Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values. More...

#include <InverseKinematicsSolver.h>

Inheritance diagram for OpenSim::InverseKinematicsSolver:

Public Member Functions
virtual	~InverseKinematicsSolver ()
	InverseKinematicsSolver (const Model &model, MarkersReference &markersReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)
void	updateMarkerWeight (const std::string &markerName, double value)
	Assemble a model configuration that meets the InverseKinematics conditions (desired values and constraints) starting from an initial state that does not have to satisfy the constraints.
void	updateMarkerWeight (int markerIndex, double value)
	Update a marker's weight by its index.
void	updateMarkerWeights (const SimTK::Array_< double > &weights)
	Update all markers weights by order in the markersRerence passed in to construct the solver.
SimTK::Vec3	computeCurrentMarkerLocation (const std::string &markerName)
	Compute and return the spatial location of a marker in ground.
SimTK::Vec3	computeCurrentMarkerLocation (int markerIndex)
void	computeCurrentMarkerLocations (SimTK::Array_< SimTK::Vec3 > &markerLocations)
	Compute and return the spatial locations of all markers in ground.
double	computeCurrentMarkerError (const std::string &markerName)
	Compute and return the distance error between model marker and observation.
double	computeCurrentMarkerError (int markerIndex)
void	computeCurrentMarkerErrors (SimTK::Array_< double > &markerErrors)
	Compute and return the distance errors between all model markers and their observations.
double	computeCurrentSquaredMarkerError (const std::string &markerName)
	Compute and return the squared-distance error between model marker and observation.
double	computeCurrentSquaredMarkerError (int markerIndex)
void	computeCurrentSquaredMarkerErrors (SimTK::Array_< double > &markerErrors)
	Compute and return the distance errors between all model marker and observations.
SimTK::String	getMarkerNameForIndex (int markerErrorIndex) const
	Marker errors are reported in order different from tasks file or model, find marker name corresponding to passed in index of marker error.
Public Member Functions inherited from OpenSim::AssemblySolver
	AssemblySolver (const Model &model, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)
	Construct an Assembly solver with the coordinate references as the goal of the assembly and (optional)constraint weight.
virtual	~AssemblySolver ()
void	setAccuracy (double accuracy)
	Set the unitless accuracy of the assembly solution, which is dictates to how many significant digits the solution should be resolved to.
void	setConstraintWeight (double weight)
	Set the relative weighting for constraints.
const SimTK::Array_ < CoordinateReference > &	getCoordinateReferences () const
	Specify which coordinates to match, each with a desired value and a relative weighting.
void	updateCoordinateReference (const std::string &coordName, double value, double weight=1.0)
	Once a set of coordinates has been specified its reference value and weight can be updated directly.
virtual void	assemble (SimTK::State &s)
	Assemble a model configuration that meets the assembly conditions (desired values and constraints) starting from an initial state that does not have to satisfy the constraints.
virtual void	track (SimTK::State &s)
	Obtain a model configuration that meets the assembly conditions (desired values and constraints) given a state that satisfies or is close to satisfying the constraints.
Public Member Functions inherited from OpenSim::Solver
virtual	~Solver ()
	Solver (const Model &model)
const Model &	getModel () const
Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup.
virtual Object *	clone () const =0
	Create a new heap-allocated copy of the concrete object to which this Object refers.
virtual const std::string &	getConcreteClassName () const =0
	Returns the class name of the concrete %Object-derived class of the actual object referenced by this Object, as a string.
virtual const VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject
bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading.
Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties.
virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal.
virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers.
void	setName (const std::string &name)
	Set the name of the Object.
const std::string &	getName () const
	Get the name of this Object.
void	setDescription (const std::string &description)
	Set description, a one-liner summary.
const std::string &	getDescription () const
	Get description, a one-liner summary.
const std::string &	getAuthors () const
	Get Authors of this Object.
void	setAuthors (const std::string &authors)
	Set Authors of this object, call this method in your constructor if needed.
const std::string &	getReferences () const
	Get references or publications to cite if using this object.
void	setReferences (const std::string &references)
	Set references or publications to cite if using this object.
int	getNumProperties () const
	Determine how many properties are stored with this Object.
const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty.
AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty.
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.
const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty.
AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty.
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.
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.
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.
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.
bool	isObjectUpToDateWithProperties () const
	Returns \c true if any property's value has changed since the last time setObjectIsUpToDateWithProperties() was called.
void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object.
virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element.
virtual void	updateXMLNode (SimTK::Xml::Element &parent)
	Serialize this object into the XML node that represents it.
bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument.
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.
std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document.
void	setAllPropertiesUseDefault (bool aUseDefault)
bool	print (const std::string &fileName)
	Write this %Object into an XML file of the given name; conventionally the suffix to use is ".osim".
std::string	dump (bool dumpName=false)
	dump the XML representation of this Object into an std::string and return it.
void	clearObjectIsUpToDateWithProperties ()
	For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag.
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.
const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name.
PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object.
const PropertySet &	getPropertySet () const

Protected Member Functions
virtual void	setupGoals (SimTK::State &s)
	Internal method to convert the CoordinateReferences into goals of the assembly solver.
virtual void	updateGoals (const SimTK::State &s)
	Internal method to update the time, reference values and/or their weights that define the goals, based on the passed in state.

Protected Attributes
MarkersReference &	_markersReference
SimTK::Markers *	_markerAssemblyCondition
Protected Attributes inherited from OpenSim::AssemblySolver
double	_accuracy
double	_constraintWeight
SimTK::Array_ < CoordinateReference > *	_coordinateReferencesp
SimTK::Assembler *	_assembler
SimTK::Array_< SimTK::QValue * >	_coordinateAssemblyConditions

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.
static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current %Object type with an old name.
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.
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*.
static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete %Object type whose class name is given as concreteClassName.
static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far.
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.
static void	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects.
static void	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
	Same as the other signature but the class name and property name are provided as two separate strings.
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.
static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object".
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.
static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag.
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.
static void	setDebugLevel (int newLevel)
	Set the debug level to get verbose output.
static int	getDebugLevel ()
	Get current setting of debug level.
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.
static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType().
static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType().
Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Detailed Description

Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values.

The InverseKinematics provides the option to convert the problem to an approximate one where the constraint violations are treated as penalties to be minimized rather than strictly enforced. This can speed up the time solution and can be used to seed the constrained problem near to a solution.

The InverseKinematics objective: min J = sum(Wm*(m_i-md_i)^T*(m_i-md_i)) + sum(Wq_i*(q_i-qd_i)^2)) + [Wc*sum(c_err)^2] where m_i and md_i are the model and desired marker coordinates (Vec3) iff Wc == Infinity, second term is not included, but A is subject to the constraint equations: G(q)-Go = 0

When the model (and the number of goals) is guaranteed not to change and the the initial state is close to the InverseKinematics solution (from initial assemble(), then track() is a efficient method for updating the configuration to track the small change to the desired coorindate value.

See SimTK::Assembler for more algorithmic details of the underlying solver.

Author: Ajay Seth

Version: 1.0

Constructor & Destructor Documentation

virtual OpenSim::InverseKinematicsSolver::~InverseKinematicsSolver ( )

inlinevirtual

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver	(	const Model &	model,
		MarkersReference &	markersReference,
		SimTK::Array_< CoordinateReference > &	coordinateReferences,
		double	constraintWeight = `SimTK::Infinity`
	)

Member Function Documentation

double OpenSim::InverseKinematicsSolver::computeCurrentMarkerError ( const std::string & markerName )

Compute and return the distance error between model marker and observation.

double OpenSim::InverseKinematicsSolver::computeCurrentMarkerError ( int markerIndex )

void OpenSim::InverseKinematicsSolver::computeCurrentMarkerErrors ( SimTK::Array_< double > & markerErrors )

Compute and return the distance errors between all model markers and their observations.

SimTK::Vec3 OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocation ( const std::string & markerName )

Compute and return the spatial location of a marker in ground.

SimTK::Vec3 OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocation ( int markerIndex )

void OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocations ( SimTK::Array_< SimTK::Vec3 > & markerLocations )

Compute and return the spatial locations of all markers in ground.

double OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerError ( const std::string & markerName )

Compute and return the squared-distance error between model marker and observation.

This is cheaper than calling the error and squaring it, since distance from norm-2

double OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerError ( int markerIndex )

void OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerErrors ( SimTK::Array_< double > & markerErrors )

Compute and return the distance errors between all model marker and observations.

SimTK::String OpenSim::InverseKinematicsSolver::getMarkerNameForIndex ( int markerErrorIndex ) const

Marker errors are reported in order different from tasks file or model, find marker name corresponding to passed in index of marker error.

virtual void OpenSim::InverseKinematicsSolver::setupGoals ( SimTK::State & s )

protectedvirtual

Internal method to convert the CoordinateReferences into goals of the assembly solver.

Subclasses, can add oveeride to include other goals such as point of interest matching (Marker tracking). This method is automatically called by assemble.

Reimplemented from OpenSim::AssemblySolver.

virtual void OpenSim::InverseKinematicsSolver::updateGoals ( const SimTK::State & s )

protectedvirtual

Internal method to update the time, reference values and/or their weights that define the goals, based on the passed in state.

Reimplemented from OpenSim::AssemblySolver.

void OpenSim::InverseKinematicsSolver::updateMarkerWeight	(	const std::string &	markerName,
		double	value
	)

Assemble a model configuration that meets the InverseKinematics conditions (desired values and constraints) starting from an initial state that does not have to satisfy the constraints.

Obtain a model configuration that meets the InverseKinematics conditions (desired values and constraints) given a state that satisfies or is close to satisfying the constraints. Note there can be no change in the number of constrainst or desired coordinates. Desired coordinate values can and should be updated between repeated calls to track a desired trajectory of coordinate values. Change the weighting of a marker to take affect when assemble or track is called next. Update a marker's weight by name.

void OpenSim::InverseKinematicsSolver::updateMarkerWeight	(	int	markerIndex,
		double	value
	)

Update a marker's weight by its index.

void OpenSim::InverseKinematicsSolver::updateMarkerWeights ( const SimTK::Array_< double > & weights )

Update all markers weights by order in the markersRerence passed in to construct the solver.

Member Data Documentation

SimTK::Markers* OpenSim::InverseKinematicsSolver::_markerAssemblyCondition

protected

MarkersReference& OpenSim::InverseKinematicsSolver::_markersReference

protected

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

E:/Projects/OpenSim30Br/OpenSim30/OpenSim/Simulation/InverseKinematicsSolver.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation