Soha and I wrote this first attempt at a SpatialActuator that takes a SpatialVec from a controller and applies it as a force and torque to a body.

NOT done yet!
Fix a few things.
Changes to support using Actuator_ withing Controllers so that we can handle actuators with vectored controls and not just scalars. This is intended for Soha to test.
Added testSpatialActuator to testActuator
Merged Ajay's corrections to branch Issue-62-spatialActuator for using vectorActuator (needed in testActuator methods)
Cleaned-up issue-62 branch to get Compiled with newly merged branch
(Removed testASpatialActuator and computeActuation,
Still problems with Register_type, Actauation.h, etc)
Resolved Register_type issue
(original testActuator compiled and worked)
Compiled testSpatialActuator without osimTools
(removed all calls to Power/Probe methods in test file,
issues with finding a couple of dlls)
Made Actuator as the base and ScalarActuator as the derived class.
(changed Actuator to scalarActuator and Actuator_ to Actuator, Compiled successfully for all the Libs except osimTools which misses Actuation.h, Also SpatialActuator and its test added and compiled).
Changed the name to BodyActuator(from SpatialActuator, following Sherm's suggestion)
- minor changes in BodyActuator (removed arg) and testBodyActuator (to call and setup the actuator);
- currently controller ignores the new added actuator, should be fixed)
Fixed updateActuator to handle vector Actuator
Fixed BodyActuator for getControls
(no need to use reference)
Cleaned-up bodyActuator, ready to test.
Edited testBodyActuator, Made it working for the acc. test.
Edited testBodyActuator, Made it working for the acc. test.
Got osimTools working with the new Actuator class
(Added back Actuation.h/cpp, changed Actuator_ to Actuator,
Actuator to ScalarActuator)
Tested Examples, Got them working for the new Actuator
(Only CustomActuatorExample needed corrections)
Cleaned TestMuscle: Removed functions using joint/actuator workProb
(since these probes have been already removed in this branch by Ajay,
Added back testProbes & Controller which were removed & edited before).
Minor edit in testBodyActuator
(Set visulaizer off)
Fixed CMakeLists.txt (for Actuators and Tools) to link to osimTools Lib.