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 InverseKinematicsSolver &other)=delete

InverseKinematicsSolver &	operator= (const InverseKinematicsSolver &other)=delete

	InverseKinematicsSolver (const Model &model, std::shared_ptr< MarkersReference > markersReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)

	InverseKinematicsSolver (const Model &model, std::shared_ptr< MarkersReference > markersReference, std::shared_ptr< OrientationsReference > orientationsReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)

	InverseKinematicsSolver (const Model &model, const MarkersReference &markersReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)

	InverseKinematicsSolver (const Model &model, const MarkersReference &markersReference, const OrientationsReference &orientationsReference, SimTK::Array_< CoordinateReference > &coordinateReferences, double constraintWeight=SimTK::Infinity)

int	getNumMarkersInUse () const
	Return the number of markers used to solve for model coordinates. More...

int	getNumOrientationSensorsInUse () const
	Return the number of orientation sensors 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...

void	updateOrientationWeight (const std::string &orientationName, double value)
	Change the weighting of an orientation sensor, given its name. More...

void	updateOrientationWeight (int orientationIndex, double value)
	Change the weighting of an orientation sensor, given its index. More...

void	updateOrientationWeights (const SimTK::Array_< double > &weights)
	Change the weighting of all orientation sensors. 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...

SimTK::Rotation	computeCurrentSensorOrientation (const std::string &osensorName)
	Compute and return an orientation sensor's spatial orientation in the ground frame, given the o-sensor's name. More...

SimTK::Rotation	computeCurrentSensorOrientation (int osensorIndex)
	Compute and return an orientation sensor's spatial orientation in the ground frame, given the o-sensor's index. More...

void	computeCurrentSensorOrientations (SimTK::Array_< SimTK::Rotation > &osensorOrientations)
	Compute and return the spatial orientations of all o-sensors, expressed in the ground frame. More...

double	computeCurrentOrientationError (const std::string &osensorName)
	Compute and return the orientation error between the model orientation sensor and its observation, given the o-sensor's name. More...

double	computeCurrentOrientationError (int osensorIndex)
	Compute and return the orientation error between the model orientation sensor and its observation, given the o-sensor's index. More...

void	computeCurrentOrientationErrors (SimTK::Array_< double > &osensorErrors)
	Compute all the orientation errors between the model orientation sensors and their observations. More...

std::string	getOrientationSensorNameForIndex (int osensorIndex) const
	Orientation sensor locations and errors may be computed in an order that may be different from tasks file or listed in the model. More...

void	setAdvanceTimeFromReference (bool newValue)
	indicate whether time is provided by Reference objects or driver program 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 >
const Property< T > &	getPropertyByName (const std::string &name) 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...

template<class T >
Property< T > &	updPropertyByName (const std::string &name)
	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 () const
	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
	Override to include point of interest matching (Marker tracking) as well ad Frame orientation (OSensor) tracking. More...

void	updateGoals (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...

template<class T >
void	checkPropertyValueIsPositive (const Property< T > &p) const
	Throw an exception if any of the property's values are not positive. More...

template<class T >
void	checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
	Throw an exception if any of the property's values are not in the provided set. More...

template<class T >
void	checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
	Throw an exception if any of the property's values are neither in the provided range nor in the provided set. 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 amount of logging output. More...

static int	getDebugLevel ()
	Get the 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...

Detailed Description

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.

Author: Ajay Seth

Constructor & Destructor Documentation

◆ ~InverseKinematicsSolver()

virtual OpenSim::InverseKinematicsSolver::~InverseKinematicsSolver ( )

inlinevirtual

◆ InverseKinematicsSolver() [1/5]

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver ( const InverseKinematicsSolver & other )

delete

◆ InverseKinematicsSolver() [2/5]

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver	(	const Model &	model,
		std::shared_ptr< MarkersReference >	markersReference,
		SimTK::Array_< CoordinateReference > &	coordinateReferences,
		double	constraintWeight = `SimTK::Infinity`
	)

◆ InverseKinematicsSolver() [3/5]

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver	(	const Model &	model,
		std::shared_ptr< MarkersReference >	markersReference,
		std::shared_ptr< OrientationsReference >	orientationsReference,
		SimTK::Array_< CoordinateReference > &	coordinateReferences,
		double	constraintWeight = `SimTK::Infinity`
	)

◆ InverseKinematicsSolver() [4/5]

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver	(	const Model &	model,
		const MarkersReference &	markersReference,
		SimTK::Array_< CoordinateReference > &	coordinateReferences,
		double	constraintWeight = `SimTK::Infinity`
	)

inline

◆ InverseKinematicsSolver() [5/5]

OpenSim::InverseKinematicsSolver::InverseKinematicsSolver	(	const Model &	model,
		const MarkersReference &	markersReference,
		const OrientationsReference &	orientationsReference,
		SimTK::Array_< CoordinateReference > &	coordinateReferences,
		double	constraintWeight = `SimTK::Infinity`
	)

inline

Member Function Documentation

◆ computeCurrentMarkerError() [1/2]

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.

◆ computeCurrentMarkerError() [2/2]

double OpenSim::InverseKinematicsSolver::computeCurrentMarkerError ( int markerIndex )

Compute and return the distance error between a model marker and its observation, given the marker's index.

◆ computeCurrentMarkerErrors()

void OpenSim::InverseKinematicsSolver::computeCurrentMarkerErrors ( SimTK::Array_< double > & markerErrors )

Compute and return the distance errors between all model markers and their observations.

◆ computeCurrentMarkerLocation() [1/2]

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.

◆ computeCurrentMarkerLocation() [2/2]

SimTK::Vec3 OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocation ( int markerIndex )

Compute and return a marker's spatial location in the ground frame, given the marker's index.

◆ computeCurrentMarkerLocations()

void OpenSim::InverseKinematicsSolver::computeCurrentMarkerLocations ( SimTK::Array_< SimTK::Vec3 > & markerLocations )

Compute and return the spatial locations of all markers, expressed in the ground frame.

◆ computeCurrentOrientationError() [1/2]

double OpenSim::InverseKinematicsSolver::computeCurrentOrientationError ( const std::string & osensorName )

Compute and return the orientation error between the model orientation sensor and its observation, given the o-sensor's name.

◆ computeCurrentOrientationError() [2/2]

double OpenSim::InverseKinematicsSolver::computeCurrentOrientationError ( int osensorIndex )

Compute and return the orientation error between the model orientation sensor and its observation, given the o-sensor's index.

◆ computeCurrentOrientationErrors()

void OpenSim::InverseKinematicsSolver::computeCurrentOrientationErrors ( SimTK::Array_< double > & osensorErrors )

Compute all the orientation errors between the model orientation sensors and their observations.

◆ computeCurrentSensorOrientation() [1/2]

SimTK::Rotation OpenSim::InverseKinematicsSolver::computeCurrentSensorOrientation ( const std::string & osensorName )

Compute and return an orientation sensor's spatial orientation in the ground frame, given the o-sensor's name.

◆ computeCurrentSensorOrientation() [2/2]

SimTK::Rotation OpenSim::InverseKinematicsSolver::computeCurrentSensorOrientation ( int osensorIndex )

Compute and return an orientation sensor's spatial orientation in the ground frame, given the o-sensor's index.

◆ computeCurrentSensorOrientations()

void OpenSim::InverseKinematicsSolver::computeCurrentSensorOrientations ( SimTK::Array_< SimTK::Rotation > & osensorOrientations )

Compute and return the spatial orientations of all o-sensors, expressed in the ground frame.

◆ computeCurrentSquaredMarkerError() [1/2]

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().

◆ computeCurrentSquaredMarkerError() [2/2]

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().

◆ computeCurrentSquaredMarkerErrors()

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().

◆ getMarkerNameForIndex()

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.

◆ getNumMarkersInUse()

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()).

◆ getNumOrientationSensorsInUse()

int OpenSim::InverseKinematicsSolver::getNumOrientationSensorsInUse ( ) const

Return the number of orientation sensors used to solve for model coordinates.

It is a count of the number of orientation sensors that intersect the reference orientations and model reference frames with the same name. This number is guaranteed not to change after assemble() is called (i.e. during subsequent calls to track()).

◆ getOrientationSensorNameForIndex()

std::string OpenSim::InverseKinematicsSolver::getOrientationSensorNameForIndex ( int osensorIndex ) const

Orientation sensor locations and errors may be computed in an order that may be different from tasks file or listed in the model.

Return the corresponding orientation sensor name for an index in the list of orientations returned by the solver.

◆ operator=()

InverseKinematicsSolver& OpenSim::InverseKinematicsSolver::operator= ( const InverseKinematicsSolver & other )

delete

◆ setAdvanceTimeFromReference()

void OpenSim::InverseKinematicsSolver::setAdvanceTimeFromReference ( bool newValue )

inline

indicate whether time is provided by Reference objects or driver program

◆ setupGoals()

void OpenSim::InverseKinematicsSolver::setupGoals ( SimTK::State & s )

overrideprotectedvirtual

Override to include point of interest matching (Marker tracking) as well ad Frame orientation (OSensor) tracking.

This method extends the set of goals used by the AssemblySolver.

Reimplemented from OpenSim::AssemblySolver.

◆ updateGoals()

void OpenSim::InverseKinematicsSolver::updateGoals ( SimTK::State & s )

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.

◆ updateMarkerWeight() [1/2]

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.

◆ updateMarkerWeight() [2/2]

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.

◆ updateMarkerWeights()

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.

◆ updateOrientationWeight() [1/2]

void OpenSim::InverseKinematicsSolver::updateOrientationWeight	(	const std::string &	orientationName,
		double	value
	)

Change the weighting of an orientation sensor, given its name.

Takes effect when assemble() or track() is called next.

◆ updateOrientationWeight() [2/2]

void OpenSim::InverseKinematicsSolver::updateOrientationWeight	(	int	orientationIndex,
		double	value
	)

Change the weighting of an orientation sensor, given its index.

Takes effect when assemble() or track() is called next.

◆ updateOrientationWeights()

void OpenSim::InverseKinematicsSolver::updateOrientationWeights ( const SimTK::Array_< double > & weights )

Change the weighting of all orientation sensors.

Takes effect when assemble() or track() is called next. Orientation weights are specified in the same order as they appear in the OrientationsReference that was passed in when the solver was constructed.

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

OpenSim/Simulation/InverseKinematicsSolver.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~InverseKinematicsSolver()

◆ InverseKinematicsSolver() [1/5]

◆ InverseKinematicsSolver() [2/5]

◆ InverseKinematicsSolver() [3/5]

◆ InverseKinematicsSolver() [4/5]

◆ InverseKinematicsSolver() [5/5]

Member Function Documentation

◆ computeCurrentMarkerError() [1/2]

◆ computeCurrentMarkerError() [2/2]

◆ computeCurrentMarkerErrors()

◆ computeCurrentMarkerLocation() [1/2]

◆ computeCurrentMarkerLocation() [2/2]

◆ computeCurrentMarkerLocations()

◆ computeCurrentOrientationError() [1/2]

◆ computeCurrentOrientationError() [2/2]

◆ computeCurrentOrientationErrors()

◆ computeCurrentSensorOrientation() [1/2]

◆ computeCurrentSensorOrientation() [2/2]

◆ computeCurrentSensorOrientations()

◆ computeCurrentSquaredMarkerError() [1/2]

◆ computeCurrentSquaredMarkerError() [2/2]

◆ computeCurrentSquaredMarkerErrors()

◆ getMarkerNameForIndex()

◆ getNumMarkersInUse()

◆ getNumOrientationSensorsInUse()

◆ getOrientationSensorNameForIndex()

◆ operator=()

◆ setAdvanceTimeFromReference()

◆ setupGoals()

◆ updateGoals()

◆ updateMarkerWeight() [1/2]

◆ updateMarkerWeight() [2/2]

◆ updateMarkerWeights()

◆ updateOrientationWeight() [1/2]

◆ updateOrientationWeight() [2/2]

◆ updateOrientationWeights()