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OpenSim::InverseKinematicsTool Class Reference

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

#include <InverseKinematicsTool.h>

Inheritance diagram for OpenSim::InverseKinematicsTool:
OpenSim::Tool OpenSim::Object

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
 
InverseKinematicsTooloperator= (const InverseKinematicsTool &aInverseKinematicsTool)
 
void setOutputMotionFileName (const std::string aOutputMotionFileName)
 
std::string getOutputMotionFileName ()
 
IKTaskSetgetIKTaskSet ()
 
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...
 
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 ()
 

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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 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...
 

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: