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

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. More...

InverseDynamicsTool &	operator= (const InverseDynamicsTool &aInverseDynamicsTool)

void	setCoordinateValues (const OpenSim::Storage &aStorage)

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 ExternalLoads &	getExternalLoads () const

ExternalLoads &	updExternalLoads ()

const std::string &	getExternalLoadsFileName () const

void	setExternalLoadsFileName (const std::string &aFileName)

void	setModelFileName (const std::string &aFileName)

std::string	getModelFileName () const

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. 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 ()

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. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

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. More...

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*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

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. More...

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. More...

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. More...

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. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

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. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

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. More...

static void	setDebugLevel (int newLevel)
	Set the debug level to get verbose output. More...

static int	getDebugLevel ()
	Get current setting of debug level. More...

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. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

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 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
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...

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 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

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:

OpenSim/Tools/InverseDynamicsTool.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation