A class implementing a set of parameters describing how to place IMUs on a model to match placement of experimental sensors (IMUs) More...

Inheritance diagram for OpenSim::IMUPlacer:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	model_file
	"Name/path to the xml .osim file used to load a model to be " "calibrated via placement of IMUs." More...

std::string	base_imu_label
	"The label of the base IMU in the orientation_file_for_calibration used to account " "for the heading difference between the sensor data and the forward " "direction of the model. Leave blank if no heading correction is desired." More...

std::string	base_heading_axis
	"The axis of the base IMU that corresponds to its heading " "direction. Options are 'x', '-x', 'y', '-y', 'z' or '-z'. " "Leave blank if no heading correction is desired." More...

SimTK::Vec3	sensor_to_opensim_rotations
	"Space fixed Euler angles (XYZ order) from IMU Space to OpenSim. " "Default (0, 0, 0)." More...

std::string	orientation_file_for_calibration
	"Name/path to a .sto file of sensor frame orientations as " "quaternions to be used to place IMUs on the model." More...

std::string	output_model_file
	"Name of OpenSim model file (.osim) to write when done placing IMUs." More...

Public Member Functions
virtual	~IMUPlacer ()

	IMUPlacer ()

	IMUPlacer (const std::string &setupFile)
	Create an IMUPlacer based on a setup file. More...

bool	run (bool visualizeResults=false)
	Run the calibration method to place IMUs on the model, Optionally visualize the model post calibration. More...

void	setModel (Model &aModel)

Model &	getCalibratedModel () const
	Retrieve the calibrated model. More...

Property-related functions
const std::string &	get_model_file () const
	Get the value of the model_file property. More...

std::string &	upd_model_file ()
	Get a writable reference to the model_file property. More...

void	set_model_file (const std::string &value)
	Set the value of the model_file property. More...

const std::string &	get_base_imu_label () const
	Get the value of the base_imu_label property. More...

std::string &	upd_base_imu_label ()
	Get a writable reference to the base_imu_label property. More...

void	set_base_imu_label (const std::string &value)
	Set the value of the base_imu_label property. More...

const std::string &	get_base_heading_axis () const
	Get the value of the base_heading_axis property. More...

std::string &	upd_base_heading_axis ()
	Get a writable reference to the base_heading_axis property. More...

void	set_base_heading_axis (const std::string &value)
	Set the value of the base_heading_axis property. More...

const SimTK::Vec3 &	get_sensor_to_opensim_rotations () const
	Get the value of the sensor_to_opensim_rotations property. More...

SimTK::Vec3 &	upd_sensor_to_opensim_rotations ()
	Get a writable reference to the sensor_to_opensim_rotations property. More...

void	set_sensor_to_opensim_rotations (const SimTK::Vec3 &value)
	Set the value of the sensor_to_opensim_rotations property. More...

const std::string &	get_orientation_file_for_calibration () const
	Get the value of the orientation_file_for_calibration property. More...

std::string &	upd_orientation_file_for_calibration ()
	Get a writable reference to the orientation_file_for_calibration property. More...

void	set_orientation_file_for_calibration (const std::string &value)
	Set the value of the orientation_file_for_calibration property. More...

const std::string &	get_output_model_file () const
	Get the value of the output_model_file property. More...

std::string &	upd_output_model_file ()
	Get a writable reference to the output_model_file property. More...

void	set_output_model_file (const std::string &value)
	Set the value of the output_model_file property. More...

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 IMUPlacer *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

IMUPlacer *	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::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 implementing a set of parameters describing how to place IMUs on a model to match placement of experimental sensors (IMUs)

Calibrates a model by registering IMU frames whose orientations in the sensor world frame are specified, assuming the model's default pose is the calibration pose. The resultant model with IMU frames registered is optionally written to file. Optional properties are available to identify heading correction to line up the base IMU by its label in the orientation_file_for_calibration e.g. 'pelvis imu' and its heading axis as +/- 'x', 'y', or 'z', are used to align all the IMU data so that base imu's heading (forward) is in the X direction of OpenSim's ground frame.

