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API
4.0
For C++ developers
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API
4.0
For C++ developers
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Solve for the coordinates (degrees of freedom) of the model that satisfy the set of constraints imposed on the model and the set of desired coordinate values. More...
Inheritance diagram for OpenSim::InverseKinematicsSolver:Public Member Functions | |
| virtual | ~InverseKinematicsSolver () |
| InverseKinematicsSolver (const Model &model, MarkersReference &markersReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity) | |
| int | getNumMarkersInUse () const |
| Return the number of markers used to solve for model coordinates. More... | |
| void | updateMarkerWeight (const std::string &markerName, double value) |
| Change the weighting of a marker, given the marker's name. More... | |
| void | updateMarkerWeight (int markerIndex, double value) |
| Change the weighting of a marker, given the marker's index. More... | |
| void | updateMarkerWeights (const SimTK::Array_< double > &weights) |
| Change the weighting of all markers. More... | |
| SimTK::Vec3 | computeCurrentMarkerLocation (const std::string &markerName) |
| Compute and return a marker's spatial location in the ground frame, given the marker's name. More... | |
| SimTK::Vec3 | computeCurrentMarkerLocation (int markerIndex) |
| Compute and return a marker's spatial location in the ground frame, given the marker's index. More... | |
| void | computeCurrentMarkerLocations (SimTK::Array_< SimTK::Vec3 > &markerLocations) |
| Compute and return the spatial locations of all markers, expressed in the ground frame. More... | |
| double | computeCurrentMarkerError (const std::string &markerName) |
| Compute and return the distance error between a model marker and its observation, given the marker's name. More... | |
| double | computeCurrentMarkerError (int markerIndex) |
| Compute and return the distance error between a model marker and its observation, given the marker's index. More... | |
| void | computeCurrentMarkerErrors (SimTK::Array_< double > &markerErrors) |
| Compute and return the distance errors between all model markers and their observations. More... | |
| double | computeCurrentSquaredMarkerError (const std::string &markerName) |
| Compute and return the squared-distance error between a model marker and its observation, given the marker's name. More... | |
| double | computeCurrentSquaredMarkerError (int markerIndex) |
| Compute and return the squared-distance error between a model marker and its observation, given the marker's index. More... | |
| void | computeCurrentSquaredMarkerErrors (SimTK::Array_< double > &markerErrors) |
| Compute and return the squared-distance errors between all model markers and their observations. More... | |
| std::string | getMarkerNameForIndex (int markerIndex) const |
| Marker locations and errors may be computed in an order that is different from tasks file or listed in the model. More... | |
| Public Member Functions inherited from OpenSim::AssemblySolver | |
| AssemblySolver (const Model &model, const SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity) | |
| Construct an Assembly solver with the coordinate references as the goal of the assembly and (optional)constraint weight. More... | |
| virtual | ~AssemblySolver () |
| void | setAccuracy (double accuracy) |
| Set the unitless accuracy of the assembly solution, which dictates the number of significant digits the solution should be resolved to. More... | |
| void | setConstraintWeight (double weight) |
| Set the relative weighting for constraints. More... | |
| const SimTK::Array_< CoordinateReference > & | getCoordinateReferences () const |
| Specify which coordinates to match, each with a desired value and a relative weighting. More... | |
| void | updateCoordinateReference (const std::string &coordName, double value, double weight=1.0) |
| Once a set of coordinates has been specified its reference value and weight can be updated directly. More... | |
| virtual void | assemble (SimTK::State &s) |
| Assemble a model configuration that meets the assembly conditions (desired values and constraints) and accuracy, starting from an initial state that does not have to satisfy the constraints. More... | |
| virtual void | track (SimTK::State &s) |
| Obtain a model configuration that meets the assembly conditions (desired values and constraints) given a state that satisfies or is close to satisfying the constraints. More... | |
| const SimTK::Assembler & | getAssembler () const |
| Read access to the underlying SimTK::Assembler. More... | |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| AssemblySolver * | clone () const override |
| Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
| const std::string & | getConcreteClassName () const override |
| Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
| Public Member Functions inherited from OpenSim::Solver | |
| virtual | ~Solver () |
| Solver (const Model &model) | |
