AssemblySolver instantiation:

[Musa Audu]

Declaring assemblysolver object:

I read an open-link model from an XML file (skeleton_file.osim). I then added bodies to it so that it will become a closed chain body system after assembly. A snippet of my code is attached.

snippet_code.cpp

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'weights' vector is to ensure that some of the joint angles closely remain unchanged during the assembly. This gives a compile error because the first argument of AssemblySolver is a 'const Model'. My understanding is that if I declare Model skeleton as const in the first line then I can no longer change it. Is there a way around this? I will appreciate any insight.

[Dimitar Stanev]

Hi,

The const in the function call ensures that this class (AssemblySolver) will not change the provided arguments, since they are provided by reference. Probably the error is generated as a result to some other issue.

[Musa Audu]

Yes. You are right Dimitar. I was mistakenly using the CoordinateSet in the second argument of the method instead of the CoordinateReference. Thanks for the pointer.
Musa