Author: Ayman Habib, Ajay Seth

Constructor & Destructor Documentation

◆ ~IMUPlacer()

virtual OpenSim::IMUPlacer::~IMUPlacer ( )

virtual

◆ IMUPlacer() [1/2]

OpenSim::IMUPlacer::IMUPlacer ( )

◆ IMUPlacer() [2/2]

OpenSim::IMUPlacer::IMUPlacer ( const std::string & setupFile )

Create an IMUPlacer based on a setup file.

Member Function Documentation

◆ clone()

IMUPlacer* OpenSim::IMUPlacer::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::Object.

◆ get_base_heading_axis()

const std::string& OpenSim::IMUPlacer::get_base_heading_axis ( ) const

inline

Get the value of the base_heading_axis property.

◆ get_base_imu_label()

const std::string& OpenSim::IMUPlacer::get_base_imu_label ( ) const

inline

Get the value of the base_imu_label property.

◆ get_model_file()

const std::string& OpenSim::IMUPlacer::get_model_file ( ) const

inline

Get the value of the model_file property.

◆ get_orientation_file_for_calibration()

const std::string& OpenSim::IMUPlacer::get_orientation_file_for_calibration ( ) const

inline

Get the value of the orientation_file_for_calibration property.

◆ get_output_model_file()

const std::string& OpenSim::IMUPlacer::get_output_model_file ( ) const

inline

Get the value of the output_model_file property.

◆ get_sensor_to_opensim_rotations()

const SimTK::Vec3& OpenSim::IMUPlacer::get_sensor_to_opensim_rotations ( ) const

inline

Get the value of the sensor_to_opensim_rotations property.

◆ getCalibratedModel()

Model& OpenSim::IMUPlacer::getCalibratedModel ( ) const

Retrieve the calibrated model.

This method will throw if called before the run method is invoked.

◆ getClassName()

static const std::string& OpenSim::IMUPlacer::getClassName ( )

inlinestatic

This returns "IMUPlacer".

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

◆ getConcreteClassName()

const std::string& OpenSim::IMUPlacer::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::Object.

◆ run()

bool OpenSim::IMUPlacer::run ( bool visualizeResults = false )

Run the calibration method to place IMUs on the model, Optionally visualize the model post calibration.

◆ safeDownCast()

static IMUPlacer* OpenSim::IMUPlacer::safeDownCast ( OpenSim::Object * obj )

inlinestatic

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

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

◆ set_base_heading_axis()

void OpenSim::IMUPlacer::set_base_heading_axis ( const std::string & value )

inline

Set the value of the base_heading_axis property.

◆ set_base_imu_label()

void OpenSim::IMUPlacer::set_base_imu_label ( const std::string & value )

inline

Set the value of the base_imu_label property.

◆ set_model_file()

void OpenSim::IMUPlacer::set_model_file ( const std::string & value )

inline

Set the value of the model_file property.

◆ set_orientation_file_for_calibration()

void OpenSim::IMUPlacer::set_orientation_file_for_calibration ( const std::string & value )

inline

Set the value of the orientation_file_for_calibration property.

◆ set_output_model_file()

void OpenSim::IMUPlacer::set_output_model_file ( const std::string & value )

inline

Set the value of the output_model_file property.

◆ set_sensor_to_opensim_rotations()

void OpenSim::IMUPlacer::set_sensor_to_opensim_rotations ( const SimTK::Vec3 & value )

inline

Set the value of the sensor_to_opensim_rotations property.

◆ setModel()

void OpenSim::IMUPlacer::setModel ( Model & aModel )

inline

◆ upd_base_heading_axis()

std::string& OpenSim::IMUPlacer::upd_base_heading_axis ( )

inline

Get a writable reference to the base_heading_axis property.

◆ upd_base_imu_label()

std::string& OpenSim::IMUPlacer::upd_base_imu_label ( )

inline

Get a writable reference to the base_imu_label property.

