How to modify the CoordinateSet
Posted: Mon Jul 24, 2017 7:49 pm
Hi, all!
I am trying to define a custom joint using OpenSim API 3.3 and create a similar arm to Arm26 which is one of your offical models.
In the arm26.osim file, no matter how I modify my code, I just can't modify the CoordinateSet.
Here's my code.
Here's my .osim file generated by my code.(I also tried the code which is commented as above)
I wonder how to modify it using api(I am scripting in C++ to create the arm) and create a .osim with the same properties of CoordinateSet as in arm26.osim. Part of arm26.osim is as follows.
Part of the arm26.osim is as follows.
I am trying to define a custom joint using OpenSim API 3.3 and create a similar arm to Arm26 which is one of your offical models.
In the arm26.osim file, no matter how I modify my code, I just can't modify the CoordinateSet.
Here's my code.
Code: Select all
CustomJoint* shoulder = new CustomJoint("r_shoulder", ground, locationInGround, orientationInGround, *humerus, locationInHumerus, orientationInHumerus, shoulderST, false);
using OpenSim::CoordinateSet;
using SimTK::convertDegreesToRadians;
using SimTK::Pi;
// Modify the CoordinateSet
CoordinateSet shoulderCS = shoulder->upd_CoordinateSet();
//Coordinate *shoulderCoord = new Coordinate;
//shoulderCoord->setName("r_shoulder_elev");
//shoulderCoord->setMotionType(Rotational);
//shoulderCoord->setDefaultValue(0);
//shoulderCoord->setDefaultSpeedValue(0);
//shoulderCoord->setRangeMin(-1.57079633);
//shoulderCoord->setRangeMax(3.14159265);
//shoulderCoord->setDefaultClamped(false);
//shoulderCoord->setDefaultLocked(false);
//shoulderCS.cloneAndAppend(*shoulderCoord);
//shoulder->set_CoordinateSet(shoulderCS);
double shoulderCS0Range[2] = { -Pi/2, Pi };
shoulderCS[0].setRange(shoulderCS0Range);
shoulderCS[0].setDefaultValue(0);
shoulderCS[0].setDefaultLocked(false);Code: Select all
<CoordinateSet>
<objects>
<Coordinate name="r_shoulder_elev">
<!--All properties of this object have their default values.-->
</Coordinate>
</objects>
<groups />
</CoordinateSet>Code: Select all
<CoordinateSet>
<objects>
<Coordinate name="r_shoulder_elev">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.57079633 3.14159265</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>