OpenSim::IKTrial Class Reference

A class implementing a set of parameters describing how to perform a single inverse kinematics trial on a model and a marker set. More...

#include <IKTrial.h>

Inheritance diagram for OpenSim::IKTrial:

List of all members.

Public Member Functions
	IKTrial ()
	Default constructor.
	IKTrial (const IKTrial &aIKTrialParams)
	Copy constructor.
virtual	~IKTrial ()
	Destructor.
virtual Object *	copy () const
	Copy this IK Trial params and return a pointer to the copy.
IKTrial &	operator= (const IKTrial &aIKTrialParams)
	Assign this object to the values of another.
void	copyData (const IKTrial &aIKTrialParams)
double	getKinematicsSmoothing () const
double	getGroundReactionSmoothing () const
bool	initializeTrialCommon (const SimTK::State &s, Model &aModel, IKTaskSet &aIKTaskSet, MarkerData &aMarkerData)
	initializeTrialCommon -- must call before solveTrial
bool	initializeTrial (const SimTK::State &s, Model &aModel, IKTaskSet &aIKTaskSet)
bool	solveTrial (SimTK::State &s, Model &aModel, IKTaskSet &aIKTaskSet)
void	interrupt ()
	TODO: do some mutex locking to ensure _target is not deleted from under our feet just before we call interrupt().
double	getStartTime () const
double	getEndTime () const
void	setStartTime (double aTime)
void	setEndTime (double aTime)
int	getStartFrame () const
int	getEndFrame () const
bool	getIncludeMarkers () const
void	setIncludeMarkers (bool aValue)
const std::string &	getMarkerDataFileName () const
void	setMarkerDataFileName (const std::string &aMarkerFileName)
const std::string &	getOutputMotionFileName () const
void	setOutputMotionFileName (const std::string &aOutputMotionFileName)
const std::string &	getCoordinateFileName () const
void	setCoordinateFileName (const std::string &aFileName)
void	setOptimizerAlgorithm (const std::string &aOptimizerAlgorithm)
std::string	getOptimizerAlgorithm () const
IKTarget *	getIKTarget ()
Storage *	getExperimentalMarkerData ()
Storage *	getOutputStorage ()
void	setAccumulatedCost (double totCost)
double	getAccumulatedCost ()
void	setPrintResultFiles (bool aToWrite)
Protected Attributes
double	_accumulatedCost
PropertyStr	_markerFileNameProp
std::string &	_markerFileName
PropertyStr	_coordinateFileNameProp
std::string &	_coordinateFileName
PropertyStr	_analogFileNameProp
std::string &	_analogFileName
PropertyDblArray	_timeRangeProp
Array< double > &	_timeRange
PropertyDbl	_kinematicsSmoothingProp
double &	_kinematicsSmoothing
PropertyDbl	_groundReactionSmoothingProp
double &	_groundReactionSmoothing
PropertyBool	_includeMarkersProp
bool &	_includeMarkers
PropertyStr	_outputMotionFileNameProp
std::string &	_outputMotionFileName
PropertyStr	_notesProp
std::string &	_notes
std::string	_optimizerAlgorithm
Storage *	_inputStorage
Storage *	_outputStorage
IKTarget *	_target
IKSolverImpl *	_ikSolver
int	_startFrame
int	_endFrame
bool	_printResultFiles

---

Detailed Description

A class implementing a set of parameters describing how to perform a single inverse kinematics trial on a model and a marker set.

Author:

Peter Loan

Version:

1.0

---

Constructor & Destructor Documentation

IKTrial::IKTrial

(

)

Default constructor.

IKTrial::IKTrial

(

const IKTrial &

aIKTrialParams

)

Copy constructor.

Parameters:

aMarkerPlacementParams

IKTrial to be copied.

IKTrial::~IKTrial

(

)

[virtual]

Destructor.

---

Member Function Documentation

Object * IKTrial::copy

(

)

const [virtual]

Copy this IK Trial params and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this IKTrial.

Reimplemented from OpenSim::Object.

void IKTrial::copyData

(

const IKTrial &

aIKTrialParams

)

double OpenSim::IKTrial::getAccumulatedCost

(

)

[inline]

const std::string& OpenSim::IKTrial::getCoordinateFileName

(

)

const [inline]

int OpenSim::IKTrial::getEndFrame

(

)

const [inline]

double OpenSim::IKTrial::getEndTime

(

)

const [inline]

Storage* OpenSim::IKTrial::getExperimentalMarkerData

(

)

[inline]

double OpenSim::IKTrial::getGroundReactionSmoothing

(

)

const [inline]

IKTarget* OpenSim::IKTrial::getIKTarget

(

)

[inline]

bool OpenSim::IKTrial::getIncludeMarkers

(

)

const [inline]

double OpenSim::IKTrial::getKinematicsSmoothing

(

)

const [inline]

const std::string& OpenSim::IKTrial::getMarkerDataFileName

(

)

const [inline]

std::string OpenSim::IKTrial::getOptimizerAlgorithm

(

)

const [inline]

const std::string& OpenSim::IKTrial::getOutputMotionFileName

(

)

const [inline]

Storage* OpenSim::IKTrial::getOutputStorage

(

)

[inline]

int OpenSim::IKTrial::getStartFrame

(

)

const [inline]

double OpenSim::IKTrial::getStartTime

(

)

const [inline]

bool IKTrial::initializeTrial	(	const SimTK::State &	s,
		Model &	aModel,
		IKTaskSet &	aIKTaskSet
	)

bool IKTrial::initializeTrialCommon	(	const SimTK::State &	s,
		Model &	aModel,
		IKTaskSet &	aIKTaskSet,
		MarkerData &	aMarkerData
	)

initializeTrialCommon -- must call before solveTrial

void IKTrial::interrupt

(

)

TODO: do some mutex locking to ensure _target is not deleted from under our feet just before we call interrupt().

IKTrial & IKTrial::operator=

(

const IKTrial &

aObject

)

Assign this object to the values of another.

The XML-associated variable members are not copied-- the XML nodes and/or document must be generated anew for a copied object.

Returns:

Reference to this object.

See also:

updateXMLNode()

generateXMLNode()

Reimplemented from OpenSim::Object.

void OpenSim::IKTrial::setAccumulatedCost

(

double

totCost

)

[inline]

void OpenSim::IKTrial::setCoordinateFileName

(

const std::string &

aFileName

)

[inline]

void OpenSim::IKTrial::setEndTime

(

double

aTime

)

[inline]

void OpenSim::IKTrial::setIncludeMarkers

(

bool

aValue

)

[inline]

void OpenSim::IKTrial::setMarkerDataFileName

(

const std::string &

aMarkerFileName

)

[inline]

void OpenSim::IKTrial::setOptimizerAlgorithm

(

const std::string &

aOptimizerAlgorithm

)

[inline]

void OpenSim::IKTrial::setOutputMotionFileName

(

const std::string &

aOutputMotionFileName

)

[inline]

void OpenSim::IKTrial::setPrintResultFiles

(

bool

aToWrite

)

[inline]

void OpenSim::IKTrial::setStartTime

(

double

aTime

)

[inline]

bool IKTrial::solveTrial	(	SimTK::State &	s,
		Model &	aModel,
		IKTaskSet &	aIKTaskSet
	)

---

Member Data Documentation

double OpenSim::IKTrial::_accumulatedCost [protected]

std::string& OpenSim::IKTrial::_analogFileName [protected]

PropertyStr OpenSim::IKTrial::_analogFileNameProp [protected]

std::string& OpenSim::IKTrial::_coordinateFileName [protected]

PropertyStr OpenSim::IKTrial::_coordinateFileNameProp [protected]

int OpenSim::IKTrial::_endFrame [protected]

double& OpenSim::IKTrial::_groundReactionSmoothing [protected]

PropertyDbl OpenSim::IKTrial::_groundReactionSmoothingProp [protected]

IKSolverImpl* OpenSim::IKTrial::_ikSolver [protected]

bool& OpenSim::IKTrial::_includeMarkers [protected]

PropertyBool OpenSim::IKTrial::_includeMarkersProp [protected]

Storage* OpenSim::IKTrial::_inputStorage [protected]

double& OpenSim::IKTrial::_kinematicsSmoothing [protected]

PropertyDbl OpenSim::IKTrial::_kinematicsSmoothingProp [protected]

std::string& OpenSim::IKTrial::_markerFileName [protected]

PropertyStr OpenSim::IKTrial::_markerFileNameProp [protected]

std::string& OpenSim::IKTrial::_notes [protected]

PropertyStr OpenSim::IKTrial::_notesProp [protected]

std::string OpenSim::IKTrial::_optimizerAlgorithm [protected]

std::string& OpenSim::IKTrial::_outputMotionFileName [protected]

PropertyStr OpenSim::IKTrial::_outputMotionFileNameProp [protected]

Storage* OpenSim::IKTrial::_outputStorage [protected]

bool OpenSim::IKTrial::_printResultFiles [protected]

int OpenSim::IKTrial::_startFrame [protected]

IKTarget* OpenSim::IKTrial::_target [protected]

Array<double>& OpenSim::IKTrial::_timeRange [protected]

PropertyDblArray OpenSim::IKTrial::_timeRangeProp [protected]

---

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

• OpenSim/Tools/IKTrial.h
• OpenSim/Tools/IKTrial.cpp