◆ upd_model_file()

std::string& OpenSim::IMUPlacer::upd_model_file ( )

inline

Get a writable reference to the model_file property.

◆ upd_orientation_file_for_calibration()

std::string& OpenSim::IMUPlacer::upd_orientation_file_for_calibration ( )

inline

Get a writable reference to the orientation_file_for_calibration property.

◆ upd_output_model_file()

std::string& OpenSim::IMUPlacer::upd_output_model_file ( )

inline

Get a writable reference to the output_model_file property.

◆ upd_sensor_to_opensim_rotations()

SimTK::Vec3& OpenSim::IMUPlacer::upd_sensor_to_opensim_rotations ( )

inline

Get a writable reference to the sensor_to_opensim_rotations property.

OpenSim Property, Socket, Output, Input Documentation

◆ base_heading_axis

std::string OpenSim::IMUPlacer::base_heading_axis

"The axis of the base IMU that corresponds to its heading " "direction. Options are 'x', '-x', 'y', '-y', 'z' or '-z'. " "Leave blank if no heading correction is desired."

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

See also: get_base_heading_axis(), upd_base_heading_axis(), set_base_heading_axis()

◆ base_imu_label

std::string OpenSim::IMUPlacer::base_imu_label

"The label of the base IMU in the orientation_file_for_calibration used to account " "for the heading difference between the sensor data and the forward " "direction of the model. Leave blank if no heading correction is desired."

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

See also: get_base_imu_label(), upd_base_imu_label(), set_base_imu_label()

◆ model_file

std::string OpenSim::IMUPlacer::model_file

"Name/path to the xml .osim file used to load a model to be " "calibrated via placement of IMUs."

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

See also: get_model_file(), upd_model_file(), set_model_file()

◆ orientation_file_for_calibration

std::string OpenSim::IMUPlacer::orientation_file_for_calibration

"Name/path to a .sto file of sensor frame orientations as " "quaternions to be used to place IMUs on the model."

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

See also: get_orientation_file_for_calibration(), upd_orientation_file_for_calibration(), set_orientation_file_for_calibration()

◆ output_model_file

std::string OpenSim::IMUPlacer::output_model_file

"Name of OpenSim model file (.osim) to write when done placing IMUs."

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

See also: get_output_model_file(), upd_output_model_file(), set_output_model_file()

◆ sensor_to_opensim_rotations

SimTK::Vec3 OpenSim::IMUPlacer::sensor_to_opensim_rotations

"Space fixed Euler angles (XYZ order) from IMU Space to OpenSim. " "Default (0, 0, 0)."

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

See also: get_sensor_to_opensim_rotations(), upd_sensor_to_opensim_rotations(), set_sensor_to_opensim_rotations()

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

OpenSim/Simulation/OpenSense/IMUPlacer.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~IMUPlacer()

◆ IMUPlacer() [1/2]

◆ IMUPlacer() [2/2]

Member Function Documentation

◆ clone()

◆ get_base_heading_axis()

◆ get_base_imu_label()

◆ get_model_file()

◆ get_orientation_file_for_calibration()

◆ get_output_model_file()

◆ get_sensor_to_opensim_rotations()

◆ getCalibratedModel()

◆ getClassName()

◆ getConcreteClassName()

◆ run()

◆ safeDownCast()

◆ set_base_heading_axis()

◆ set_base_imu_label()

◆ set_model_file()

◆ set_orientation_file_for_calibration()

◆ set_output_model_file()

◆ set_sensor_to_opensim_rotations()

◆ setModel()

◆ upd_base_heading_axis()

◆ upd_base_imu_label()

◆ upd_model_file()

◆ upd_orientation_file_for_calibration()

◆ upd_output_model_file()

◆ upd_sensor_to_opensim_rotations()

OpenSim Property, Socket, Output, Input Documentation

◆ base_heading_axis

◆ base_imu_label

◆ model_file

◆ orientation_file_for_calibration

◆ output_model_file

◆ sensor_to_opensim_rotations