I was wondering if there is any function to calculate position of a point relative to the ground assuming a known set of joint angles?

I am an API user and I am using HuntCrossley contact forces. I need to calculate the position of the spheres respect to the ground(half space) within my script.

Code: Select all

```
Model OsimModel("test.osim");
SimTK::State& defaultStates = OsimModel.initSystem();
// here I set joint angles in "defaultStates" using this function: OpenSim::Coordinate::setValue
// here I need to calculate position of my contact spheres relative to ground.
```

Sina