OpenSim::InverseDynamicsTool Class Reference

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

#include <InverseDynamicsTool.h>

Inheritance diagram for OpenSim::InverseDynamicsTool:

Public Member Functions
virtual	~InverseDynamicsTool ()
	InverseDynamicsTool ()
	InverseDynamicsTool (const std::string &aFileName, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
	InverseDynamicsTool (const InverseDynamicsTool &aObject)
virtual void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
	Use this method to deserialize an object from a SimTK::Xml::Element.
InverseDynamicsTool &	operator= (const InverseDynamicsTool &aInverseDynamicsTool)
void	setCoordinateValues (const OpenSim::Storage &aStorage)
bool	hasCoordinateValues ()
std::string	getOutputGenForceFileName () const
	get/set the name of the file to be used as ouput from the tool
void	setOutputGenForceFileName (const std::string &desiredOutputFileName)
const std::string &	getCoordinatesFileName () const
	get/set the name of the file containing coordinates
void	setCoordinatesFileName (const std::string &aCoordinateFile)
const double	getLowpassCutoffFrequency () const
void	setLowpassCutoffFrequency (double aFrequency)
virtual bool	run () SWIG_DECLARE_EXCEPTION
	The run() method of a Tool embodies what would be the main() routine for a standalone program.
Public Member Functions inherited from OpenSim::DynamicsTool
virtual	~DynamicsTool ()
	DynamicsTool ()
	DynamicsTool (const std::string &aFileName, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION
	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.
const ExternalLoads &	getExternalLoads () const
ExternalLoads &	updExternalLoads ()
const std::string &	getExternalLoadsFileName () const
void	setExternalLoadsFileName (const std::string &aFileName)
DynamicsTool &	operator= (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 &aExternalLoadsFileName, Model &aModel, const Storage *loadKinematics=NULL)
Public Member Functions inherited from OpenSim::Tool
virtual	~Tool ()
	Destructor.
	Tool ()
	Default constructor.
	Tool (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct from file.
	Tool (const Tool &aTool)
	Copy constructor.
Tool &	operator= (const Tool &source)
	Assignment operator.
const std::string &	getInputsDir () const
	Get/set Inputs Directory.
void	setInputsDir (const std::string &aString)
const std::string &	getResultsDir () const
	Get/set Results Directory.
void	setResultsDir (const std::string &aString)
const VerboseLevel	getVerboseLevel () const
	Get/Set verbose level.
void	setVerboseLevel (const VerboseLevel aVerboseLevel)
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 true if no 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	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

Static Public Member Functions
static void	registerTypes ()

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

Protected Attributes
PropertyStr	_coordinatesFileNameProp
	name of storage file that contains coordinate values for inverse dynamics solving
std::string &	_coordinatesFileName
PropertyDbl	_lowpassCutoffFrequencyProp
	Low-pass cut-off frequency for filtering the coordinates (does not apply to states).
double &	_lowpassCutoffFrequency
PropertyStr	_outputGenForceFileNameProp
std::string &	_outputGenForceFileName
PropertyStrArray	_jointsForReportingBodyForcesProp
	Idenitify the list of joints for which equivalent body forces acting at the joint should be reported.
Array< std::string > &	_jointsForReportingBodyForces
PropertyStr	_outputBodyForcesAtJointsFileNameProp
std::string &	_outputBodyForcesAtJointsFileName
Protected Attributes inherited from OpenSim::DynamicsTool
Model *	_model
	Pointer to the model being investigated.
PropertyStr	_modelFileNameProp
	Name of the xml file used to deserialize or construct a model.
std::string &	_modelFileName
PropertyDblVec2	_timeRangeProp
	The range of time over which to perform the dynamics analysis.
SimTK::Vec2 &	_timeRange
PropertyStrArray	_excludedForcesProp
	Idenitify the list of forces to be ignored for computing dynamics.
Array< std::string > &	_excludedForces
OpenSim::PropertyStr	_externalLoadsFileNameProp
	Name of the file containing the external loads applied to the model.
std::string &	_externalLoadsFileName
ExternalLoads	_externalLoads
	External loads object that manages loading and applying external forces to the model, including transformations required by the Tool.
Protected Attributes inherited from OpenSim::Tool
PropertyStr	_inputsDirProp
	Directory for reading inputs (model, settings, etc...) from.
std::string &	_inputsDir
PropertyStr	_resultsDirProp
	Directory for writing results (new model, states, etc...) to.
std::string &	_resultsDir
VerboseLevel	_verboseLevel
	How much details to put out while running.
Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes.

Additional Inherited Members
Public Types inherited from OpenSim::Tool
enum	VerboseLevel { Quiet = 0, Progress = 1, DetailedProgress = 2, Debug = 3 }
	Perturbation types. More...
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

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 differntiable to estimate velocities and accelerations.

Author

Ajay Seth

Version

1.0

Constructor & Destructor Documentation

virtual OpenSim::InverseDynamicsTool::~InverseDynamicsTool ( )

virtual

OpenSim::InverseDynamicsTool::InverseDynamicsTool

(

)

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

OpenSim::InverseDynamicsTool::InverseDynamicsTool

(

const InverseDynamicsTool &

aObject

)

Member Function Documentation

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

inline

get/set the name of the file containing coordinates

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

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

inline

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

inline

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

bool OpenSim::InverseDynamicsTool::hasCoordinateValues

(

)

InverseDynamicsTool& OpenSim::InverseDynamicsTool::operator=

(

const InverseDynamicsTool &

aInverseDynamicsTool

)

static void OpenSim::InverseDynamicsTool::registerTypes ( )

static

virtual bool OpenSim::InverseDynamicsTool::run ( )

virtual

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.

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

inline

void OpenSim::InverseDynamicsTool::setCoordinateValues

(

const OpenSim::Storage &

aStorage

)

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

inline

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

inline

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

virtual

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

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

protected

PropertyStr OpenSim::InverseDynamicsTool::_coordinatesFileNameProp

protected

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

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

protected

PropertyStrArray OpenSim::InverseDynamicsTool::_jointsForReportingBodyForcesProp

protected

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

double& OpenSim::InverseDynamicsTool::_lowpassCutoffFrequency

protected

PropertyDbl OpenSim::InverseDynamicsTool::_lowpassCutoffFrequencyProp

protected

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

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

protected

PropertyStr OpenSim::InverseDynamicsTool::_outputBodyForcesAtJointsFileNameProp

protected

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

protected

PropertyStr OpenSim::InverseDynamicsTool::_outputGenForceFileNameProp

protected

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

• E:/Projects/OpenSimTrunk/OpenSim/Tools/InverseDynamicsTool.h