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

IMUDataReporter &	operator= (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 ()

Analysis &	operator= (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...

Object &	operator= (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 AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (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 AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (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...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

Auto-generated functions
static IMUDataReporter *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "IMUDataReporter". More...

IMUDataReporter *	clone () 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 Analysis *	safeDownCast (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 Object *	getDefaultInstanceOfType (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 Object *	newInstanceOfType (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 Object *	makeObjectFromFile (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 Object *	SafeCopy (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

aBaseName	Base name of file to which to print the data.
aDir	Directory name.
aDT	Time interval between results (linear interpolation is used). If not supplied as an argument or negative, all time steps are printed without interpolation.
aExtension	File 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:

OpenSim/Analyses/IMUDataReporter.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IMUDataReporter() [1/2]

◆ IMUDataReporter() [2/2]

◆ ~IMUDataReporter()

Member Function Documentation

◆ append_frame_paths()

◆ begin()

◆ clone()

◆ end()

◆ get_compute_accelerations_without_forces()

◆ get_frame_paths()

◆ get_report_accelerometer_signals()

◆ get_report_gyroscope_signals()

◆ get_report_orientations()

◆ getAccelerometerSignalsTable()

◆ getClassName()

◆ getConcreteClassName()

◆ getGyroscopeSignalsTable()

◆ getOrientationsTable()

◆ operator=()

◆ printResults()

◆ record()

◆ safeDownCast()

◆ set_compute_accelerations_without_forces()

◆ set_frame_paths()

◆ set_report_accelerometer_signals()

◆ set_report_gyroscope_signals()

◆ set_report_orientations()

◆ setNull()

◆ step()

◆ upd_compute_accelerations_without_forces()

◆ upd_frame_paths()

◆ upd_report_accelerometer_signals()

◆ upd_report_gyroscope_signals()

◆ upd_report_orientations()

OpenSim Property, Socket, Output, Input Documentation

◆ compute_accelerations_without_forces

◆ frame_paths

◆ report_accelerometer_signals

◆ report_gyroscope_signals

◆ report_orientations