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rdModel Class Reference

An abstract class that specifies the interface for a dynamic model. More...

#include <rdModel.h>

Inheritance diagram for rdModel:

List of all members.

Public Member Functions
	rdModel ()
	Default constructor.
virtual	~rdModel ()
	Destructor.
int	getNX () const
	Get the number of controls for this model.
int	getNQ () const
	Get the number of generalized coordinates.
int	getNU () const
	Get the number of generalized speeds.
int	getNY () const
	Get the total number of states.
int	getNYP () const
	Get the total number of pseudo-states.
int	getNB () const
	Get the number of bodies in this model, not counting the ground inertial reference frame.
int	getNJ () const
	Get the number of joints in this model.
int	getNA () const
	Get the number of actuators in this model.
int	getNP () const
	Get the number of contact points that are present given the current state of the model.
void	setName (const char *aName)
	Set the name the model.
const char *	getName () const
	Get the name the model.
const char *	getBodyName (int aIndex) const
	Get the name of body.
const char *	getCoordinateName (int aIndex) const
	Get the name of a generalized coordinate.
const char *	getSpeedName (int aIndex) const
	Get the name of a generalized speed.
const char *	getActuatorName (int aIndex) const
	Get the name of an actuator.
const char *	getControlName (int aIndex) const
	Get the name of a control.
const char *	getStateName (int aIndex) const
	Get the name of a state.
const char *	getPseudoStateName (int aIndex) const
	Get the name of a pseudo-state.
int	getBodyIndex (const char *aName) const
	Get the index of a body given its name.
int	getCoordinateIndex (const char *aName) const
	Get the index of a generalized coordinate given its name.
int	getSpeedIndex (const char *aName) const
	Get the index of a generalized speed given its name.
int	getActuatorIndex (const char *aName) const
	Get the index of an actuator given its name.
int	getControlIndex (const char *aName) const
	Get the index of a control given its name.
int	getStateIndex (const char *aName) const
	Get the index of a state given its name.
int	getPseudoStateIndex (const char *aName) const
	Get the index of a pseudo-state given its name.
virtual void	set (double aT, const double aX[], const double aY[])
	Set the current time, controls, and states.
virtual void	setTime (double aT)
	Set the current time.
double	getTime () const
	Get the current time.
virtual void	setTimeNormConstant (double aNormConst)
	Set the constant by which time is normalized.
double	getTimeNormConstant () const
	Get the constant by which time is normalized.
virtual void	setControls (const double aX[])
	Set the current controls.
virtual void	setControl (int aIndex, double aValue)
	Set the value of a control by index.
virtual void	setControl (const char *aName, double aValue)
	Set the value of a control by name.
virtual void	getControls (double rX[]) const
	Get the current controls.
virtual double	getControl (int aIndex) const
	Get the current value of a control by index.
double	getControl (const char *aName) const
	Get the value of a control by name.
virtual void	setInitialStates (const double aYI[])
	Set the initial states for this model.
virtual void	getInitialStates (double rYI[]) const
	Get the initial states currently set for this model.
virtual double	getInitialState (int aIndex) const
	Get the current value of an initial state by index.
double	getInitialState (const char *aName) const
	Get the value of an initial state by name.
virtual void	setStates (const double aY[])=0
virtual void	getStates (double rY[]) const=0
virtual double	getState (int aIndex) const=0
double	getState (const char *aName) const
	Get the value of a state by name.
virtual void	setInitialPseudoStates (const double aYPI[])
	Set the initial pseudo-states for this model.
virtual void	getInitialPseudoStates (double rYPI[]) const
	Get the initial pseudo-states currently set for this model.
virtual double	getInitialPseudoState (int aIndex) const
	Get the current value of an initial pseudo-state by index.
double	getInitialPseudoState (const char *aName) const
	Get the value of an initial pseudo-state by name.
virtual void	setPseudoStates (const double aYP[])
	Set the current pseudo-states for this model.
virtual void	getPseudoStates (double rYP[]) const
	Get the current pseudo-states for this model.
virtual double	getPseudoState (int aIndex) const
	Get the current value of a pseudo-state by index.
double	getPseudoState (const char *aName) const
	Get the value of a pseudo-state by name.
virtual void	setConfiguration (const double aY[])
	Set the configuration (that is, the generalized coordinates and speeds) of the model.
virtual void	setConfiguration (const double aQ[], const double aU[])
	Set the configuration (that is, the generalized coordinates and speeds) of the model.
void	getCoordinates (double rQ[]) const
	Get the current values of the generalized coordinates of the model.
double	getCoordinate (int aIndex) const
	Get the current value of a coordinate by index.
double	getCoordinate (const char *aName) const
	Get the value of a coordinate by name.
void	getSpeeds (double rU[]) const
	Get the current values of the generalized speeds of the model.
double	getSpeed (int aIndex) const
	Get the current value of a speed by index.
double	getSpeed (const char *aName) const
	Get the value of a speed by name.
void	getAccelerations (double rDUDT[]) const
	Get the last-computed values of the accelerations of the generalized coordinates.
double	getAcceleration (int aIndex) const
	Get the last-computed value of the acceleration a generalized coordinate.
double	getAcceleration (const char *aSpeedName) const
	Get the last-computed value of the acceleration a generalized coordinate specified by name.
virtual void	extractConfiguration (const double aY[], double rQ[], double rU[]) const
	Extract the generalized coordinates and speeds from a state vector.
virtual void	getGravity (double rGrav[3]) const
	Get the acceleration due to gravity.
virtual void	setGravity (double aGrav[3])
	Set the acceleration due to gravity.
virtual int	getGroundID () const=0
virtual void	getBodyToJointBodyLocal (int aBody, double rBTJ[3]) const=0
virtual void	getInboardToJointBodyLocal (int aBody, double rBTJ[3]) const=0
virtual double	getMass (int aBody) const=0
	Get the mass of body aBody.
virtual int	getInertiaBodyLocal (int aBody, double rI[3][3]) const=0
	Get the scalar inertial matrix of a body.
virtual int	getInertiaBodyLocal (int aBody, double *rI) const=0
virtual void	getSystemInertia (double *rM, double rCOM[3], double rI[3][3]) const=0
