A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis. More...

Inheritance diagram for OpenSim::TransformAxis:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (list)
The "coordinates" property holds a list of strings representing the generalized coordinate names that serve as the independent variables of the transform function.
std::string	coordinates
	"Names of the coordinates that serve as the independent variables \ of the transform function." More...

Properties (single-value)
The "function" property holds the transform function of the generalized coordinate(s) used to represent the amount of displacement about/along the specified axis. If none is specified a Constant function is applied.
SimTK::Vec3	axis
	"Rotation or translation axis for the transform." More...

Function	function
	"Transform function of the generalized coordinates used to \ represent the amount of displacement along a specified axis." More...

Public Member Functions
	TransformAxis ()

	TransformAxis (const Array< std::string > &coordNames, const SimTK::Vec3 &axis)

	TransformAxis (SimTK::Xml::Element &node)

void	setCoordinateNames (const Array< std::string > &coordNames)
	Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object. More...

const Property< std::string > &	getCoordinateNames () const
	Get the generalized coordinate names associated with this object. More...

Array< std::string >	getCoordinateNamesInArray () const
	Copy the coordinate names into an OpenSim::Array for convenience. More...

void	setAxis (const SimTK::Vec3 &axis)
	Set the value of the "axis" property. More...

const SimTK::Vec3 &	getAxis () const
	Return the current value of the "axis" property. More...

void	getAxis (SimTK::Vec3 &axis) const
	Alternate signature that writes the axis value to its argument. More...

double	getAxis (int which) const
	Get one component (0,1, or 2) of the axis vector. More...

bool	hasFunction () const
	Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis. More...

const Function &	getFunction () const
	Get the custom function that maps between the generalized coordinates and the amount of displacement along the specified axis. More...

Function &	updFunction ()
	Get writable access to the transform function. More...

void	setFunction (Function *function)
	Set the custom function that maps between the generalized coordinates and the amount of displacement about/along the specified axis. More...

void	setFunction (const Function &function)
	Set the custom function that maps between the generalized coordinates and the amount of transformation about/along the specified axis. More...

const Joint &	getJoint () const
	Return a reference to the Joint to which this TransformAxis applies. More...

double	getValue (const SimTK::State &s)

void	connectToJoint (const Joint &owningJoint)
	Connect the TransformAxis to its owning Joint after the model has been deserialized or copied. More...

Property-related functions
const std::string &	get_coordinates (int i) const
	Get the value of the i-th element of the coordinates property. More...

std::string &	upd_coordinates (int i)
	Get a writable reference to the i-th element of the coordinates property. More...

void	set_coordinates (int i, const std::string &value)
	Set the value of the i-th element of coordinates property. More...

int	append_coordinates (const std::string &value)
	Append an element to the coordinates property. More...

const SimTK::Vec3 &	get_axis () const
	Get the value of the axis property. More...

SimTK::Vec3 &	upd_axis ()
	Get a writable reference to the axis property. More...

void	set_axis (const SimTK::Vec3 &value)
	Set the value of the axis property. More...

const Function &	get_function () const
	Get the value of the function property. More...

Function &	upd_function ()
	Get a writable reference to the function property. More...

void	set_function (const Function &value)
	Set the value of the function property. 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 TransformAxis *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

TransformAxis *	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::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...

template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
	Same as the other signature but the class name and property name are provided as two separate strings. More...

static Object *	makeObjectFromFile (const std::string &fileName)
	Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...

static void	setDebugLevel (int newLevel)
	Set the amount of logging output. More...

static int	getDebugLevel ()
	Get the current setting of debug level. More...

static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

Detailed Description

A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis.

The TransformAxis function specified the spatial displacement that is achieved as a function of the generalized coordinate(s).

Author: Peter Loan, Frank C. Anderson, Jeffrey A. Reinbolt, Ajay Seth, Michael Sherman

Constructor & Destructor Documentation

◆ TransformAxis() [1/3]

OpenSim::TransformAxis::TransformAxis ( )

◆ TransformAxis() [2/3]

OpenSim::TransformAxis::TransformAxis	(	const Array< std::string > &	coordNames,
		const SimTK::Vec3 &	axis
	)

◆ TransformAxis() [3/3]

OpenSim::TransformAxis::TransformAxis ( SimTK::Xml::Element & node )

explicit

Member Function Documentation

◆ append_coordinates()

int OpenSim::TransformAxis::append_coordinates ( const std::string & value )

inline

Append an element to the coordinates property.

◆ clone()

TransformAxis* OpenSim::TransformAxis::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.

◆ connectToJoint()

void OpenSim::TransformAxis::connectToJoint ( const Joint & owningJoint )

Connect the TransformAxis to its owning Joint after the model has been deserialized or copied.

◆ get_axis()

const SimTK::Vec3& OpenSim::TransformAxis::get_axis ( ) const

inline

Get the value of the axis property.

◆ get_coordinates()

const std::string& OpenSim::TransformAxis::get_coordinates ( int i ) const

inline

Get the value of the i-th element of the coordinates property.

◆ get_function()

const Function& OpenSim::TransformAxis::get_function ( ) const

inline

Get the value of the function property.

◆ getAxis() [1/3]

const SimTK::Vec3& OpenSim::TransformAxis::getAxis ( ) const

inline

Return the current value of the "axis" property.

◆ getAxis() [2/3]

void OpenSim::TransformAxis::getAxis ( SimTK::Vec3 & axis ) const

inline

Alternate signature that writes the axis value to its argument.

