::SmoothSphereHalfSpaceForce::set_transition_velocity ( const double & value )

inline

Set the value of the transition_velocity property.

◆ set_viscous_friction()

void OpenSim::SmoothSphereHalfSpaceForce::set_viscous_friction ( const double & value )

inline

Set the value of the viscous_friction property.

◆ upd_constant_contact_force()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_constant_contact_force ( )

inline

Get a writable reference to the constant_contact_force property.

◆ upd_dissipation()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_dissipation ( )

inline

Get a writable reference to the dissipation property.

◆ upd_dynamic_friction()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_dynamic_friction ( )

inline

Get a writable reference to the dynamic_friction property.

◆ upd_force_visualization_radius()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_force_visualization_radius ( )

inline

Get a writable reference to the force_visualization_radius property.

◆ upd_force_visualization_scale_factor()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_force_visualization_scale_factor ( )

inline

Get a writable reference to the force_visualization_scale_factor property.

◆ upd_hertz_smoothing()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_hertz_smoothing ( )

inline

Get a writable reference to the hertz_smoothing property.

◆ upd_hunt_crossley_smoothing()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_hunt_crossley_smoothing ( )

inline

Get a writable reference to the hunt_crossley_smoothing property.

◆ upd_static_friction()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_static_friction ( )

inline

Get a writable reference to the static_friction property.

◆ upd_stiffness()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_stiffness ( )

inline

Get a writable reference to the stiffness property.

◆ upd_transition_velocity()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_transition_velocity ( )

inline

Get a writable reference to the transition_velocity property.

◆ upd_viscous_friction()

double& OpenSim::SmoothSphereHalfSpaceForce::upd_viscous_friction ( )

inline

Get a writable reference to the viscous_friction property.

OpenSim Property, Socket, Output, Input Documentation

◆ constant_contact_force

double OpenSim::SmoothSphereHalfSpaceForce::constant_contact_force

"The constant that enforces non-null derivatives, " "default is 1e-5 (N)."

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

See also: get_constant_contact_force(), upd_constant_contact_force(), set_constant_contact_force()

◆ dissipation

double OpenSim::SmoothSphereHalfSpaceForce::dissipation

"The dissipation coefficient, default is 0 (s/m)."

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

See also: get_dissipation(), upd_dissipation(), set_dissipation()

◆ dynamic_friction

double OpenSim::SmoothSphereHalfSpaceForce::dynamic_friction

"The coefficient of dynamic friction, default is 0."

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

See also: get_dynamic_friction(), upd_dynamic_friction(), set_dynamic_friction()

◆ force_visualization_radius

double OpenSim::SmoothSphereHalfSpaceForce::force_visualization_radius

"The radius of the cylinder that visualizes contact " "forces generated by this force component. Default: 0.01 m"

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

See also: get_force_visualization_radius(), upd_force_visualization_radius(), set_force_visualization_radius()

◆ force_visualization_scale_factor

double OpenSim::SmoothSphereHalfSpaceForce::force_visualization_scale_factor

"(Optional) The scale factor that determines the length of the " "cylinder that visualizes contact forces generated by this force " "component. The cylinder will be one meter long when the contact " "force magnitude is equal to this value. If this property is not " "specified, the total weight of the model is used " "as the scale factor."

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

See also: get_force_visualization_scale_factor(), upd_force_visualization_scale_factor(), set_force_visualization_scale_factor()

◆ half_space

ContactHalfSpace OpenSim::SmoothSphereHalfSpaceForce::half_space

"The half-space participating in this contact."

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

See also: connectSocket_half_space()

◆ hertz_smoothing

double OpenSim::SmoothSphereHalfSpaceForce::hertz_smoothing

"The parameter that determines the smoothness of the transition " "of the tanh used to smooth the Hertz force. The larger the " "steeper the transition but the worse for optimization, " "default is 300."

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

See also: get_hertz_smoothing(), upd_hertz_smoothing(), set_hertz_smoothing()

◆ hunt_crossley_smoothing

double OpenSim::SmoothSphereHalfSpaceForce::hunt_crossley_smoothing

"The parameter that determines the smoothness of the transition " "of the tanh used to smooth the Hunt-Crossley force. The larger " "the steeper the transition but the worse for optimization, " "default is 50."

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

See also: get_hunt_crossley_smoothing(), upd_hunt_crossley_smoothing(), set_hunt_crossley_smoothing()

◆ sphere

ContactSphere OpenSim::SmoothSphereHalfSpaceForce::sphere

"The sphere participating in this contact."

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

See also: connectSocket_sphere()

◆ static_friction

double OpenSim::SmoothSphereHalfSpaceForce::static_friction

"The coefficient of static friction, default is 0."

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

See also: get_static_friction(), upd_static_friction(), set_static_friction()

◆ stiffness

double OpenSim::SmoothSphereHalfSpaceForce::stiffness

"The stiffness constant (i.e., plain strain modulus), " "default is 1 (N/m^2)"

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

See also: get_stiffness(), upd_stiffness(), set_stiffness()

◆ transition_velocity

double OpenSim::SmoothSphereHalfSpaceForce::transition_velocity

"The transition velocity, default is 0.01 (m/s)."

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

See also: get_transition_velocity(), upd_transition_velocity(), set_transition_velocity()

◆ viscous_friction

double OpenSim::SmoothSphereHalfSpaceForce::viscous_friction

"The coefficient of viscous friction, default is 0."

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

See also: get_viscous_friction(), upd_viscous_friction(), set_viscous_friction()

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

OpenSim/Simulation/Model/SmoothSphereHalfSpaceForce.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constant contact force

Constructor & Destructor Documentation

◆ SmoothSphereHalfSpaceForce() [1/2]

◆ SmoothSphereHalfSpaceForce() [2/2]

Member Function Documentation

◆ clone()

◆ connectSocket_half_space()

◆ connectSocket_sphere()

◆ extendAddToSystem()

◆ extendRealizeInstance()

◆ generateDecorations()

◆ get_constant_contact_force()

◆ get_dissipation()

◆ get_dynamic_friction()

◆ get_force_visualization_radius()

◆ get_force_visualization_scale_factor()

◆ get_hertz_smoothing()

◆ get_hunt_crossley_smoothing()

◆ get_static_friction()

◆ get_stiffness()

◆ get_transition_velocity()

◆ get_viscous_friction()

◆ getClassName()

◆ getConcreteClassName()

◆ getRecordLabels()

◆ getRecordValues()

◆ safeDownCast()

◆ set_constant_contact_force()

◆ set_dissipation()

◆ set_dynamic_friction()

◆ set_force_visualization_radius()

◆ set_force_visualization_scale_factor()

◆ set_hertz_smoothing()

◆ set_hunt_crossley_smoothing()

◆ set_static_friction()

◆ set_stiffness()

◆ set_transition_velocity()

◆ set_viscous_friction()

◆ upd_constant_contact_force()

◆ upd_dissipation()

◆ upd_dynamic_friction()

◆ upd_force_visualization_radius()

◆ upd_force_visualization_scale_factor()

◆ upd_hertz_smoothing()

◆ upd_hunt_crossley_smoothing()

◆ upd_static_friction()

◆ upd_stiffness()

◆ upd_transition_velocity()

◆ upd_viscous_friction()

OpenSim Property, Socket, Output, Input Documentation

◆ constant_contact_force

◆ dissipation

◆ dynamic_friction

◆ force_visualization_radius

◆ force_visualization_scale_factor

◆ half_space

◆ hertz_smoothing

◆ hunt_crossley_smoothing

◆ sphere

◆ static_friction

◆ stiffness

◆ transition_velocity

◆ viscous_friction