API  4.3
For MATLAB, Python, Java, and C++ users
OpenSim::IMUDataReporter Class Reference

A class for recording the readings off an IMU object placed on a model during a simulation. More...

+ Inheritance diagram for OpenSim::IMUDataReporter:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
bool report_orientations
 "Report orientation of IMU as quaternion, default is true." More...
 
bool report_gyroscope_signals
 "Report angular velocity of the IMU, default is true." More...
 
bool report_accelerometer_signals
 "Report the IMU accelerometer signals, default is true." More...
 
bool compute_accelerations_without_forces
 "Ignore external forces and controls, use kinematics to compute " "accelerometer signals, default is false." More...
 
Properties (list)
std::string frame_paths
 "Additional ComponentPaths to frames in the model to which new IMUs " "components are attached. IMUs added based on these paths will be " "appended to the list of existing IMUs in the model. " "Both the existing IMUs and appended IMUs from these frame paths " "are included in the data report." More...
 

Public Member Functions

 IMUDataReporter (Model *aModel=nullptr)
 
 IMUDataReporter (const IMUDataReporter &aObject)
 
virtual ~IMUDataReporter ()
 
void setNull ()
 
const TimeSeriesTable_< SimTK::Quaternion_< double > > & getOrientationsTable () const
 
const TimeSeriesTable_< SimTK::Vec3 > & getGyroscopeSignalsTable () const
 
const TimeSeriesTable_< SimTK::Vec3 > & getAccelerometerSignalsTable () const
 
IMUDataReporteroperator= (const IMUDataReporter &aReporter)
 
int begin (const SimTK::State &s) override
 
int step (const SimTK::State &s, int setNumber) override
 
int end (const SimTK::State &s) override
 
int printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto") override
 Print the results of the analysis. More...
 
Property-related functions
const bool & get_report_orientations () const
 Get the value of the report_orientations property. More...
 
bool & upd_report_orientations ()
 Get a writable reference to the report_orientations property. More...
 
void set_report_orientations (const bool &value)
 Set the value of the report_orientations property. More...
 
const bool & get_report_gyroscope_signals () const
 Get the value of the report_gyroscope_signals property. More...
 
bool & upd_report_gyroscope_signals ()
 Get a writable reference to the report_gyroscope_signals property. More...
 
void set_report_gyroscope_signals (const bool &value)
 Set the value of the report_gyroscope_signals property. More...
 
const bool & get_report_accelerometer_signals () const
 Get the value of the report_accelerometer_signals property. More...
 
bool & upd_report_accelerometer_signals ()
 Get a writable reference to the report_accelerometer_signals property. More...
 
void set_report_accelerometer_signals (const bool &value)
 Set the value of the report_accelerometer_signals property. More...
 
const bool & get_compute_accelerations_without_forces () const
 Get the value of the compute_accelerations_without_forces property. More...
 
bool & upd_compute_accelerations_without_forces ()
 Get a writable reference to the compute_accelerations_without_forces property. More...
 
void set_compute_accelerations_without_forces (const bool &value)
 Set the value of the compute_accelerations_without_forces property. More...
 
const std::string & get_frame_paths (int i) const
 Get the value of the i-th element of the frame_paths property. More...
 
std::string & upd_frame_paths (int i)
 Get a writable reference to the i-th element of the frame_paths property. More...
 
void set_frame_paths (int i, const std::string &value)
 Set the value of the i-th element of frame_paths property. More...
 
int append_frame_paths (const std::string &value)
 Append an element to the frame_paths property. More...
 
- Public Member Functions inherited from OpenSim::Analysis
 Analysis (Model *aModel=0)
 Default constructor. More...
 
 Analysis (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct an object from file. More...
 
 Analysis (const Analysis &aAnalysis)
 Copy constructor. More...
 
virtual ~Analysis ()
 
Analysisoperator= (const Analysis &aAnalysis)
 Assignment operator. More...
 
virtual void setModel (Model &aModel)
 set pointer to model to be analyzed. More...
 
virtual void setStatesStore (const Storage &aStatesStore)
 set states storage for analysis. More...
 
void setOn (bool aTrueFalse)
 
bool getOn () const
 
void setStartTime (double aStartTime)
 
double getStartTime () const
 
void setEndTime (double aEndTime)
 
double getEndTime () const
 
void setInDegrees (bool aTrueFalse)
 Set whether or not to write the output of angles in degrees. More...
 
bool getInDegrees () const
 
virtual bool proceed (int aStep=0)
 
void setStepInterval (int aStepInterval)
 
int getStepInterval () const
 
void setColumnLabels (const Array< std::string > &aLabels)
 Set the column labels for this analysis. More...
 
const Array< std::string > & getColumnLabels () const
 
void setStorageInterval (int aInterval)
 
int getStorageInterval () const
 
virtual ArrayPtrs< Storage > & getStorageList ()
 
void setPrintResultFiles (bool aToWrite)
 
bool getPrintResultFiles () const
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
 
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
 
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object. More...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element. More...
 
void updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
 Serialize this object into the XML node that represents it. More...
 