References getAxis().

Referenced by getAxis().

◆ getAxis() [3/3]

double OpenSim::TransformAxis::getAxis ( int which ) const

inline

Get one component (0,1, or 2) of the axis vector.

◆ getClassName()

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

inlinestatic

This returns "TransformAxis".

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

◆ getConcreteClassName()

const std::string& OpenSim::TransformAxis::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.

◆ getCoordinateNames()

const Property<std::string>& OpenSim::TransformAxis::getCoordinateNames ( ) const

inline

Get the generalized coordinate names associated with this object.

The returned value is a references to the Property<string> that contains the list of coordinate names.

See also: get_coordinates()

◆ getCoordinateNamesInArray()

Array<std::string> OpenSim::TransformAxis::getCoordinateNamesInArray ( ) const

inline

Copy the coordinate names into an OpenSim::Array for convenience.

References OpenSim::Array< T >::append().

◆ getFunction()

const Function& OpenSim::TransformAxis::getFunction ( ) const

Get the custom function that maps between the generalized coordinates and the amount of displacement along the specified axis.

If no function has been specified, this throws an exception; check first with hasFunction() if you aren't sure.

◆ getJoint()

const Joint& OpenSim::TransformAxis::getJoint ( ) const

inline

Return a reference to the Joint to which this TransformAxis applies.

◆ getValue()

double OpenSim::TransformAxis::getValue ( const SimTK::State & s )

◆ hasFunction()

bool OpenSim::TransformAxis::hasFunction ( ) const

inline

Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_axis()

void OpenSim::TransformAxis::set_axis ( const SimTK::Vec3 & value )

inline

Set the value of the axis property.

◆ set_coordinates()

void OpenSim::TransformAxis::set_coordinates	(	int	i,
		const std::string &	value
	)

inline

Set the value of the i-th element of coordinates property.

◆ set_function()

void OpenSim::TransformAxis::set_function ( const Function & value )

inline

Set the value of the function property.

◆ setAxis()

void OpenSim::TransformAxis::setAxis ( const SimTK::Vec3 & axis )

inline

Set the value of the "axis" property.

◆ setCoordinateNames()

void OpenSim::TransformAxis::setCoordinateNames ( const Array< std::string > & coordNames )

inline

Set the names of the generalized coordinates that affect the motion along the axis controlled by this TransformAxis object.

Parameters

coordNames Names of the generalized coordinates.

◆ setFunction() [1/2]

void OpenSim::TransformAxis::setFunction ( Function * function )

Set the custom function that maps between the generalized coordinates and the amount of displacement about/along the specified axis.

This object adopts ownership of the Function object, don't delete it yourself! It will be deleted when this TransformAxis object is deleted.

◆ setFunction() [2/2]

void OpenSim::TransformAxis::setFunction ( const Function & function )

Set the custom function that maps between the generalized coordinates and the amount of transformation about/along the specified axis.

This method creates a copy of the supplied Function object, which is unaffected. Use the other signature if you want this TransformAxis to take over ownership of the Function object.

◆ upd_axis()

SimTK::Vec3& OpenSim::TransformAxis::upd_axis ( )

inline

Get a writable reference to the axis property.

◆ upd_coordinates()

std::string& OpenSim::TransformAxis::upd_coordinates ( int i )

inline

Get a writable reference to the i-th element of the coordinates property.

◆ upd_function()

Function& OpenSim::TransformAxis::upd_function ( )

inline

Get a writable reference to the function property.

◆ updFunction()

Function& OpenSim::TransformAxis::updFunction ( )

Get writable access to the transform function.

OpenSim Property, Socket, Output, Input Documentation

◆ axis

SimTK::Vec3 OpenSim::TransformAxis::axis

"Rotation or translation axis for the transform."

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

See also: get_axis(), upd_axis(), set_axis()

◆ coordinates

std::string OpenSim::TransformAxis::coordinates

"Names of the coordinates that serve as the independent variables \ of the transform function."

This property appears in XML files under the tag <coordinates>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.

See also: get_coordinates(), upd_coordinates(), set_coordinates(), append_coordinates()

◆ function

Function OpenSim::TransformAxis::function

"Transform function of the generalized coordinates used to \ represent the amount of displacement along a specified axis."

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

See also: get_function(), upd_function(), set_function()

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

OpenSim/Simulation/SimbodyEngine/TransformAxis.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TransformAxis() [1/3]

◆ TransformAxis() [2/3]

◆ TransformAxis() [3/3]

Member Function Documentation

◆ append_coordinates()

◆ clone()

◆ connectToJoint()

◆ get_axis()

◆ get_coordinates()

◆ get_function()

◆ getAxis() [1/3]

◆ getAxis() [2/3]

◆ getAxis() [3/3]

◆ getClassName()

◆ getConcreteClassName()

◆ getCoordinateNames()

◆ getCoordinateNamesInArray()

◆ getFunction()

◆ getJoint()

◆ getValue()

◆ hasFunction()

◆ safeDownCast()

◆ set_axis()

◆ set_coordinates()

◆ set_function()

◆ setAxis()

◆ setCoordinateNames()

◆ setFunction() [1/2]

◆ setFunction() [2/2]

◆ upd_axis()

◆ upd_coordinates()

◆ upd_function()

◆ updFunction()

OpenSim Property, Socket, Output, Input Documentation

◆ axis

◆ coordinates

◆ function