virtual void	getSystemInertia (double *rM, double *rCOM, double *rI) const=0
virtual void	getPosition (int aBody, const double aPoint[3], double rPos[3]) const=0
virtual void	getVelocity (int aBody, const double aPoint[3], double rVel[3]) const=0
virtual void	getAcceleration (int aBody, const double aPoint[3], double rAcc[3]) const=0
virtual void	getDirectionCosines (int aBody, double rDirCos[3][3]) const=0
virtual void	getDirectionCosines (int aBody, double *rDirCos) const=0
virtual void	getAngularVelocity (int aBody, double rAngVel[3]) const=0
virtual void	getAngularVelocityBodyLocal (int aBody, double rAngVel[3]) const=0
virtual void	getAngularAcceleration (int aBody, double rAngAcc[3]) const=0
virtual void	getAngularAccelerationBodyLocal (int aBody, double rAngAcc[3]) const=0
virtual void	applyForce (int aBody, const double aPoint[3], const double aForce[3])=0
virtual void	applyForces (int aN, const int aBodies[], const double aPoints[][3], const double aForces[][3])=0
virtual void	applyForces (int aN, const int aBodies[], const double *aPoints, const double *aForces)=0
virtual void	applyForceBodyLocal (int aBody, const double aPoint[3], const double aForce[3])=0
virtual void	applyForcesBodyLocal (int aN, const int aBodies[], const double aPoints[][3], const double aForces[][3])=0
virtual void	applyForcesBodyLocal (int aN, const int aBodies[], const double *aPoints, const double *aForces)=0
virtual void	applyTorque (int aBody, const double aTorque[3])=0
virtual void	applyTorques (int aN, const int aBodies[], const double aTorques[][3])=0
virtual void	applyTorques (int aN, const int aBodies[], const double *aTorques)=0
virtual void	applyTorqueBodyLocal (int aBody, const double aTorque[3])=0
virtual void	applyTorquesBodyLocal (int aN, const int aBodies[], const double aTorques[][3])=0
virtual void	applyTorquesBodyLocal (int aN, const int aBodies[], const double *aTorques)=0
virtual void	applyGeneralizedForce (int aU, double aF)=0
virtual void	applyGeneralizedForces (const double aF[])=0
virtual void	applyGeneralizedForces (int aN, const int aU[], const double aF[])=0
virtual double	getNetAppliedGeneralizedForce (int aU) const=0
virtual void	computeGeneralizedForces (double aDUDT[], double rF[]) const=0
virtual int	computeAccelerations (double *dqdt, double *dudt)=0
virtual void	formMassMatrix (double *rI)=0
virtual void	formEulerTransform (int aBody, double *rE) const=0
virtual void	formJacobianTranslation (int aBody, const double aPoint[3], double *rJ, int aRefBody=-1) const=0
virtual void	formJacobianOrientation (int aBody, double *rJ0, int aRefBody=-1) const=0
virtual void	formJacobianEuler (int aBody, double *rJE, int aRefBody=-1) const=0
virtual int	deriv (double t, double *xt, double *y, double *dy)=0
virtual int	deriv (double t, double *xt, double *y, double *dqdt, double *dudt)=0
virtual void	promoteControlsToStates (const double aX[], double aDT)
	Promote a set of controls to state variables.
virtual int	computePerformance (double t, double *x, double *y, double *p, void *cd=NULL)
	Compute the value of the performance criterion.
virtual int	computeConstraint (double t, double *x, double *y, int ic, double *c, void *cd=NULL)
	Compute the value of the constraint indexed by ic.
virtual void	transform (int aBody1, const double aVec1[3], int aBody2, double rVec2[3]) const=0
virtual void	convertQuaternionsToAngles (double *aQ, double *rQAng) const=0
virtual void	convertQuaternionsToAngles (rdStorage *rQStore) const=0
virtual void	convertAnglesToQuaternions (double *aQAng, double *rQ) const=0
virtual void	convertAnglesToQuaternions (rdStorage *rQStore) const=0
virtual void	convertRadiansToDegrees (double *aQRad, double *rQDeg) const=0
virtual void	convertRadiansToDegrees (rdStorage *rQStore) const=0
virtual void	convertDegreesToRadians (double *aQDeg, double *rQRad) const=0
virtual void	convertDegreesToRadians (rdStorage *rQStore) const=0
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double rDirCos[3][3]) const=0
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double *rDirCos) const=0
virtual void	convertDirectionCosinesToAngles (double aDirCos[3][3], double *rE1, double *rE2, double *rE3) const=0
virtual void	convertDirectionCosinesToAngles (double *aDirCos, double *rE1, double *rE2, double *rE3) const=0
virtual void	convertDirectionCosinesToQuaternions (double aDirCos[3][3], double *rQ1, double *rQ2, double *rQ3, double *rQ4) const=0
virtual void	convertDirectionCosinesToQuaternions (double *aDirCos, double *rQ1, double *rQ2, double *rQ3, double *rQ4) const=0
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const=0
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double *rDirCos) const=0
virtual void	computeActuation ()
	Compute all quantities associated with actuating a model.
virtual void	applyActuatorForce (int aID)
	Apply an actuator force.
virtual void	applyActuatorForces ()
	Apply actuator forces.
virtual void	setActuatorForce (int aID, double aForce)
	Set the magnitude of force experted by a particular actuator.
virtual double	getActuatorForce (int aID) const
	Get the magnitude of force experted by a particular actuator.
virtual double	getActuatorSpeed (int aID) const
	Get the speed at which a particular actuator force is applied.
virtual double	getActuatorPower (int aID) const
	Get the power delivered or absorbed by a particular actuator.
virtual void	computeContact ()
	Compute all quantities associated with simulating contact between bodies.
virtual void	applyContactForce (int aID)
	Apply a contacted force.
virtual void	applyContactForces ()
	Apply the computed contacted forces.
virtual int	getContactBodyA (int aID) const
	Get the body number of BodyA for a particular contact force.
virtual int	getContactBodyB (int aID) const
	Get the body number of BodyB for a particular contact force.
virtual void	setContactPointA (int aID, const double aPoint[3])
	Set the contact point on BodyA expressed in the local frame of BodyA for a specified contact.
virtual void	getContactPointA (int aID, double rPoint[3]) const
	Get the contact point on BodyA expressed in the local frame of BodyA for a particular contact force.
virtual void	setContactPointB (int aID, const double aPoint[3])
	Set the contact point on BodyB expressed in the local frame of BodyB for a specified contact.
virtual void	getContactPointB (int aID, double rPoint[3]) const
	Get the contact point on BodyB expressed in the local frame of BodyB for a particular contact force.
virtual void	getContactForce (int aID, double rF[3]) const
	Get the contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force.
virtual void	getContactNormalForce (int aID, double rFP[3], double rFV[3], double rF[3]) const