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument. More...
 
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
 
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document. More...
 
int getDocumentFileVersion () const
 If there is a document associated with this object then return its version number. More...
 
void setAllPropertiesUseDefault (bool aUseDefault)
 
bool print (const std::string &fileName) const
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
 
std::string dump () const
 dump the XML representation of this Object into an std::string and return it. More...
 
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
 
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Auto-generated functions

static IMUDataReportersafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "IMUDataReporter". More...
 
IMUDataReporterclone () const override
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Analysis
static AnalysissafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Analysis". More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 

Detailed Description

A class for recording the readings off an IMU object placed on a model during a simulation.

If using this reporter to compute IMU accelerometer signals based on kinematic information only (i.e., a solution from the InverseKinematicsTool), then set the property compute_accelerations_without_forces to true. This property will apply forces to the model corresponding to the kinematics that you provide as input so that the correct accelerations are computed. The input kinematics are splined and then prescribed to the model (via the PositionMotion class), and the applied forces are based on derivatives of these splines; therefore, you should ensure that the input kinematics produce the correct derivatives when splined. It is recommended that you don't not compute any quantities near the beginning or end of the time range in your data, since spline derivatives can be inaccurate in these regions.

Author
Ayman Habib
Version
1.0

Constructor & Destructor Documentation

◆ IMUDataReporter() [1/2]

OpenSim::IMUDataReporter::IMUDataReporter ( Model aModel = nullptr)

◆ IMUDataReporter() [2/2]

OpenSim::IMUDataReporter::IMUDataReporter ( const IMUDataReporter aObject)

◆ ~IMUDataReporter()

virtual OpenSim::IMUDataReporter::~IMUDataReporter ( )
virtual

Member Function Documentation

◆ append_frame_paths()

int OpenSim::IMUDataReporter::append_frame_paths ( const std::string &  value)
inline

Append an element to the frame_paths property.

◆ begin()

int OpenSim::IMUDataReporter::begin ( const SimTK::State &  s)
overridevirtual

Reimplemented from OpenSim::Analysis.

◆ clone()

IMUDataReporter* OpenSim::IMUDataReporter::clone ( ) const
inlineoverridevirtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Analysis.

◆ end()

int OpenSim::IMUDataReporter::end ( const SimTK::State &  s)
overridevirtual

Reimplemented from OpenSim::Analysis.

◆ get_compute_accelerations_without_forces()

const bool& OpenSim::IMUDataReporter::get_compute_accelerations_without_forces ( ) const
inline

Get the value of the compute_accelerations_without_forces property.

◆ get_frame_paths()

const std::string& OpenSim::IMUDataReporter::get_frame_paths ( int  i) const
inline

Get the value of the i-th element of the frame_paths property.

◆ get_report_accelerometer_signals()

const bool& OpenSim::IMUDataReporter::get_report_accelerometer_signals ( ) const
inline

Get the value of the report_accelerometer_signals property.

◆ get_report_gyroscope_signals()

const bool& OpenSim::IMUDataReporter::get_report_gyroscope_signals ( ) const
inline

Get the value of the report_gyroscope_signals property.

◆ get_report_orientations()

const bool& OpenSim::IMUDataReporter::get_report_orientations ( ) const
inline

Get the value of the report_orientations property.

◆ getAccelerometerSignalsTable()

const TimeSeriesTable_<SimTK::Vec3>& OpenSim::IMUDataReporter::getAccelerometerSignalsTable ( ) const
inline

◆ getClassName()

static const std::string& OpenSim::IMUDataReporter::getClassName ( )
inlinestatic

This returns "IMUDataReporter".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

◆ getConcreteClassName()

const std::string& OpenSim::IMUDataReporter::getConcreteClassName ( ) const
inlineoverridevirtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also
getClassName()

Implements OpenSim::Analysis.

◆ getGyroscopeSignalsTable()

const TimeSeriesTable_<SimTK::Vec3>& OpenSim::IMUDataReporter::getGyroscopeSignalsTable ( ) const
inline

◆ getOrientationsTable()

const TimeSeriesTable_<SimTK::Quaternion_<double> >& OpenSim::IMUDataReporter::getOrientationsTable ( ) const
inline

◆ operator=()

IMUDataReporter& OpenSim::IMUDataReporter::operator= ( const IMUDataReporter aReporter)

◆ printResults()

int OpenSim::IMUDataReporter::printResults ( const std::string &  aBaseName,
const std::string &  aDir = "",
double  aDT = -1.0,
const std::string &  aExtension = ".sto" 
)
overridevirtual

Print the results of the analysis.

