C++ (Cpp) ScalarActuator::getSpeedの例

コード例 #1

ファイル: Actuation.cpp プロジェクト: bit20090138/opensim-core

/**
* Record the actuation quantities.
*/
int Actuation::
record(const SimTK::State& s)
{
    if (_model == NULL) return(-1);

    // MAKE SURE ALL ACTUATION QUANTITIES ARE VALID
    _model->getMultibodySystem().realize(s, SimTK::Stage::Dynamics);

    // TIME NORMALIZATION
    double tReal = s.getTime();

    // FORCE
    const Set<Actuator>& fSet = _model->getActuators();
    for (int i = 0, iact = 0; i<fSet.getSize(); i++) {
        ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
        if (!fSet.get(i).get_isDisabled())
            _fsp[iact++] = act->getActuation(s);
    }
    _forceStore->append(tReal, _na, _fsp);

    // SPEED
    for (int i = 0, iact = 0; i<fSet.getSize(); i++) {
        ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
        if (!fSet.get(i).get_isDisabled())
            _fsp[iact++] = act->getSpeed(s);
    }
    _speedStore->append(tReal, _na, _fsp);

    // POWER
    for (int i = 0, iact = 0; i<fSet.getSize(); i++) {
        if (!fSet.get(i).get_isDisabled())
            _fsp[iact++] = fSet.get(i).getPower(s);
    }
    _powerStore->append(tReal, _na, _fsp);


    return(0);
}