API  4.2
For C++ developers
OpenSim::InverseDynamicsTool Class Reference

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

+ Inheritance diagram for OpenSim::InverseDynamicsTool:

Public Member Functions

virtual ~InverseDynamicsTool ()
 
 InverseDynamicsTool ()
 
 InverseDynamicsTool (const std::string &aFileName, bool aLoadModel=true)
 
 InverseDynamicsTool (const InverseDynamicsTool &aObject)
 
void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1) override
 Use this method to deserialize an object from a SimTK::Xml::Element. More...
 
InverseDynamicsTooloperator= (const InverseDynamicsTool &aInverseDynamicsTool)
 
void setCoordinateValues (const OpenSim::Storage &aStorage)
 
std::string getOutputGenForceFileName () const
 get/set the name of the file to be used as output from the tool More...
 
void setOutputGenForceFileName (const std::string &desiredOutputFileName)
 
const std::string & getCoordinatesFileName () const
 get/set the name of the file containing coordinates More...
 
void setCoordinatesFileName (const std::string &aCoordinateFile)
 Set the name of the coordinatesFile to be used. More...
 
double getLowpassCutoffFrequency () const
 
void setLowpassCutoffFrequency (double aFrequency)
 
bool run () override
 The run() method of a Tool embodies what would be the main() routine for a standalone program. More...
 
- Public Member Functions inherited from OpenSim::DynamicsTool
virtual ~DynamicsTool ()
 
 DynamicsTool ()
 
 DynamicsTool (const std::string &aFileName, bool aLoadModel=true)
 
 DynamicsTool (const DynamicsTool &aTool)
 
void disableModelForces (Model &model, SimTK::State &s, const Array< std::string > &forcesByNameOrGroup)
 Modify model to exclude specified forces by disabling those identified by name or group. More...
 
const ExternalLoadsgetExternalLoads () const
 
ExternalLoadsupdExternalLoads ()
 
const std::string & getExternalLoadsFileName () const
 
void setExternalLoadsFileName (const std::string &aFileName)
 
void setModelFileName (const std::string &aFileName)
 
std::string getModelFileName () const
 
DynamicsTooloperator= (const DynamicsTool &aDynamicsTool)
 
void setStartTime (double d)
 
double getStartTime () const
 
void setEndTime (double d)
 
double getEndTime () const
 
void setModel (Model &aModel)
 
void setExcludedForces (const Array< std::string > &aExcluded)
 
bool createExternalLoads (const std::string &externalLoadsFileName, Model &model)
 
bool modelHasExternalLoads ()
 
void removeExternalLoadsFromModel ()
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. 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...
 
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...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. 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...
 
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...
 
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
 

Public Types

typedef InverseDynamicsTool Self
 This typedef might be useful within the member functions of this class. More...
 
typedef DynamicsTool Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::DynamicsTool
typedef DynamicsTool Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Tool Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Tool
typedef Tool Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Object Super
 Use this typedef to refer to the superclass of this class. More...
 

Static Public Member Functions

static void registerTypes ()
 
- Static Public Member Functions inherited from OpenSim::DynamicsTool
static DynamicsToolsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "DynamicsTool". More...
 
- Static Public Member Functions inherited from OpenSim::Tool
static ToolsafeDownCast (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 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...
 

Protected Member Functions

void getJointsByName (Model &model, const Array< std::string > &jointNames, JointSet &joints) const
 helper method to get a list of model joints by name More...
 
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 The default constructor is only for use by constructors of derived types. More...
 
 Object (const std::string &fileName, bool aUpdateFromXMLNode=true)
 Constructor from a file, to be called from other constructors that take a file as input. More...
 
 Object (const Object &source)
 Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...
 
 Object (SimTK::Xml::Element &aElement)
 Construct the base class portion of an Object from a given Xml element that describes this Object. More...
 
template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...
 
template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...
 
PropertyIndex getPropertyIndex (const std::string &name) const
 Look up a property by name and return its PropertyIndex if it is found. More...
 
template<class T >
PropertyIndex getPropertyIndex () const
 Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...
 
template<class T >
void checkPropertyValueIsPositive (const Property< T > &p) const
 Throw an exception if any of the property's values are not positive. More...
 
template<class T >
void checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
 Throw an exception if any of the property's values are not in the provided set. More...
 
template<class T >
void checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
 Throw an exception if any of the property's values are neither in the provided range nor in the provided set. More...
 
void setObjectIsUpToDateWithProperties ()
 When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date. More...
 
void clearObjectIsUpToDateWithProperties ()
 For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...
 
void makeObjectNamesConsistentWithProperties ()
 Make sure the name of an object is consistent with its property type. More...
 
void updateFromXMLDocument ()
 Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input. More...
 
void setDocument (XMLDocument *doc)
 Unconditionally set the XMLDocument associated with this object. More...
 
const XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Protected Attributes

PropertyStr _coordinatesFileNameProp
 name of storage file that contains coordinate values for inverse dynamics solving More...
 
std::string & _coordinatesFileName
 
PropertyDbl _lowpassCutoffFrequencyProp
 Low-pass cut-off frequency for filtering the coordinates (does not apply to states). More...
 
double & _lowpassCutoffFrequency
 
PropertyStr _outputGenForceFileNameProp
 name of storage file containing generalized forces from inverse dynamics More...
 
std::string & _outputGenForceFileName
 
PropertyStrArray _jointsForReportingBodyForcesProp
 Identify the list of joints for which equivalent body forces acting at the joint frames should be reported. More...
 
Array< std::string > & _jointsForReportingBodyForces
 
PropertyStr _outputBodyForcesAtJointsFileNameProp
 name of storage file containing equivalent body forces from inverse dynamics More...
 
std::string & _outputBodyForcesAtJointsFileName
 
- Protected Attributes inherited from OpenSim::DynamicsTool
Model_model
 Pointer to the model being investigated. More...
 
PropertyStr _modelFileNameProp
 Name of the xml file used to deserialize or construct a model. More...
 
std::string & _modelFileName
 
PropertyDblVec2 _timeRangeProp
 The range of time over which to perform the dynamics analysis. More...
 
SimTK::Vec2 & _timeRange
 
PropertyStrArray _excludedForcesProp
 Identify the list of forces to be ignored for computing dynamics. More...
 
Array< std::string > & _excludedForces
 
OpenSim::PropertyStr _externalLoadsFileNameProp
 Name of the file containing the external loads applied to the model. More...
 
std::string & _externalLoadsFileName
 
ExternalLoads _externalLoads
 ExternalLoads member for creating and editing applied external forces (e.g. More...
 
SimTK::ReferencePtr< ExternalLoads_modelExternalLoads
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Auto-generated functions

static InverseDynamicsToolsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "InverseDynamicsTool". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
InverseDynamicsToolclone () 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

- 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...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 

Detailed Description

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

Inverse Dynamics is the solution for the generalized-coordinate forces that generate given generalized-coordinate accelerations at a given state. This Tool determines the state from provided coordinate trajectories as functions as that are twice differentiable to estimate velocities and accelerations.

As an additional service, the InverseDynamicsTool can provide an equivalent body force (torque and force) applied to the joint frame. Since generalized forces include scaling (due to units conversion as well as coupling between translations and rotations, for example) they are not necessarily joint torques or forces. OpenSim employs a pseudo inverse to find the smallest applied torque and/or force that will generate the equivalent generalized force.

Author
Ajay Seth
Version
1.0

Member Typedef Documentation

◆ Self

This typedef might be useful within the member functions of this class.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ ~InverseDynamicsTool()

virtual OpenSim::InverseDynamicsTool::~InverseDynamicsTool ( )
virtual

◆ InverseDynamicsTool() [1/3]

OpenSim::InverseDynamicsTool::InverseDynamicsTool ( )

◆ InverseDynamicsTool() [2/3]

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

◆ InverseDynamicsTool() [3/3]

OpenSim::InverseDynamicsTool::InverseDynamicsTool ( const InverseDynamicsTool aObject)

Member Function Documentation

◆ assign()

void OpenSim::InverseDynamicsTool::assign ( Object aObject)
inlineoverride

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type InverseDynamicsTool.

◆ clone()

InverseDynamicsTool* OpenSim::InverseDynamicsTool::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::DynamicsTool.

◆ getClassName()

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

This returns "InverseDynamicsTool".

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

const std::string& OpenSim::InverseDynamicsTool::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::DynamicsTool.

◆ getCoordinatesFileName()

const std::string& OpenSim::InverseDynamicsTool::getCoordinatesFileName ( ) const
inline

get/set the name of the file containing coordinates

◆ getJointsByName()

void OpenSim::InverseDynamicsTool::getJointsByName ( Model model,
const Array< std::string > &  jointNames,
JointSet joints 
) const
protected

helper method to get a list of model joints by name

◆ getLowpassCutoffFrequency()

double OpenSim::InverseDynamicsTool::getLowpassCutoffFrequency ( ) const
inline

◆ getOutputGenForceFileName()

std::string OpenSim::InverseDynamicsTool::getOutputGenForceFileName ( ) const
inline

get/set the name of the file to be used as output from the tool

◆ operator=()

InverseDynamicsTool& OpenSim::InverseDynamicsTool::operator= ( const InverseDynamicsTool aInverseDynamicsTool)

◆ registerTypes()

static void OpenSim::InverseDynamicsTool::registerTypes ( )
static

◆ run()

bool OpenSim::InverseDynamicsTool::run ( )
overridevirtual

The run() method of a Tool embodies what would be the main() routine for a standalone program.

Therefore, any OpenSim main program can become a Tool executable from the GUI by making it a run() method for a new Tool.

It is expected that the run() method be composed of a sequence of calls to underlying computational and reporting objects and should

Implements OpenSim::DynamicsTool.

◆ safeDownCast()

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

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

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

◆ setCoordinatesFileName()

void OpenSim::InverseDynamicsTool::setCoordinatesFileName ( const std::string &  aCoordinateFile)
inline

Set the name of the coordinatesFile to be used.

This call resets _coordinateValues as well.

◆ setCoordinateValues()

void OpenSim::InverseDynamicsTool::setCoordinateValues ( const OpenSim::Storage aStorage)

◆ setLowpassCutoffFrequency()

void OpenSim::InverseDynamicsTool::setLowpassCutoffFrequency ( double  aFrequency)
inline

◆ setOutputGenForceFileName()

void OpenSim::InverseDynamicsTool::setOutputGenForceFileName ( const std::string &  desiredOutputFileName)
inline

◆ updateFromXMLNode()

void OpenSim::InverseDynamicsTool::updateFromXMLNode ( SimTK::Xml::Element &  objectElement,
int  versionNumber = -1 
)
overridevirtual

Use this method to deserialize an object from a SimTK::Xml::Element.

The element is assumed to be in the format consistent with the passed-in versionNumber. If there is a file attribute in objectElement it will be ignored; if you want it processed you should call readObjectFromXMLNodeOrFile() instead.

Reimplemented from OpenSim::Object.

Member Data Documentation

◆ _coordinatesFileName

std::string& OpenSim::InverseDynamicsTool::_coordinatesFileName
protected

◆ _coordinatesFileNameProp

PropertyStr OpenSim::InverseDynamicsTool::_coordinatesFileNameProp
protected

name of storage file that contains coordinate values for inverse dynamics solving

◆ _jointsForReportingBodyForces

Array<std::string>& OpenSim::InverseDynamicsTool::_jointsForReportingBodyForces
protected

◆ _jointsForReportingBodyForcesProp

PropertyStrArray OpenSim::InverseDynamicsTool::_jointsForReportingBodyForcesProp
protected

Identify the list of joints for which equivalent body forces acting at the joint frames should be reported.

◆ _lowpassCutoffFrequency

double& OpenSim::InverseDynamicsTool::_lowpassCutoffFrequency
protected

◆ _lowpassCutoffFrequencyProp

PropertyDbl OpenSim::InverseDynamicsTool::_lowpassCutoffFrequencyProp
protected

Low-pass cut-off frequency for filtering the coordinates (does not apply to states).

◆ _outputBodyForcesAtJointsFileName

std::string& OpenSim::InverseDynamicsTool::_outputBodyForcesAtJointsFileName
protected

◆ _outputBodyForcesAtJointsFileNameProp

PropertyStr OpenSim::InverseDynamicsTool::_outputBodyForcesAtJointsFileNameProp
protected

name of storage file containing equivalent body forces from inverse dynamics

◆ _outputGenForceFileName

std::string& OpenSim::InverseDynamicsTool::_outputGenForceFileName
protected

◆ _outputGenForceFileNameProp

PropertyStr OpenSim::InverseDynamicsTool::_outputGenForceFileNameProp
protected

name of storage file containing generalized forces from inverse dynamics


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