	Get the normal contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force.
virtual void	getContactTangentForce (int aID, double rFP[3], double rFV[3], double rF[3]) const
	Get the tangential contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force.
virtual void	getContactStiffness (int aID, const double aDX[3], double rDF[3]) const
	Get the instantaneous stiffness (or change in force on BodyB due to a change in position of the BodyB contact point) of a specified contact force.
virtual void	getContactViscosity (int aID, const double aDV[3], double rDF[3]) const
	Get the instantaneous viscosity (or change in force on BodyB due to a change in velocity of the BodyB contact point) of a specified contact force.
virtual void	getContactFrictionCorrection (int aID, double aDFFric[3]) const
	Get the correction that was made to the contact force to enforce friction constraints.
virtual double	getContactForce (int aID) const
	Get the magnitude of force experted by a particular contact force.
virtual double	getContactSpeed (int aID) const
	Get the speed at which a particular contact force is applied.
virtual double	getContactPower (int aID) const
	Get the power delivered or absorbed by a particular contact force.
int	getNumAnalyses ()
	Get the number of analyses.
rdAnalysis *	getAnalysis (int aIndex)
	Get an analysis.
int	addAnalysis (rdAnalysis *aAnalysis)
	Add an analysis to the end of the analysis list.
rdAnalysis *	removeAnalysis (int aIndex)
	Remove an analysis.
void	turnOffAnalyses ()
	Turn off all analyses.
void	turnOnAnalyses ()
	Turn on all analyses.
void	listAnalyses ()
	List analyses.
int	getNumDerivCallbacks () const
	Get the number of derivative callbacks.
int	getDerivCallbackIndex (rdDerivCallback *aCallback) const
	Get a derivative callback index.
rdDerivCallback *	getDerivCallback (int aIndex) const
	Get a derivative callback.
int	addDerivCallback (rdDerivCallback *aCallback)
	Add a derivative callback to the end of the derivative callback list.
rdDerivCallback *	removeDerivCallback (int aIndex)
	Remove a derivative callback.
rdDerivCallback *	removeDerivCallback (rdDerivCallback *aCallback)
	Remove a derivative callback.
void	makeDerivCallbacksConsecutive ()
	Make sure all derivative callbacks are consequtive.
void	turnOffDerivCallbacks ()
	Turn off all derivative callbacks.
void	turnOnDerivCallbacks ()
	Turn on all derivative callbacks.
void	listDerivCallbacks ()
	List derivative callbacks.
void	callSetCallbacks (double aT, double *aX, double *aY)
	Call all registered 'set' callbacks.
void	callComputeContactCallbacks (double aT, double *aX, double *aY)
	Call all registered 'computeContact' callbacks.
void	callApplyContactCallbacks (double aT, double *aX, double *aY)
	Call all registered 'applyContact' callbacks.
void	callComputeActuationCallbacks (double aT, double *aX, double *aY)
	Call all registered 'computeActuation' callbacks.
void	callApplyActuationCallbacks (double aT, double *aX, double *aY)
	Call all registered 'applyActuation' callbacks.
void	callComputeDerivativesCallbacks (double aT, double *aX, double *aY, double *aDY)
	Call all registered 'computeDerivatives' callbacks.
rdIntegCallbackSet *	getIntegCallbackSet ()
	Get the set of integration callbacks.
virtual void	integBeginCallback (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called at the beginning of a forward integration.
virtual void	integStepCallback (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called after an integration step is completed successfully.
virtual void	integEndCallback (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called when the integration is completed.
Static Public Member Functions
int	ComputeEffectiveMassMatrix (int aNJX, int aNU, const double *aJ, const double *aIinv, double *rIeff)
	Compute an effective mass matrix given a Jacobian matrix and the inverse of a system mass matrix.
int	ComputeJacobianInverse (int aNJX, int aNU, const double *aJ, const double *aI, double *rJInv)
	Compute the generalized inverse of a Jacobian matrix.
Static Public Attributes
const int	ANALYSIS_LIMIT = rdModel_ANALYSIS_LIMIT
	The maximum number of analyses that can be performed simultaneously.
const int	CALLBACK_LIMIT = rdModel_CALLBACK_LIMIT
	The maximum number of callbacks that can be registred simultaneously.
const int	MAXLEN = rdModel_MAXLEN
	A length that can be used as a maximum length for arrays or srings.
const int	NAME_LENGTH = rdModel_NAME_LENGTH
	The limit for the length of a name.
const char *	DEFAULT_NAME = "rdModel"
	The default name of a model.
Protected Member Functions
virtual void	setBodyName (int aIndex, const char *aName)
	Set the name of a body.
virtual void	setCoordinateName (int aIndex, const char *aName)
	Set the name of a generalized coordinate.
virtual void	setSpeedName (int aIndex, const char *aName)
	Set the name of a generalized speed.
virtual void	setActuatorName (int aIndex, const char *aName)
	Set the name of an actuator.
virtual void	setControlName (int aIndex, const char *aName)
	Set the name of a control.
virtual void	setStateName (int aIndex, const char *aName)
	Set the name of a state.
virtual void	setPseudoStateName (int aIndex, const char *aName)
	Set the name of a pseudo-state.
Protected Attributes
int	_nx
	Number of controls.
int	_nq
	Number of generalized coordinates.
int	_nu
	Number of generalized speeds.
int	_ny
	Number of states.
int	_nyp
	Number of pseudo-states.
int	_nj
	Number of joints.
int	_nb
	Number of bodies.
int	_na
	Number of actuators.
int	_np
	Number of contact points.
char	_name [rdModel_MAXLEN]
	Name of the model.
char **	_bNames
	Names of bodies.
char **	_qNames
	Names of generalized coordinates.
char **	_uNames
	Names of generalized speeds.
char **	_yNames
	Names of states.
char **	_ypNames
	Names of pseudo-states.
char **	_xNames
	Names of controls.
char **	_aNames
	Names of actuators.
double	_g [3]
	Gravitational acceleration.
double	_t
	Time.
double	_tNormConst
	Time normalization.
double *	_x
	Array of current controls.
double *	_yi
	Array of initial states.
double *	_ypi
	Array of initial pseudo-states.
double *	_q
	Generalized coordinates.
double *	_u
	Generalized Speeds.
double *	_dudt
	Accelerations of the independent generalized coordinates.
rdBody **	_b
	Array of bodies.
int	_nAnalyses
	Number of analyses.
rdAnalysis *	_analyses [rdModel_ANALYSIS_LIMIT]
	Array of analyses.
int	_nDerivCallbacks
	Number of derivative callbacks.
rdDerivCallback *	_derivCallbacks [rdModel_CALLBACK_LIMIT]
rdIntegCallbackSet *	_integCallbackSet
	Set of integration callbacks.
Private Member Functions
void	setNull ()
	Set the values of all data members to an appropriate "null" value.
void	removeFromCallbacks ()
	Remove this model from registered callbacks.

