A Tool that performs an Inverse Kinematics analysis with a given model. More...

Inheritance diagram for OpenSim::InverseKinematicsToolBase:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	model_file
	"Name/path to the xml .osim file." More...

double	constraint_weight
	"The relative weighting of kinematic constraint errors. By default this " "is Infinity, which means constraints are strictly enforced as part of " "the optimization and are not appended to the objective (cost) function. " "Any other non-zero positive scalar is the penalty factor for " "constraint violations." More...

double	accuracy
	"The accuracy of the solution in absolute terms, i.e. the number of " "significant digits to which the solution can be trusted. Default 1e-5." More...

bool	report_errors
	"Flag (true or false) indicating whether or not to report " "errors from the inverse kinematics solution. Default is true." More...

std::string	output_motion_file
	"Name of the resulting inverse kinematics motion (.mot) file." More...

Properties (list)
double	time_range
	"The time range for the study." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Tool
std::string	results_directory
	"Name of the directory where results are written. Be default this " "is the directory in which the setup file is be executed." More...

Public Member Functions
virtual	~InverseKinematicsToolBase ()

	InverseKinematicsToolBase ()

	InverseKinematicsToolBase (const std::string &aFileName, bool aLoadModel=true)

void	setModel (Model &aModel)

void	setStartTime (double d)

double	getStartTime () const

void	setEndTime (double d)

double	getEndTime () const

void	setOutputMotionFileName (const std::string aOutputMotionFileName)

std::string	getOutputMotionFileName ()

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 double &	get_constraint_weight () const
	Get the value of the constraint_weight property. More...

double &	upd_constraint_weight ()
	Get a writable reference to the constraint_weight property. More...

void	set_constraint_weight (const double &value)
	Set the value of the constraint_weight property. More...

const double &	get_accuracy () const
	Get the value of the accuracy property. More...

double &	upd_accuracy ()
	Get a writable reference to the accuracy property. More...

void	set_accuracy (const double &value)
	Set the value of the accuracy property. More...

const double &	get_time_range (int i) const
	Get the value of the i-th element of the time_range property. More...

double &	upd_time_range (int i)
	Get a writable reference to the i-th element of the time_range property. More...

void	set_time_range (int i, const double &value)
	Set the value of the i-th element of time_range property. More...

int	append_time_range (const double &value)
	Append an element to the time_range property. More...

const bool &	get_report_errors () const
	Get the value of the report_errors property. More...

bool &	upd_report_errors ()
	Get a writable reference to the report_errors property. More...

void	set_report_errors (const bool &value)
	Set the value of the report_errors property. More...

const std::string &	get_output_motion_file () const
	Get the value of the output_motion_file property. More...

std::string &	upd_output_motion_file ()
	Get a writable reference to the output_motion_file property. More...

void	set_output_motion_file (const std::string &value)
	Set the value of the output_motion_file property. More...

Public Member Functions inherited from OpenSim::Tool
virtual	~Tool ()
	Destructor. More...

	Tool ()
	Default constructor. More...

	Tool (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct from file. More...

virtual bool	run ()=0
	The run() method of a Tool embodies what would be the main() routine for a standalone program. More...

const std::string &	getResultsDir () const
	Get/set Results Directory, will replace with Property accessors eventually More...

void	setResultsDir (const std::string &aString)

const std::string &	get_results_directory () const
	Get the value of the results_directory property. More...

std::string &	upd_results_directory ()
	Get a writable reference to the results_directory property. More...

void	set_results_directory (const std::string &value)
	Set the value of the results_directory 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 InverseKinematicsToolBase *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

InverseKinematicsToolBase *	clone () const override=0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override=0
	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::Tool
static Tool *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "Tool". 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 Tool that performs an Inverse Kinematics analysis with a given model.

Inverse kinematics is the solution of internal coordinates that poses the model such that the landmark locations (markers), or orientations of Sensor (IMUs) affixed to the model, minimize the weighted least-squares error with observations of markers in spatial coordinates, or Sensor (IMU) orientations.

