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suSIMM Class Reference

A wrapper for the SIMM Dynamics Pipeline. More...

#include <suSIMM.h>

Inheritance diagram for suSIMM:

List of all members.

Public Member Functions
	suSIMM (const char *aFileName)
virtual	~suSIMM ()
	Destructor.
void	constructNames ()
	Construct the names of the various components of the model.
virtual void	computeContact ()
	Compute all quantities associated with contact.
virtual void	applyContactForces ()
	Apply all contact forces.
virtual void	computeActuation ()
	Compute all quantities associated with actuation of the model.
virtual void	applyActuatorForce (int aID)
	Apply a particular actuator force to the model.
virtual void	applyActuatorForces ()
	Apply all actuator forces to the model.
virtual int	deriv (double t, double *xt, double *y, double *dy)=0
	Compute the derivatives of the states.
virtual int	deriv (double t, double *xt, double *y, double *dqdt, double *dudt)=0
	Compute the derivatives of the generalized coordinates.
virtual void	integBeginCallback (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	Take care of any initializations needed before an integration.
virtual void	integStepCallback (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	Perform calculations after ever integration time step.
virtual void	integEndCallback (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	Perform actions after an integration has completed.

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Detailed Description

A wrapper for the SIMM Dynamics Pipeline.

Class suSIMM essentially makes a SIMM Dynamics Pipeline model into an rdModel.

Class suSIMM is derived from rdSDFast which is derived from rdModel. rdSDFast provides much of the SD/Fast functionality, but many methods of rdModel are not implemented by rdSDFast. This class implements many of those methods.

Author:

Frank C. Anderson

Version:

1.0

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Member Function Documentation

void suSIMM::applyActuatorForce (  int  aID  )  [virtual]

Apply a particular actuator force to the model. Parameters: aI  The index of the actuator force to apply. Reimplemented from rdModel.

void suSIMM::applyActuatorForces (   )  [virtual]

Apply all actuator forces to the model. Actuator forces include muscle forces and ligament torques. Reimplemented from rdModel.

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

• suSIMM.h
• suSIMM.cpp

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