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Detailed Description

An abstract class that specifies the interface for a dynamic model.

Frank C. Anderson, except where noted

Version:

1.0

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Constructor & Destructor Documentation

rdModel::~rdModel (   )  [virtual]

Destructor. Note that analyses registered with the model should not be deleted by the model but by the calling code that created the analyses.

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Member Function Documentation

int rdModel::addAnalysis (  rdAnalysis *  aAnalysis  )

Add an analysis to the end of the analysis list. Parameters: aAnalysis  Pointer to the analysis to add. Returns: -1 on failure, 0 on success.

int rdModel::addDerivCallback (  rdDerivCallback *  aCallback  )

Add a derivative callback to the end of the derivative callback list. Parameters: aCallback  Pointer to the derivative callback to add. Returns: Index at which the callback is added; -1 on failure.

void rdModel::applyContactForce (  int  aID  )  [virtual]

Apply a contacted force. For the correct contact forces to be applied correctly, computeContact() must be called prior to calling this method. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::applyContactForces (   )  [virtual]

Apply the computed contacted forces. For the correct contact forces to be applied correctly, computeContact() must be called prior to calling this method. Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, suShank, and suSIMM.

int rdModel::computeConstraint (  double  t, double *  x, double *  y, int  ic, double *  c, void *  cd = NULL )  [virtual]

Compute the value of the constraint indexed by ic. This virutal method simply sets the value of the constraint to 0.0. Derived classes should override this method. The parameter cd is provided so that the caller may send in client data if desired.

void rdModel::computeContact (   )  [virtual]

Compute all quantities associated with simulating contact between bodies. These quantities include at least the contact bodies, contact points, and contact forces. See also: getNP() Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, suShank, and suSIMM.

int rdModel::ComputeEffectiveMassMatrix (  int  aNJX, int  aNU, const double *  aJ, const double *  aIinv, double *  rIeff )  [static]

Compute an effective mass matrix given a Jacobian matrix and the inverse of a system mass matrix. Ieff = Inverse( aJ * Iinv * JT) Parameters: aNJX  Number of rows in the Jacobian matrix. aNU  Number of degrees of freedom or generalized speeds. aJ  Pointer to a Jacobian (aJ[NJX][NU]). aIinv  Pointer to the inverse of a mass matrix (aIinv[NU][NU]). aIeff  Effective mass matrix (aIeff[NJX][NJX]). Returns: 0 when successful, -1 if an error is encountered, -2 when a singularity is encountered when performing the matrix inversion.

int rdModel::ComputeJacobianInverse (  int  aNJX, int  aNU, const double *  aJ, const double *  aI, double *  rJInv )  [static]

Compute the generalized inverse of a Jacobian matrix. rJInv has the shape rJInv[NU][NJX]; rJInv = Inverse(aI) * aJT * Inverse( aJ * Inverse(aI) * JT) Parameters: aNJX  Number of rows in the Jacobian matrix aNU  Number of generalized speeds or degrees of freedom. aJ  Pointer to the system Jacobian (NJX by NU). aI  Pointer to the system mass matrix (NU by NU). aJInv  A pointer to the generalized inverse (NU by NJX). Returns: 0 when successful, -1 if an error is encountered, -2 when the Jacobian has a singularity.

int rdModel::computePerformance (  double  t, double *  x, double *  y, double *  p, void *  cd = NULL )  [virtual]

Compute the value of the performance criterion. This virutal method simply sets the performance to 1.0. Derived classes should override this method. The parameter cd is provided so that the caller may send in client data if desired.

void rdModel::extractConfiguration (  const double  aY[], double  rQ[], double  rU[] )  const [virtual]

Extract the generalized coordinates and speeds from a state vector. Note that this method does not alter the internal state of the model.

double rdModel::getAcceleration (  const char *  aSpeedName  )  const

Get the last-computed value of the acceleration a generalized coordinate specified by name. For the returned value to be valid, the method computeAccelerations() must have been called. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the speed whose derivative is returned. Returns: Value of the acceleration. rdMath::NAN is returned on an error. See also: computeAccelerations() getAccelerations(double rDUDT[]) getAcceleration(int aIndex);

double rdModel::getAcceleration (  int  aIndex  )  const

Get the last-computed value of the acceleration a generalized coordinate. For the returned value to be valid, the method computeAccelerations() must have been called. Parameters: aIndex  Index of the acceleration: 0 <= aIndex < getNU(). Returns: Value of the acceleration. rdMath::NAN is returned on an error. See also: computeAccelerations() getAccelerations(double rDUDT[]) getAcceleration(const char* aName);

void rdModel::getAccelerations (  double  rDUDT[]  )  const

Get the last-computed values of the accelerations of the generalized coordinates. For the values to be valid, the method computeAccelerations() must have been called. Parameters: rDUDT  Array to be filled with values of the accelerations of the generalized coordinates. The length of rDUDT should be at least as large as the value returned by getNU(). See also: computeAccelerations() getAcceleration(int aIndex) getAcceleration(const char* aName);

double rdModel::getActuatorForce (  int  aID  )  const [virtual]

