Get Joint Location via API 3.3

[Chaofei Zhang]

Hi all,

I'm trying to get location and orientation of a joint in the child and parent coordinate separately.

Here are my codes (https://web.stanford.edu/~jjdunne/html/ ... Joint.html):

jointset=mymodel.getJointSet();
jointset.get(i).getLocation() ;
jointset.get(i).getLocationInParent();

It is wrong. Could anyone help me find the correct code?

Thanks!
chaofei

[Dimitar Stanev]

Hi,

This is how I done it in C++

Code: Select all

SimTK::Transform jointTran = model->getCoordinateSet().get(i).getJoint().
            getChildFrame().getGroundTransform(s);
SimTK::Vec3 pos = jointTran.p();

you can access the child and parent frame with getChildFrame and getParentFrame respectively. Note however that the developers introduced some changes to the API so this approach may not be possible, depending on your version.

Best

[Chaofei Zhang]

Thanks Dimitar!

Location could only be read in a form of Vec3.
Here is the right code:

l=Vec3(0,0,0);
jointset.get(i).getOrientationInParent(l)