Common Utilities

These are free functions and utility classes in the Common library. More...

Classes
class	OpenSim::FileRemover
	When an instance of this class is destructed, it removes (deletes) the file at the path provided in the constructor. More...
class	OpenSim::ThreadsafeJar< T >
	This class lets you store objects of a single type for reuse by multiple threads, ensuring threadsafe access to each of those objects. More...

Functions
template<typename T , typename... Args>
std::unique_ptr< T >	OpenSim::make_unique (Args &&... args)
	Since OpenSim does not require C++14 (which contains std::make_unique()), here is an implementation of make_unique(). More...
OSIMCOMMON_API std::string	OpenSim::getFormattedDateTime (bool appendMicroseconds=false, std::string format="%Y-%m-%dT%H%M%S")
	Get a string with the current date and time formatted as Y-m-dTHMS (year, month, day, "T", hour, minute, second). More...
OSIMCOMMON_API SimTK::Vector	OpenSim::createVectorLinspace (int length, double start, double end)
	Create a SimTK::Vector with the provided length whose elements are uniformly spaced between start and end (same as Matlab's linspace()). More...
OSIMCOMMON_API SimTK::Vector	OpenSim::createVector (std::initializer_list< SimTK::Real > elements)
	Create a SimTK::Vector using modern C++ syntax. More...
OSIMCOMMON_API SimTK::Vector	OpenSim::interpolate (const SimTK::Vector &x, const SimTK::Vector &y, const SimTK::Vector &newX, const bool ignoreNaNs=false)
	Linearly interpolate y(x) at new values of x. More...
OSIMCOMMON_API std::string	OpenSim::convertRelativeFilePathToAbsoluteFromXMLDocument (const std::string &documentFileName, const std::string &filePathRelativeToDirectoryContainingDocument)
	An OpenSim XML file may contain file paths that are relative to the directory containing the XML file; use this function to convert that relative path into an absolute path. More...
OSIMCOMMON_API SimTK::Real	OpenSim::solveBisection (std::function< double(const double &)> calcResidual, double left, double right, const double &tolerance=1e-6, int maxIterations=1000)
	Solve for the root of a scalar function using the bisection method. More...

Detailed Description

These are free functions and utility classes in the Common library.

Function Documentation

convertRelativeFilePathToAbsoluteFromXMLDocument()

OSIMCOMMON_API std::string OpenSim::convertRelativeFilePathToAbsoluteFromXMLDocument	(	const std::string &	documentFileName,
		const std::string &	filePathRelativeToDirectoryContainingDocument
	)

An OpenSim XML file may contain file paths that are relative to the directory containing the XML file; use this function to convert that relative path into an absolute path.

createVector()

OSIMCOMMON_API SimTK::Vector OpenSim::createVector

(

std::initializer_list< SimTK::Real >

elements

)

Create a SimTK::Vector using modern C++ syntax.

createVectorLinspace()

OSIMCOMMON_API SimTK::Vector OpenSim::createVectorLinspace	(	int	length,
		double	start,
		double	end
	)

Create a SimTK::Vector with the provided length whose elements are uniformly spaced between start and end (same as Matlab's linspace()).

getFormattedDateTime()

OSIMCOMMON_API std::string OpenSim::getFormattedDateTime	(	bool	appendMicroseconds = false,
		std::string	format = "%Y-%m-%dT%H%M%S"
	)

Get a string with the current date and time formatted as Y-m-dTHMS (year, month, day, "T", hour, minute, second).

You can change the datetime format via the format parameter. If you specify "ISO", then we use the ISO 8601 extended datetime format Y-m-dTH:M:S. See https://en.cppreference.com/w/cpp/io/manip/put_time.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

interpolate()

OSIMCOMMON_API SimTK::Vector OpenSim::interpolate	(	const SimTK::Vector &	x,
		const SimTK::Vector &	y,
		const SimTK::Vector &	newX,
		const bool	ignoreNaNs = false
	)

Linearly interpolate y(x) at new values of x.

The optional 'ignoreNaNs' argument will ignore any NaN values contained in the input vectors and create the interpolant from the non-NaN values only. Note that this option does not necessarily prevent NaN values from being returned in 'newX', which will have NaN for any values of newX outside of the range of x.

Exceptions

Exception

if x and y are different sizes, or x or y is empty.

make_unique()

template<typename T , typename... Args>

std::unique_ptr< T > OpenSim::make_unique

(

Args &&...

args

)

Since OpenSim does not require C++14 (which contains std::make_unique()), here is an implementation of make_unique().

solveBisection()

OSIMCOMMON_API SimTK::Real OpenSim::solveBisection	(	std::function< double(const double &)>	calcResidual,
		double	left,
		double	right,
		const double &	tolerance = 1e-6,
		int	maxIterations = 1000
	)

Solve for the root of a scalar function using the bisection method.

If the values of calcResidual(left) and calcResidual(right) have the same sign and the logger level is Debug (or more verbose), then this function writes a file solveBisection_residual_<timestamp>.sto containing the residual function.

Parameters

calcResidual	a function that computes the error
left	lower bound on the root
right	upper bound on the root
tolerance	convergence requires that the bisection's "left" and "right" are less than tolerance apart.
maxIterations	abort after this many iterations.