Get the magnitude of force experted by a particular actuator. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the actuator- should be greater than or equal to zero and less than the value returned by getNA(). Returns: Magnitude of actuator force. Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, and suUTWalkGenFrc.

int rdModel::getActuatorIndex (  const char *  aName  )  const

Get the index of an actuator given its name. Note that the actuator names need to be unique for this method to work properly. Parameters: aName  Name of an actuator. Returns: Index of the first actuator with the name aName; -1, if there is no such actuator or if there is an error.

const char * rdModel::getActuatorName (  int  aIndex  )  const

Get the name of an actuator. Parameters: aIndex  Index of the actuator whose name is desired. aIndex should be greater than or equal to 0 and less than the number of actuators. Returns: Control name. See also: getNA() Reimplemented in rdActuatedModel_SDFast.

double rdModel::getActuatorPower (  int  aID  )  const [virtual]

Get the power delivered or absorbed by a particular actuator. A positive power means the actuator is doing work on the model; negative power means that the actuator is absorbing energy from the model. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Power delivered (positive) or absorbed (negative). Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, and suUTWalkGenFrc.

double rdModel::getActuatorSpeed (  int  aID  )  const [virtual]

Get the speed at which a particular actuator force is applied. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Speed at which actuator force is applied. Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, and suUTWalkGenFrc.

rdAnalysis * rdModel::getAnalysis (  int  aIndex  )

Get an analysis. Parameters: aIndex  Index to the analysis returned. Returns: Pointer to an analysis.

int rdModel::getBodyIndex (  const char *  aName  )  const

Get the index of a body given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the body names need to be unique for this method to work properly. Parameters: aName  Name of a body. Returns: Index of the first body with the name aName; -1, if there is no such body or if there is an error. Indices start at 0.

const char * rdModel::getBodyName (  int  aIndex  )  const

Get the name of body. Parameters: aIndex  Index of the body whose name is desired. aIndex should be greater than or equal to 0 and less than the number of bodies. Returns: Control name. See also: getNB()

int rdModel::getContactBodyA (  int  aID  )  const [virtual]

Get the body number of BodyA for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Body ID of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

int rdModel::getContactBodyB (  int  aID  )  const [virtual]

Get the body number of BodyB for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Body ID of BodyB. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

double rdModel::getContactForce (  int  aID  )  const [virtual]

Get the magnitude of force experted by a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Magnitude of contact force. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::getContactForce (  int  aID, double  rF[3] )  const [virtual]

Get the contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rF  Total contact force acting on BodyB expressed in the local frame of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::getContactFrictionCorrection (  int  aID, double  aDFFric[3] )  const [virtual]

Get the correction that was made to the contact force to enforce friction constraints. This correction is returned as the change in contact force applied to BodyB expressed in the local frame of BodyA. Note that this correction is NOT intended to express changes in contact force due to damping terms, but rather changes due to the enforcement of constraints on the tangential component of the contact force, such as enforcing a coefficient of friction (e.g., fx <= mu*fy). For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rDFFric  Change in contact force due to enforcing friction constraints. This correction is returned as the change in contact force applied to BodyA expressed in the local frame of BodyA. Reimplemented in rdActuatedModel_SDFast.

void rdModel::getContactNormalForce (  int  aID, double  rFP[3], double  rFV[3], double  rF[3] )  const [virtual]

Get the normal contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rFP  Elastic normal contact force NOT corrected to enforce friction constraints. rFV  Viscous normal contact force NOT corrected to enforce friction constraints. rF  Total normal contact force acting on BodyB expressed in the local frame of BodyA. This is the actual normal force applied to BodyB. Reimplemented in rdActuatedModel_SDFast.

void rdModel::getContactPointA (  int  aID, double  rPoint[3] )  const [virtual]

Get the contact point on BodyA expressed in the local frame of BodyA for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rPoint  Contact point on BodyA expressed in the local frame of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::getContactPointB (  int  aID, double  rPoint[3] )  const [virtual]

Get the contact point on BodyB expressed in the local frame of BodyB for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rPoint  Contact point on BodyB expressed in the local frame of BodyB. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

double rdModel::getContactPower (  int  aID  )  const [virtual]

Get the power delivered or absorbed by a particular contact force. A positive power means the contact force is doing work on the model; negative power means that the contact force is absorbing energy from the model. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Power delivered (positive) or absorbed (negative). Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

double rdModel::getContactSpeed (  int  aID  )  const [virtual]

Get the speed at which a particular contact force is applied. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Speed at which contact force is applied. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::getContactStiffness (  int  aID, const double  aDX[3], double  rDF[3] )  const [virtual]

Get the instantaneous stiffness (or change in force on BodyB due to a change in position of the BodyB contact point) of a specified contact force. aDF = (stiffness) * aDX; stiffness == df/dx (partial of f wrt x) The displacement (aDX) is assumed to be expressed in the local frame of BodyA and specifies a change in position of the BodyB contact point. If the aDX is a unit vector, the returned value is the stiffness of the contact force in the direction aDX. However, if aDX is not a unit vector, the returned value is the change in force applied to BodyB that would occur for a displacment of aDX. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). aDX  Displacement of the BodyB contact point expressed in the local frame of BodyA. rDF  Change in force applied to BodyB for the given displacement (or stiffness if |aDX| = 1.0) expressed in the local frame of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::getContactTangentForce (  int  aID, double  rFP[3], double  rFV[3], double  rF[3] )  const [virtual]

Get the tangential contact force acting on BodyB expressed in the local frame of BodyA for a particular contact force. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). rFP  Elastic tangential contact force NOT corrected to enforce friction constraints. rFV  Viscous tangential contact force NOT corrected to enforce friction constraints. rF  Total tangential contact force acting on BodyB expressed in the local frame of BodyA. This is the actual tangential force applied to BodyB. Reimplemented in rdActuatedModel_SDFast.

void rdModel::getContactViscosity (  int  aID, const double  aDV[3], double  rDF[3] )  const [virtual]

Get the instantaneous viscosity (or change in force on BodyB due to a change in velocity of the BodyB contact point) of a specified contact force. aDF = (viscosity) * aDV; viscosity == df/dv (partial of f wrt v) The velocity change (aDV) is assumed to be expressed in the local frame of BodyA and specifies a change in velocity of the BodyB contact point. If the aDV is a unit vector, the returned value is the visocity of the contact force in the direction aDV. However, if aDV is not a unit vector, the returned value is the change in force applied to BodyB that would occur for a change in velocity of aDV. For the returned information to be valid, computeContact() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). aDV  Change in velocity of the BodyB contact point expressed in the local frame of BodyA. rDF  Change in force applied to BodyB for the given velocity change (or viscosity if |aDX| = 1.0) expressed in the local frame of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

double rdModel::getControl (  const char *  aName  )  const

Get the value of a control by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the control. Returns: Value of the control. rdMath::NAN is returned on an error. See also: getControls(double rX[]) getControl(int aIndex);

double rdModel::getControl (  int  aIndex  )  const [virtual]

Get the current value of a control by index. Parameters: aIndex  Index of the control: 0 <= aIndex < getNX(). Returns: Value of the control. rdMath::NAN is returned on an error. See also: getControls(double rX[]) getControl(const char* aName);

int rdModel::getControlIndex (  const char *  aName  )  const

Get the index of a control given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the control names need to be unique for this method to work properly. Parameters: aName  Name of a control. Returns: Index of the first control with the name aName; -1, if there is no such control or if there is an error. Indicies start at 0.

const char * rdModel::getControlName (  int  aIndex  )  const

Get the name of a control. Parameters: aIndex  Index of the control whose name is desired. aIndex should be greater than or equal to 0 and less than the number of controls. Returns: Control name. See also: getNX()

void rdModel::getControls (  double  rX[]  )  const [virtual]

Get the current controls. Parameters: rX  Array to be filled with the controls values. The array must be long enough to hold all of the controls.

double rdModel::getCoordinate (  const char *  aName  )  const

Get the value of a coordinate by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the coordinate. Returns: Value of the coordinate. rdMath::NAN is returned on an error. See also: getCoordinates(double rQ[]) getCoordinate(int aIndex);

double rdModel::getCoordinate (  int  aIndex  )  const

Get the current value of a coordinate by index. Parameters: aIndex  Index of the coordinate: 0 <= aIndex < getNQ(). Returns: Value of the cooridnate. rdMath::NAN is returned on an error. See also: getCoordinates(double rQ[]) getCoordinate(const char* aName);

int rdModel::getCoordinateIndex (  const char *  aName  )  const

Get the index of a generalized coordinate given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the coordinate names need to be unique for this method to work properly. Parameters: aName  Name of a coordinate. Returns: Index of the first coordinate with the name aName; -1, if there is no such coordinate or if there is an error. The indicies start at 0.

const char * rdModel::getCoordinateName (  int  aIndex  )  const

Get the name of a generalized coordinate. Parameters: aIndex  Index of the coordinate whose name is desired. aIndex should be greater than or equal to 0 and less than the number of generalized coordinates. Returns: Control name. See also: getNQ()

void rdModel::getCoordinates (  double  rQ[]  )  const

Get the current values of the generalized coordinates of the model. Parameters: rQ  Array to be filled with values of the generalized coordinates. The length of rQ should be at least as large as the value returned by getNQ().

rdDerivCallback * rdModel::getDerivCallback (  int  aIndex  )  const

Get a derivative callback. Parameters: aIndex  Index to the desired derivative callback. Returns: Pointer to the derivative callback.

int rdModel::getDerivCallbackIndex (  rdDerivCallback *  aCallback  )  const

Get a derivative callback index. Parameters: aCallback  Pointer to the desired callback. Returns: Index of the derivative callback; if there is no such callback or aCallback is NULL, -1 is returned.

int rdModel::getInertiaBodyLocal (  int  aBody, double  rI[3][3] )  const [pure virtual]

Get the scalar inertial matrix of a body. Parameters: aBody  Body ID. rI  Inertia matrix expressed in terms of body-local coordinates. Returns: -1 on an error, 0 otherwise. Implemented in rdMimic, and rdSDFast.

double rdModel::getInitialPseudoState (  const char *  aName  )  const

Get the value of an initial pseudo-state by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the initial pseudo-state. Returns: Value of the initial pseudo-state. rdMath::NAN is returned on an error. See also: getInitialPseudoStates(double rYPI[]) getInitialPseudoState(int aIndex);

double rdModel::getInitialPseudoState (  int  aIndex  )  const [virtual]

Get the current value of an initial pseudo-state by index. Parameters: aIndex  Index of the initial pseudo-state: 0 <= aIndex < getNYP(). Returns: Value of the initial pseudo-state. rdMath::NAN is returned on an error. See also: getInitialPseudoStates(double rYP[]) getInitialPseudoState(const char* aName);

void rdModel::getInitialPseudoStates (  double  rYPI[]  )  const [virtual]

Get the initial pseudo-states currently set for this model. Parameters: rYPI  Array to be filled with the initial pseudo-states. The size of rYP must be at least the number of pseudo-states, which can be found by calling getNYP().

double rdModel::getInitialState (  const char *  aName  )  const

Get the value of an initial state by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the initial state. Returns: Value of the initial state. rdMath::NAN is returned on an error. See also: getInitialStates(double rYI[]) getInitialState(int aIndex);

double rdModel::getInitialState (  int  aIndex  )  const [virtual]

Get the current value of an initial state by index. Parameters: aIndex  Index of the initial state: 0 <= aIndex < getNY(). Returns: Value of the initial state. rdMath::NAN is returned on an error. See also: getInitialStates(double rYI[]) getInitialState(const char* aName);

void rdModel::getInitialStates (  double  rYI[]  )  const [virtual]

Get the initial states currently set for this model. Parameters: rYI  Array to be filled with the initial states. The size of rY must be at least the number of states, which can be found by calling getNY().

double rdModel::getMass (  int  aBody  )  const [pure virtual]

Get the mass of body aBody. aBody must be in the range 0 <= aBody < NumBodies. If it is not, a mass of -1.0 is returned. Implemented in rdMimic, and rdSDFast.