| const Model & | getModel () const |
| void | assign (Object &aObject) override |
| This allows copy assignment in the Java GUI. More... | |
| Public Member Functions inherited from OpenSim::Object | |
| virtual | ~Object () |
| Virtual destructor for cleanup. 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. 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... | |
| 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 | updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber) |
| Use this method to deserialize an object from a SimTK::Xml::Element. More... | |
| void | updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const |
| 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... | |
| int | getDocumentFileVersion () const |
| If there is a document associated with this object then return its version number. More... | |
| void | setAllPropertiesUseDefault (bool aUseDefault) |
| bool | print (const std::string &fileName) const |
| 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... | |
| 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 |
Protected Member Functions | |
| void | setupGoals (SimTK::State &s) override |
| Internal method to convert the CoordinateReferences into goals of the assembly solver. More... | |
| void | updateGoals (const SimTK::State &s) override |
| Internal method to update the time, reference values and/or their weights that define the goals, based on the provided state. More... | |
| Protected Member Functions inherited from OpenSim::AssemblySolver | |
| SimTK::Assembler & | updAssembler () |
| Write access to the underlying SimTK::Assembler. 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) | |
| 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 | 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... | |
| void | clearObjectIsUpToDateWithProperties () |
| For testing or debugging purposes, manually clear the "object is up to
date with respect to properties" flag. More... | |
| void | makeObjectNamesConsistentWithProperties () |
| Make sure the name of an object is consistent with its property type. 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... | |
Additional Inherited Members | |
| Public Types inherited from OpenSim::AssemblySolver | |
| typedef AssemblySolver | Self |
| This typedef might be useful within the member functions of this class. More... | |
| typedef Solver | Super |
| Use this typedef to refer to the superclass of this class. More... | |
| Public Types inherited from OpenSim::Solver | |
| typedef Solver | Self |
| This typedef might be useful within the member functions of this class. More... | |
| typedef Object | Super |
| Use this typedef to refer to the superclass of this class. More... | |
| Static Public Member Functions inherited from OpenSim::AssemblySolver | |
| static AssemblySolver * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "AssemblySolver". More... | |
| Static Public Member Functions inherited from OpenSim::Solver | |
| static Solver * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Solver". More... | |
| 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 bool | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true) |
| Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More... | |
| static bool | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true) |
| 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... | |
| Static Public Attributes inherited from OpenSim::Object | |
| static const std::string | DEFAULT_NAME |
| Name used for default objects when they are serialized. More... | |
| Protected Attributes inherited from OpenSim::Object | |
| PropertySet | _propertySet |
| OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. 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... | |
Solve for the coordinates (degrees of freedom) of the model that satisfy the set of constraints imposed on the model and the set of desired coordinate values.
The InverseKinematicsSolver provides the option to convert the problem to an approximate one where the constraint violations are treated as penalties to be minimized rather than strictly enforced. This can speed up the solution and can be used to seed the constrained problem closer to the solution.
The InverseKinematicsSolver objective:
\[ min: J = sum(Wm_i*(m_i-md_i)^T*(m_i-md_i)) + sum(Wq_j*(q_j-qd_j)^2) + [Wc*sum(c_{err})^2] \]
where m_i and md_i are the model and desired marker locations (Vec3); q_j and qd_j are model and desired joint coordinates. Wm_i and Wq_j are the marker and coordinate weightings, respectively, and Wc is the weighting on constraint errors. When Wc == Infinity, the second term is not included, but instead q is subject to the constraint equations:
\[ c_{err} = G(q)-Go = 0 \]
When the model (and the number of goals) is guaranteed not to change and the initial state is close to the InverseKinematics solution (e.g., from the initial assemble()), then track() is an efficient method for updating the configuration to determine the small change in coordinate values, q.
