---

suGeneralizedForces Class Reference

A class for recording the joint torques of the generalized coordinates of a model during a simulation. More...

#include <suGeneralizedForces.h>

Inheritance diagram for suGeneralizedForces:

List of all members.

Public Member Functions
	suGeneralizedForces (rdModel *aModel)
	Construct an suGeneralizedForces object for recording the joint torques of a model's generalized coodinates during a simulation.
virtual	~suGeneralizedForces ()
	Destructor.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
rdStorage *	getGravGenForcesStorage ()
	Get the storage for the gravity generalized forces.
rdStorage *	getVelGenForcesStorage ()
	Get the storage for the velocity generalized forces.
rdStorage *	getActuatorGenForcesStorage ()
	Get the storage for the actuator generalized forces.
rdStorage *	getContactGenForcesStorage ()
	Get the storage for the contact generalized forces.
virtual int	begin (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called at the beginning of an analysis so that any necessary initializations may be performed.
virtual int	analyze (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called to perform the analysis.
virtual int	end (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called at the end of an analysis so that any necessary finalizations may be performed.
virtual int	printResults (char *aBaseName, char *aDir=NULL, double aDT=-1.0, char *aExtension=".sto")
	Print results.
Protected Member Functions
virtual int	record (double aT, double *aX, double *aY)
	Record the joint torques.
Protected Attributes
double *	_dqdt
double *	_dudt
double *	_zero_aY
double *	_gravGenForces
double *	_velGenForces
double *	_actuatorGenForces
double *	_contactGenForces
rdStorage *	_gravGenForcesStore
rdStorage *	_velGenForcesStore
rdStorage *	_actuatorGenForcesStore
rdStorage *	_contactGenForcesStore
Private Member Functions
void	constructDescription ()
	Construct the description for the joint torque files.
void	constructColumnLabels ()
	Construct the column labels for the kinematics files.
void	allocateStorage ()
	Allocate storage for the kinematics.
void	deleteStorage ()
	Delete storage objects.

---

Detailed Description

A class for recording the joint torques of the generalized coordinates of a model during a simulation.

Author:

Frank C. Anderson & Saryn Goldberg

Version:

1.0

---

Constructor & Destructor Documentation

suGeneralizedForces::suGeneralizedForces (  rdModel *  aModel  )

Construct an suGeneralizedForces object for recording the joint torques of a model's generalized coodinates during a simulation. Parameters: aModel  Model for which the joint torques are to be recorded.

---

Member Function Documentation

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

This method is called to perform the analysis. It can be called during the execution of a forward integrations or after the integration by feeding it the necessary data. When called during an integration, this method is meant to be called in rdModel::integStepCallback(), which has the same argument list. This method should be overriden in derived classes. It is included here so that the derived class will not have to implement it if it is not necessary. Parameters: aXPrev  Controls at the beginining of the current time step. aYPrev  States at the beginning of the current time step. aStep  Step number of the integration. aDT  Size of the time step that was just taken. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

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

This method is called at the beginning of an analysis so that any necessary initializations may be performed. This method is meant to be called at the begining of an integration in rdModel::integBeginCallback() and has the same argument list. This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary. 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. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

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

This method is called at the end of an analysis so that any necessary finalizations may be performed. This method is meant to be called at the end of an integration in rdModel::integEndCallback() and has the same argument list. This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary. 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. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

rdStorage * suGeneralizedForces::getActuatorGenForcesStorage (   )

Get the storage for the actuator generalized forces. Returns: Actuator Generalized Force storage.

rdStorage * suGeneralizedForces::getContactGenForcesStorage (   )

Get the storage for the contact generalized forces. Returns: Contact Generalized Force storage.

rdStorage * suGeneralizedForces::getGravGenForcesStorage (   )

Get the storage for the gravity generalized forces. Returns: Gravity Generalized Force storage.

rdStorage * suGeneralizedForces::getVelGenForcesStorage (   )

Get the storage for the velocity generalized forces. Returns: Velocity Generalized Force storage.

int suGeneralizedForces::printResults (  char *  aBaseName, char *  aDir = NULL, double  aDT = -1.0, char *  aExtension = ".sto" )  [virtual]

Print results. The file names are constructed as aDir + "/" + aBaseName + "_" + ComponentName + aExtension Parameters: aDir  Directory in which the results reside. aBaseName  Base file name. aDT  Desired time interval between adjacent storage vectors. Linear interpolation is used to print the data out at the desired interval. aExtension  File extension. Returns: 0 on success, -1 on error. Reimplemented from rdAnalysis.

void suGeneralizedForces::setStorageCapacityIncrements (  int  aIncrement  )

Set the capacity increments of all storage instances. Parameters: aIncrement  Increment by which storage capacities will be increased when storage capcities run out.

---

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

• suGeneralizedForces.h
• suGeneralizedForces.cpp

---