Author: Ayman Habib

Version: 1.0

Constructor & Destructor Documentation

◆ ~InverseKinematicsToolBase()

virtual OpenSim::InverseKinematicsToolBase::~InverseKinematicsToolBase ( )

inlinevirtual

◆ InverseKinematicsToolBase() [1/2]

OpenSim::InverseKinematicsToolBase::InverseKinematicsToolBase ( )

inline

◆ InverseKinematicsToolBase() [2/2]

OpenSim::InverseKinematicsToolBase::InverseKinematicsToolBase	(	const std::string &	aFileName,
		bool	aLoadModel = `true`
	)

inline

Member Function Documentation

◆ append_time_range()

int OpenSim::InverseKinematicsToolBase::append_time_range ( const double & value )

inline

Append an element to the time_range property.

◆ clone()

InverseKinematicsToolBase* OpenSim::InverseKinematicsToolBase::clone ( ) const

overridepure virtual

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::Tool.

Implemented in OpenSim::IMUInverseKinematicsTool, and OpenSim::InverseKinematicsTool.

◆ get_accuracy()

const double& OpenSim::InverseKinematicsToolBase::get_accuracy ( ) const

inline

Get the value of the accuracy property.

◆ get_constraint_weight()

const double& OpenSim::InverseKinematicsToolBase::get_constraint_weight ( ) const

inline

Get the value of the constraint_weight property.

◆ get_model_file()

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

inline

Get the value of the model_file property.

◆ get_output_motion_file()

const std::string& OpenSim::InverseKinematicsToolBase::get_output_motion_file ( ) const

inline

Get the value of the output_motion_file property.

◆ get_report_errors()

const bool& OpenSim::InverseKinematicsToolBase::get_report_errors ( ) const

inline

Get the value of the report_errors property.

◆ get_time_range()

const double& OpenSim::InverseKinematicsToolBase::get_time_range ( int i ) const

inline

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

◆ getClassName()

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

inlinestatic

This returns "InverseKinematicsToolBase".

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

◆ getConcreteClassName()

const std::string& OpenSim::InverseKinematicsToolBase::getConcreteClassName ( ) const

overridepure virtual

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::Tool.

Implemented in OpenSim::IMUInverseKinematicsTool, and OpenSim::InverseKinematicsTool.

◆ getEndTime()

double OpenSim::InverseKinematicsToolBase::getEndTime ( ) const

inline

◆ getOutputMotionFileName()

std::string OpenSim::InverseKinematicsToolBase::getOutputMotionFileName ( )

inline

◆ getStartTime()

double OpenSim::InverseKinematicsToolBase::getStartTime ( ) const

inline

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_accuracy()

void OpenSim::InverseKinematicsToolBase::set_accuracy ( const double & value )

inline

Set the value of the accuracy property.

◆ set_constraint_weight()

void OpenSim::InverseKinematicsToolBase::set_constraint_weight ( const double & value )

inline

Set the value of the constraint_weight property.

◆ set_model_file()

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

inline

Set the value of the model_file property.

◆ set_output_motion_file()

void OpenSim::InverseKinematicsToolBase::set_output_motion_file ( const std::string & value )

inline

Set the value of the output_motion_file property.

◆ set_report_errors()

void OpenSim::InverseKinematicsToolBase::set_report_errors ( const bool & value )

inline

Set the value of the report_errors property.

◆ set_time_range()

void OpenSim::InverseKinematicsToolBase::set_time_range	(	int	i,
		const double &	value
	)

inline

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

◆ setEndTime()

void OpenSim::InverseKinematicsToolBase::setEndTime ( double d )

inline

◆ setModel()

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

inline

◆ setOutputMotionFileName()

void OpenSim::InverseKinematicsToolBase::setOutputMotionFileName ( const std::string aOutputMotionFileName )

inline

◆ setStartTime()

void OpenSim::InverseKinematicsToolBase::setStartTime ( double d )

inline

◆ upd_accuracy()

double& OpenSim::InverseKinematicsToolBase::upd_accuracy ( )

inline

Get a writable reference to the accuracy property.

◆ upd_constraint_weight()

double& OpenSim::InverseKinematicsToolBase::upd_constraint_weight ( )

inline

Get a writable reference to the constraint_weight property.

◆ upd_model_file()

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

inline

Get a writable reference to the model_file property.

◆ upd_output_motion_file()

std::string& OpenSim::InverseKinematicsToolBase::upd_output_motion_file ( )

inline

Get a writable reference to the output_motion_file property.

◆ upd_report_errors()

bool& OpenSim::InverseKinematicsToolBase::upd_report_errors ( )

inline

Get a writable reference to the report_errors property.

◆ upd_time_range()

double& OpenSim::InverseKinematicsToolBase::upd_time_range ( int i )

inline

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

OpenSim Property, Socket, Output, Input Documentation

◆ accuracy

double OpenSim::InverseKinematicsToolBase::accuracy

"The accuracy of the solution in absolute terms, i.e. the number of " "significant digits to which the solution can be trusted. Default 1e-5."

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

See also: get_accuracy(), upd_accuracy(), set_accuracy()

◆ constraint_weight

double OpenSim::InverseKinematicsToolBase::constraint_weight

"The relative weighting of kinematic constraint errors. By default this " "is Infinity, which means constraints are strictly enforced as part of " "the optimization and are not appended to the objective (cost) function. " "Any other non-zero positive scalar is the penalty factor for " "constraint violations."

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

See also: get_constraint_weight(), upd_constraint_weight(), set_constraint_weight()

◆ model_file

std::string OpenSim::InverseKinematicsToolBase::model_file

"Name/path to the xml .osim file."

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()

◆ output_motion_file

std::string OpenSim::InverseKinematicsToolBase::output_motion_file

"Name of the resulting inverse kinematics motion (.mot) file."

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

See also: get_output_motion_file(), upd_output_motion_file(), set_output_motion_file()

◆ report_errors

bool OpenSim::InverseKinematicsToolBase::report_errors

"Flag (true or false) indicating whether or not to report " "errors from the inverse kinematics solution. Default is true."

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

See also: get_report_errors(), upd_report_errors(), set_report_errors()

◆ time_range

double OpenSim::InverseKinematicsToolBase::time_range

"The time range for the study."

This property appears in XML files under the tag <time_range>. This property holds a list of exactly 2 object(s), and was generated with the OpenSim_DECLARE_LIST_PROPERTY_SIZE macro; see Property to learn about the property system.

See also: get_time_range(), upd_time_range(), set_time_range()

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

OpenSim/Tools/InverseKinematicsToolBase.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~InverseKinematicsToolBase()

◆ InverseKinematicsToolBase() [1/2]

◆ InverseKinematicsToolBase() [2/2]

Member Function Documentation

◆ append_time_range()

◆ clone()

◆ get_accuracy()

◆ get_constraint_weight()

◆ get_model_file()

◆ get_output_motion_file()

◆ get_report_errors()

◆ get_time_range()

◆ getClassName()

◆ getConcreteClassName()

◆ getEndTime()

◆ getOutputMotionFileName()

◆ getStartTime()

◆ safeDownCast()

◆ set_accuracy()

◆ set_constraint_weight()

◆ set_model_file()

◆ set_output_motion_file()

◆ set_report_errors()

◆ set_time_range()

◆ setEndTime()

◆ setModel()

◆ setOutputMotionFileName()

◆ setStartTime()

◆ upd_accuracy()

◆ upd_constraint_weight()

◆ upd_model_file()

◆ upd_output_motion_file()

◆ upd_report_errors()

◆ upd_time_range()

OpenSim Property, Socket, Output, Input Documentation

◆ accuracy

◆ constraint_weight

◆ model_file

◆ output_motion_file

◆ report_errors

◆ time_range