See SimTK::Assembler for more algorithmic details of the underlying solver.
|
inlinevirtual |
| OpenSim::InverseKinematicsSolver::InverseKinematicsSolver | ( | const Model & | model, |
| MarkersReference & | markersReference, | ||
| SimTK::Array_< CoordinateReference > & | coordinateReferences, | ||
| double | constraintWeight = SimTK::Infinity |
||
| ) |
| double OpenSim::InverseKinematicsSolver::computeCurrentMarkerError | ( | const std::string & | markerName | ) |
Compute and return the distance error between a model marker and its observation, given the marker's name.
| double OpenSim::InverseKinematicsSolver::computeCurrentMarkerError | ( | int | markerIndex | ) |
Compute and return the distance error between a model marker and its observation, given the marker's index.
| void OpenSim::InverseKinematicsSolver::computeCurrentMarkerErrors | ( | SimTK::Array_< double > & | markerErrors | ) |
Compute and return the distance errors between all model markers and their observations.
| SimTK::Vec3 OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocation | ( | const std::string & | markerName | ) |
Compute and return a marker's spatial location in the ground frame, given the marker's name.
| SimTK::Vec3 OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocation | ( | int | markerIndex | ) |
Compute and return a marker's spatial location in the ground frame, given the marker's index.
| void OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocations | ( | SimTK::Array_< SimTK::Vec3 > & | markerLocations | ) |
Compute and return the spatial locations of all markers, expressed in the ground frame.
| double OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerError | ( | const std::string & | markerName | ) |
Compute and return the squared-distance error between a model marker and its observation, given the marker's name.
This method is cheaper than squaring the value returned by computeCurrentMarkerError().
| double OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerError | ( | int | markerIndex | ) |
Compute and return the squared-distance error between a model marker and its observation, given the marker's index.
This method is cheaper than squaring the value returned by computeCurrentMarkerError().
| void OpenSim::InverseKinematicsSolver::computeCurrentSquaredMarkerErrors | ( | SimTK::Array_< double > & | markerErrors | ) |
Compute and return the squared-distance errors between all model markers and their observations.
This method is cheaper than squaring the values returned by computeCurrentMarkerErrors().
| std::string OpenSim::InverseKinematicsSolver::getMarkerNameForIndex | ( | int | markerIndex | ) | const |
Marker locations and errors may be computed in an order that is different from tasks file or listed in the model.
Return the corresponding marker name for an index in the list of marker locations/errors returned by the solver.
| int OpenSim::InverseKinematicsSolver::getNumMarkersInUse | ( | ) | const |
Return the number of markers used to solve for model coordinates.
It is a count of the number of markers in the intersection of the reference markers and model markers. This number is guaranteed not to change after assemble() is called (i.e. during subsequent calls to track()).
|
overrideprotectedvirtual |
Internal method to convert the CoordinateReferences into goals of the assembly solver.
Subclasses can override to include other goals
such as point of interest matching (Marker tracking). This method is automatically called by assemble().
Reimplemented from OpenSim::AssemblySolver.
|
overrideprotectedvirtual |
Internal method to update the time, reference values and/or their weights that define the goals, based on the provided state.
Reimplemented from OpenSim::AssemblySolver.
| void OpenSim::InverseKinematicsSolver::updateMarkerWeight | ( | const std::string & | markerName, |
| double | value | ||
| ) |
Change the weighting of a marker, given the marker's name.
Takes effect when assemble() or track() is called next.
| void OpenSim::InverseKinematicsSolver::updateMarkerWeight | ( | int | markerIndex, |
| double | value | ||
| ) |
Change the weighting of a marker, given the marker's index.
Takes effect when assemble() or track() is called next.
| void OpenSim::InverseKinematicsSolver::updateMarkerWeights | ( | const SimTK::Array_< double > & | weights | ) |
Change the weighting of all markers.
Takes effect when assemble() or track() is called next. Marker weights are specified in the same order as they appear in the MarkersReference that was passed in when the solver was constructed.
1.8.14 