int rdModel::getNA (   )  const

Get the number of actuators in this model. Returns: Number of actuators.

const char * rdModel::getName (   )  const

Get the name the model. Returns: Constant pointer to the name of the model.

int rdModel::getNP (   )  const

Get the number of contact points that are present given the current state of the model. This method returns a valid result only after the contact points have been computed. Returns: Number of contact points. See also: getContactPointsBodyLocal()

int rdModel::getNumAnalyses (   )

Get the number of analyses. Returns: Number of analyses.

int rdModel::getNumDerivCallbacks (   )  const

Get the number of derivative callbacks. Returns: Number of derivative callbacks.

double rdModel::getPseudoState (  const char *  aName  )  const

Get the value of a pseudo-state by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the pseudo-state. Returns: Value of the pseudo-state. rdMath::NAN is returned on an error. See also: getPseudoStates(double rYP[]) getPseudoState(int aIndex);

double rdModel::getPseudoState (  int  aIndex  )  const [virtual]

Get the current value of a pseudo-state by index. Parameters: aIndex  Index of the pseudo-state: 0 <= aIndex < getNYP(). Returns: Value of the pseudo-state. rdMath::NAN is returned on an error. See also: getPseudoStates(double rYP[]) getPseudoState(const char* aName); Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

int rdModel::getPseudoStateIndex (  const char *  aName  )  const

Get the index of a pseudo-state given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the pseudo-state names need to be unique for this method to work properly. Parameters: aName  Name of a pseudo-state. Returns: Index of the first pseudo-state with the name aName; -1, if there is no such pseudo-state or if there is an error. Indices start at 0.

const char * rdModel::getPseudoStateName (  int  aIndex  )  const

Get the name of a pseudo-state. Parameters: aIndex  Index of the pseudo-state whose name is desired. aIndex should be greater than or equal to 0 and less than the number of states. Returns: Pseudo-state name. See also: getNYP()

void rdModel::getPseudoStates (  double  rYP[]  )  const [virtual]

Get the current pseudo-states for this model. The pseudo-states are those quantities that are not integrated during a simulation but which are dependent on the time history of the states. Pseudo-states cannot be computed from the states. Parameters: rYP  Array to be filled with copies of the pseudo-states. The length of rYP must be at least as large as the value returned by getNYP(). Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

double rdModel::getSpeed (  const char *  aName  )  const

Get the value of a speed by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the speed. Returns: Value of the speed. rdMath::NAN is returned on an error. See also: getSpeeds(double rU[]) getSpeed(int aIndex);

double rdModel::getSpeed (  int  aIndex  )  const

Get the current value of a speed by index. Parameters: aIndex  Index of the speed: 0 <= aIndex < getNU(). Returns: Value of the speed. rdMath::NAN is returned on an error. See also: getSpeeds(double rU[]) getSpeed(const char* aName);

int rdModel::getSpeedIndex (  const char *  aName  )  const

Get the index of a generalized speed given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the speed names need to be unique for this method to work properly. Parameters: aName  Name of a speed. Returns: Index of the first speed with the name aName; -1, if there is no such speed or if there is an error. Indicies start at 0.

const char * rdModel::getSpeedName (  int  aIndex  )  const

Get the name of a generalized speed. Parameters: aIndex  Index of the speed whose name is desired. aIndex should be greater than or equal to 0 and less than the number of generalized speeds. Returns: Control name. See also: getNU()

void rdModel::getSpeeds (  double  rU[]  )  const

Get the current values of the generalized speeds of the model. Parameters: rU  Array to be filled with values of the generalized speeds. The length of rU should be at least as large as the value returned by getNU().

double rdModel::getState (  const char *  aName  )  const

Get the value of a state by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aName  Name of the state. Returns: Value of the state. rdMath::NAN is returned on an error. See also: getStates(double rY[]) getState(int aIndex);

int rdModel::getStateIndex (  const char *  aName  )  const

Get the index of a state given its name. The returned indices start at 0: for the first, 0 is returned; for the second, 1; etc. Note that the state names need to be unique for this method to work properly. Parameters: aName  Name of a state. Returns: Index of the first state with the name aName; -1, if there is no such state or if there is an error. Indices start at 0.

const char * rdModel::getStateName (  int  aIndex  )  const

Get the name of a state. Parameters: aIndex  Index of the state whose name is desired. aIndex should be greater than or equal to 0 and less than the number of states. Returns: State name. See also: getNY()

double rdModel::getTime (   )  const

Get the current time. Returns: Current time.

double rdModel::getTimeNormConstant (   )  const

Get the constant by which time is normalized. By default, the time normalization constant is 1.0. Returns: Current time.

void rdModel::integBeginCallback (  int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called at the beginning of a forward integration. Override this method in a derived class as needed. Parameters: aStep  Step number of the integration. aDT  Size of the time step that will be attempted. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, suShank, suSIMM, suUTWalk8IAHard, suUTWalk8IATaylor, and suUTWalkGenFrc.

void rdModel::integEndCallback (  int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called when the integration is completed. Override this method in a derived class as needed. Parameters: aStep  Step number of the integration. aDT  Size of the time step that was just completed. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Reimplemented in suShank, and suSIMM.

void rdModel::integStepCallback (  double *  aXPrev, double *  aYPrev, int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called after an integration step is completed successfully. Override this method in a derived class as needed. Parameters: aXPrev  Control values at the previous time step. aYPrev  State values at the previous time step. aStep  Step number of the integration. aDT  Size of the time step that was just completed. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Reimplemented in rdUTWalking8, rdActuatedModel_SDFast, suShank, suSIMM, suUTWalk8IAHard, suUTWalk8IATaylor, and suUTWalkGenFrc.

void rdModel::promoteControlsToStates (  const double  aX[], double  aDT )  [virtual]

Promote a set of controls to state variables. This utility routine is normally useful when solving static optimization problems with a dynamic model. In the base class, this method does nothing. Parameters: aX  Controls. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

rdAnalysis * rdModel::removeAnalysis (  int  aIndex  )

Remove an analysis. Parameters: aIndex  Index of analysis to remove. Returns: Pointer to the analysis removed.

rdDerivCallback * rdModel::removeDerivCallback (  rdDerivCallback *  aCallback  )

