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

#include <InverseKinematicsTool.h>

Inheritance diagram for OpenSim::InverseKinematicsTool:

Public Member Functions
virtual	~InverseKinematicsTool ()

	InverseKinematicsTool ()

	InverseKinematicsTool (const std::string &aFileName, bool aLoadModel=true) SWIG_DECLARE_EXCEPTION

	InverseKinematicsTool (const InverseKinematicsTool &aObject)

virtual void	updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber=-1)
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

void	setModel (Model &aModel)

void	setStartTime (double d)

double	getStartTime () const

void	setEndTime (double d)

double	getEndTime () const

void	setMarkerDataFileName (const std::string &markerDataFileName)

const std::string &	getMarkerDataFileName () const

void	setCoordinateFileName (const std::string &coordDataFileName)

const std::string &	getCoordinateFileName () const

InverseKinematicsTool &	operator= (const InverseKinematicsTool &aInverseKinematicsTool)

void	setOutputMotionFileName (const std::string aOutputMotionFileName)

std::string	getOutputMotionFileName ()

IKTaskSet &	getIKTaskSet ()

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::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...

Tool &	operator= (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 Object *	clone () 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 VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects. More...

virtual VisibleObject *	updDisplayer ()
	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...

Object &	operator= (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 AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (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 AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (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...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

Static Public Member Functions
static void	registerTypes ()

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...

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) SWIG_DECLARE_EXCEPTION
	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...

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 XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object. More...

XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object. 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...

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. More...

#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. More...

#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>. More...

#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. More...

Detailed Description

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

Inverse kinematics is the solution of internal coordinates that poses the model such that the landmark locations (markers), affixed to the model, minimize the weighted least-squares error with observations of markers in spatial coordinates. Observations of coordinates can also be included.

Author: Ajay Seth

Version: 1.0

Constructor & Destructor Documentation

virtual OpenSim::InverseKinematicsTool::~InverseKinematicsTool ( )

virtual

OpenSim::InverseKinematicsTool::InverseKinematicsTool ( )

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

OpenSim::InverseKinematicsTool::InverseKinematicsTool ( const InverseKinematicsTool & aObject)

Member Function Documentation

const std::string& OpenSim::InverseKinematicsTool::getCoordinateFileName ( ) const

inline

double OpenSim::InverseKinematicsTool::getEndTime ( ) const

inline

IKTaskSet& OpenSim::InverseKinematicsTool::getIKTaskSet ( )

inline

const std::string& OpenSim::InverseKinematicsTool::getMarkerDataFileName ( ) const

inline

std::string OpenSim::InverseKinematicsTool::getOutputMotionFileName ( )

inline

double OpenSim::InverseKinematicsTool::getStartTime ( ) const

inline

InverseKinematicsTool& OpenSim::InverseKinematicsTool::operator= ( const InverseKinematicsTool & aInverseKinematicsTool)

static void OpenSim::InverseKinematicsTool::registerTypes ( )

static

virtual bool OpenSim::InverseKinematicsTool::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::Tool.

void OpenSim::InverseKinematicsTool::setCoordinateFileName ( const std::string & coordDataFileName)

inline

void OpenSim::InverseKinematicsTool::setEndTime ( double d)

inline

void OpenSim::InverseKinematicsTool::setMarkerDataFileName ( const std::string & markerDataFileName)

inline

void OpenSim::InverseKinematicsTool::setModel ( Model & aModel)

inline

void OpenSim::InverseKinematicsTool::setOutputMotionFileName ( const std::string aOutputMotionFileName)

inline

void OpenSim::InverseKinematicsTool::setStartTime ( double d)

inline

virtual void OpenSim::InverseKinematicsTool::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.

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

/home/fitze/repos/opensim/Branches/OpenSim32ForDoxygen/OpenSim/Tools/InverseKinematicsTool.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation