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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:
OpenSim::DynamicsTool OpenSim::Tool OpenSim::Object

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. More...
 
InverseDynamicsTooloperator= (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 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)
 
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. More...
 
- 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. 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 &aExternalLoadsFileName, Model &aModel, const Storage *loadKinematics=NULL)
 
- 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...
 
 Tool (const Tool &aTool)
 Copy constructor. More...
 
Tooloperator= (const Tool &source)
 Assignment operator. More...
 
const std::string & getInputsDir () const
 Get/set Inputs Directory. More...
 
void setInputsDir (const std::string &aString)
 
const std::string & getResultsDir () const
 Get/set Results Directory. More...
 
void setResultsDir (const std::string &aString)
 
const VerboseLevel getVerboseLevel () const
 Get/Set verbose level. More...
 
void setVerboseLevel (const VerboseLevel aVerboseLevel)
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
virtual Objectclone () const =0
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
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. More...
 
virtual const VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...
 
virtual VisibleObjectupdDisplayer ()
 get Non const pointer to VisibleObject 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, call this method in your constructor if needed. 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...
 
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...
 
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...
 
virtual void updateXMLNode (SimTK::Xml::Element &parent)
 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...
 
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". More...
 
std::string dump (bool dumpName=false)
 dump the XML representation of this Object into an std::string and return it. More...
 
void clearObjectIsUpToDateWithProperties ()
 For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. 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
 

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 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 innverse dynamics More...
 
std::string & _outputGenForceFileName
 
PropertyStrArray _jointsForReportingBodyForcesProp
 Idenitify 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
 Idenitify 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
 External loads object that manages loading and applying external forces to the model, including transformations required by the Tool. More...
 
- Protected Attributes inherited from OpenSim::Tool
PropertyStr _inputsDirProp
 Directory for reading inputs (model, settings, etc...) from. More...
 
std::string & _inputsDir
 
PropertyStr _resultsDirProp
 Directory for writing results (new model, states, etc...) to. More...
 
std::string & _resultsDir
 
VerboseLevel _verboseLevel
 How much details to put out while running. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

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. 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 differntiable 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

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 frames 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

name of storage file containing equivalent body forces from inverse dynamics

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

name of storage file containing generalized forces from innverse dynamics


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