Remove a derivative callback. The model is not the owner of the callback, so the caller is responsible for deleting the callback. Parameters: aCallback  Pointer to the derivative callback to remove. Returns: Pointer to the derivative callback removed; NULL if there was no mathcing callback.

rdDerivCallback * rdModel::removeDerivCallback (  int  aIndex  )

Remove a derivative callback. The model is not the owner of the callback, so the caller is responsible for deleting the callback. Parameters: aIndex  Index of the derivative callback to remove. Returns: Pointer to the derivative callback removed; NULL if there was no callback at aIndex.

void rdModel::set (  double  aT, const double  aX[], const double  aY[] )  [virtual]

Set the current time, controls, and states. This method is simply a convenience method for calling setTime(), setControls(), and setStates(). This method, or all of the methods it calls, should be called at the beginning of a dynamic analysis. Parameters: aT  Time. aX  Array of controls (length should be getNX()). aY  Array of states (length should be getNY()).

void rdModel::setActuatorForce (  int  aID, double  aForce )  [virtual]

Set the magnitude of force experted by a particular actuator. Parameters: aID  Index of the actuator- should be greater than or equal to zero and less than the value returned by getNA(). aForce  Magnitude of the actuator force. Reimplemented in rdUTWalking8, and suUTWalkGenFrc.

void rdModel::setActuatorName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of an actuator. Parameters: aIndex  Index of the actuator whose name should be set. aIndex should be greater than or equal to 0 and less than the number of actuators. aName  Name of actuator. See also: getNA()

void rdModel::setBodyName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a body. Parameters: aIndex  Index of the body whose name should be set. aIndex should be greater than or equal to 0 and less than the number of bodies. aName  Name of body. See also: getNB()

void rdModel::setConfiguration (  const double  aQ[], const double  aU[] )  [virtual]

Set the configuration (that is, the generalized coordinates and speeds) of the model. Parameters: aQ  Generalized coordinates. aU  Generalized speeds. Reimplemented in rdMimic, and rdSDFast.

void rdModel::setConfiguration (  const double  aY[]  )  [virtual]

Set the configuration (that is, the generalized coordinates and speeds) of the model. Parameters: aY  Array of states. The length of aY should be at least as large as the value returned by getNY(). Reimplemented in rdMimic, and rdSDFast.

void rdModel::setContactPointA (  int  aID, const double  aPoint[3] )  [virtual]

Set the contact point on BodyA expressed in the local frame of BodyA for a specified contact. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). aPoint  Contact point on BodyA expressed in the local frame of BodyA. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::setContactPointB (  int  aID, const double  aPoint[3] )  [virtual]

Set the contact point on BodyB expressed in the local frame of BodyB for a specified contact. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). aPoint  Contact point on BodyB expressed in the local frame of BodyB. Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::setControl (  const char *  aName, double  aValue )  [virtual]

Set the value of a control by name. Note that this method is slow and should not be used in code where it might be called repeatedly. Parameters: aIndex  Index of the control to be set: 0 <= aIndex < getNX(). aValue  Value of the control.

void rdModel::setControl (  int  aIndex, double  aValue )  [virtual]

Set the value of a control by index. Parameters: aIndex  Index of the control to be set: 0 <= aIndex < getNX(). aValue  Value of the control.

void rdModel::setControlName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a control. Parameters: aIndex  Index of the control whose name should be set. aIndex should be greater than or equal to 0 and less than the number of controls. aName  Name of control. See also: getNX()

void rdModel::setControls (  const double  aX[]  )  [virtual]

Set the current controls. Parameters: aX  Array of controls. Reimplemented in rdActuatedModel_SDFast.

void rdModel::setCoordinateName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a generalized coordinate. Parameters: aIndex  Index of the coordinate whose name should be set. aIndex should be greater than or equal to 0 and less than the number of coordinates. aName  Name of generalized coordinate. See also: getNQ()

void rdModel::setInitialPseudoStates (  const double  aYPI[]  )  [virtual]

Set the initial pseudo-states for this model. Parameters: aYPI  Array of pseudo-states. The size of rYP must be at least the number of pseudo-states, which can be found by calling getNYP().

void rdModel::setInitialStates (  const double  aYI[]  )  [virtual]

Set the initial states for this model. Parameters: aYI  Array of states. The size of rY must be at least the number of states, which can be found by calling getNY().

void rdModel::setName (  const char *  aName  )

Set the name the model. Parameters: aName  Name of the model.

void rdModel::setPseudoStateName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a pseudo-state. Parameters: aIndex  Index of the pseudo-state whose name should be set. aIndex should be greater than or equal to 0 and less than the number of pseudo-states. aName  Name of pseudo-state. See also: getNYP()

void rdModel::setPseudoStates (  const double  aYP[]  )  [virtual]

Set the current pseudo-states for this model. The pseudo-states are those quantities that are not integrated during a simulation but which are dependent on the time history of the states. Pseudo-states cannot be computed from the states. Parameters: aYP  Array of pseudo-states. The size of aYP should be the value returned by getNYP(). Reimplemented in rdUTWalking8, and rdActuatedModel_SDFast.

void rdModel::setSpeedName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a generalized speed. Parameters: aIndex  Index of the speed whose name should be set. aIndex should be greater than or equal to 0 and less than the number of speeds. aName  Name of generalized speed. See also: getNU()

void rdModel::setStateName (  int  aIndex, const char *  aName )  [protected, virtual]

Set the name of a state. Parameters: aIndex  Index of the state whose name should be set. aIndex should be greater than or equal to 0 and less than the number of states. aName  Name of state. See also: getNY()

void rdModel::setTime (  double  aT  )  [virtual]

Set the current time. Parameters: Current  time.

void rdModel::setTimeNormConstant (  double  aNormConst  )  [virtual]

Set the constant by which time is normalized. The normalization constant must be greater than or equal to the constant rdMath::ZERO. Parameters: Time  normalization constant.

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Member Data Documentation

int rdModel::_ny [protected]

Number of states. A state is an integrated quantity.

int rdModel::_nyp [protected]

Number of pseudo-states. A pseudo-state is a quantity that is not integrated but nevertheless depends on the time history of states. A pseudo-state cannot be computed from the current values of the states.

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

• rdModel.h
• rdModel.cpp

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