realizeVelocity not in OpenSim3.3

[Kaiwen Yang]

Hello,

I am a new user of OpenSim API. I am trying to run (modify) a piece of code intended for 4.0 in Matlab which binded with my OpenSim 3.3. The main issue is that the function 'realizeVelocity' is not defined in 3.3 library. What is the substitute for 'realizeVelocity' if I am trying to make the code run for 3.3?

Kaiwen

[Dimitar Stanev]

Code: Select all

model.getMultibodySystem().realize(state, SimTK::Stage::Velocity);

[Kaiwen Yang]

Thank you!

[Kaiwen Yang]

Thanks for the reply, but it seems that 'SimTK::Stage::Velocity' is not valid in Matlab.

[Thomas Uchida]

In OpenSim 3.3, you can use myModel.computeStateVariableDerivatives(myState) (https://simtk.org/api_docs/opensim/api_ ... 3dc9c41d17), which will "realize" under the hood. There are some example scripts here that might be helpful: https://simtk.org/frs/download.php?file_id=3862 (see, e.g., "Main_WalkerForwardSim.m" in the UserFunctions directory).

[Kaiwen Yang]

Thank you!