Parameters
aBaseNameBase name of file to which to print the data.
aDirDirectory name.
aDTTime interval between results (linear interpolation is used). If not supplied as an argument or negative, all time steps are printed without interpolation.
aExtensionFile extension if not the default ".sto".
Returns
-1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

◆ record()

virtual int OpenSim::IMUDataReporter::record ( const SimTK::State &  s)
protectedvirtual

◆ safeDownCast()

static IMUDataReporter* OpenSim::IMUDataReporter::safeDownCast ( OpenSim::Object obj)
inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = IMUDataReporter.safeDownCast(obj). This is equivalent to dynamic_cast<IMUDataReporter*>(obj) in C++.

◆ set_compute_accelerations_without_forces()

void OpenSim::IMUDataReporter::set_compute_accelerations_without_forces ( const bool &  value)
inline

Set the value of the compute_accelerations_without_forces property.

◆ set_frame_paths()

void OpenSim::IMUDataReporter::set_frame_paths ( int  i,
const std::string &  value 
)
inline

Set the value of the i-th element of frame_paths property.

◆ set_report_accelerometer_signals()

void OpenSim::IMUDataReporter::set_report_accelerometer_signals ( const bool &  value)
inline

Set the value of the report_accelerometer_signals property.

◆ set_report_gyroscope_signals()

void OpenSim::IMUDataReporter::set_report_gyroscope_signals ( const bool &  value)
inline

Set the value of the report_gyroscope_signals property.

◆ set_report_orientations()

void OpenSim::IMUDataReporter::set_report_orientations ( const bool &  value)
inline

Set the value of the report_orientations property.

◆ setNull()

void OpenSim::IMUDataReporter::setNull ( )

◆ step()

int OpenSim::IMUDataReporter::step ( const SimTK::State &  s,
int  setNumber 
)
overridevirtual

Reimplemented from OpenSim::Analysis.

◆ upd_compute_accelerations_without_forces()

bool& OpenSim::IMUDataReporter::upd_compute_accelerations_without_forces ( )
inline

Get a writable reference to the compute_accelerations_without_forces property.

◆ upd_frame_paths()

std::string& OpenSim::IMUDataReporter::upd_frame_paths ( int  i)
inline

Get a writable reference to the i-th element of the frame_paths property.

◆ upd_report_accelerometer_signals()

bool& OpenSim::IMUDataReporter::upd_report_accelerometer_signals ( )
inline

Get a writable reference to the report_accelerometer_signals property.

◆ upd_report_gyroscope_signals()

bool& OpenSim::IMUDataReporter::upd_report_gyroscope_signals ( )
inline

Get a writable reference to the report_gyroscope_signals property.

◆ upd_report_orientations()

bool& OpenSim::IMUDataReporter::upd_report_orientations ( )
inline

Get a writable reference to the report_orientations property.

OpenSim Property, Socket, Output, Input Documentation

◆ compute_accelerations_without_forces

bool OpenSim::IMUDataReporter::compute_accelerations_without_forces

"Ignore external forces and controls, use kinematics to compute " "accelerometer signals, default is false."

This property appears in XML files under the tag <compute_accelerations_without_forces>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_compute_accelerations_without_forces(), upd_compute_accelerations_without_forces(), set_compute_accelerations_without_forces()

◆ frame_paths

std::string OpenSim::IMUDataReporter::frame_paths

"Additional ComponentPaths to frames in the model to which new IMUs " "components are attached. IMUs added based on these paths will be " "appended to the list of existing IMUs in the model. " "Both the existing IMUs and appended IMUs from these frame paths " "are included in the data report."

This property appears in XML files under the tag <frame_paths>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.

See also
get_frame_paths(), upd_frame_paths(), set_frame_paths(), append_frame_paths()

◆ report_accelerometer_signals

bool OpenSim::IMUDataReporter::report_accelerometer_signals

"Report the IMU accelerometer signals, default is true."

This property appears in XML files under the tag <report_accelerometer_signals>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_report_accelerometer_signals(), upd_report_accelerometer_signals(), set_report_accelerometer_signals()

◆ report_gyroscope_signals

bool OpenSim::IMUDataReporter::report_gyroscope_signals

"Report angular velocity of the IMU, default is true."

This property appears in XML files under the tag <report_gyroscope_signals>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_report_gyroscope_signals(), upd_report_gyroscope_signals(), set_report_gyroscope_signals()

◆ report_orientations

bool OpenSim::IMUDataReporter::report_orientations

"Report orientation of IMU as quaternion, default is true."

This property appears in XML files under the tag <report_orientations>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_report_orientations(), upd_report_orientations(), set_report_orientations()

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