def test_set_iterator(self):
fs = osim.FunctionSet()
f1 = osim.Constant()
f1.setName("myfunc1")
fs.adoptAndAppend(f1)
f2 = osim.Constant()
f2.setName("myfunc2")
fs.adoptAndAppend(f2)
f3 = osim.Constant()
f3.setName("myfunc3")
fs.adoptAndAppend(f3)
names = ['myfunc1', 'myfunc2', 'myfunc3']
i = 0
for func in fs:
assert func.getName() == names[i]
i += 1
# Test key-value iterator.
j = 0
for k, v in fs.items():
assert k == names[j]
assert k == v.getName()
j += 1
def test_markAdoptedSets():
# Set's.
fus = osim.FunctionSet()
fu1 = osim.Constant()
fus.adoptAndAppend(fu1)
del fus
del fu1
s = osim.ScaleSet()
o = osim.Scale()
s.adoptAndAppend(o)
del s
del o
s = osim.ControlSet()
o = osim.ControlLinear()
s.adoptAndAppend(o)
del s
del o
s = osim.BodyScaleSet()
o = osim.BodyScale()
s.adoptAndAppend(o)
del s
del o
s = osim.PathPointSet()
o = osim.PathPoint()
s.adoptAndAppend(o)
del s
del o
s = osim.IKTaskSet()
o = osim.IKMarkerTask()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerPairSet()
o = osim.MarkerPair()
s.adoptAndAppend(o)
del s
del o
s = osim.MeasurementSet()
o = osim.Measurement()
s.adoptAndAppend(o)
del s
del o
s = osim.FrameSet()
o = osim.Body()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.CoordinateLimitForce()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.SpringGeneralizedForce()
s.append(o)
s = osim.ProbeSet()
o = osim.Umberger2010MuscleMetabolicsProbe()
s.adoptAndAppend(o)
del s
del o
a = osim.Model()
body = osim.Body('body',
1.0,
osim.Vec3(0, 0, 0),
osim.Inertia(0, 0, 0)
)
loc_in_parent = osim.Vec3(0, -0, 0)
orient_in_parent = osim.Vec3(0, 0, 0)
loc_in_body = osim.Vec3(0, 0, 0)
orient_in_body = osim.Vec3(0, 0, 0)
joint = osim.WeldJoint("weld_joint",
a.getGround(),
loc_in_parent, orient_in_parent,
body,
loc_in_body, orient_in_parent)
a.addBody(body)
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
a.addConstraint(constr)
def test_markAdoptedSets():
# Set's.
fus = osim.FunctionSet()
fu1 = osim.Constant()
fus.adoptAndAppend(fu1)
del fus
del fu1
gs = osim.GeometrySet()
dg = osim.DisplayGeometry()
gs.adoptAndAppend(dg)
del gs
del dg
s = osim.ScaleSet()
o = osim.Scale()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.BushingForce()
s.adoptAndAppend(o)
del s
del o
cs = osim.ControllerSet()
csc = osim.PrescribedController()
cs.adoptAndAppend(csc)
del cs
del csc
s = osim.ContactGeometrySet()
o = osim.ContactHalfSpace()
s.adoptAndAppend(o)
del s
del o
s = osim.AnalysisSet()
o = osim.MuscleAnalysis()
s.adoptAndAppend(o)
del s
del o
s = osim.ControlSet()
o = osim.ControlLinear()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerSet()
o = osim.Marker()
s.adoptAndAppend(o)
del s
del o
s = osim.BodySet()
o = osim.Body()
s.adoptAndAppend(o)
del s
del o
s = osim.BodyScaleSet()
o = osim.BodyScale()
s.adoptAndAppend(o)
del s
del o
s = osim.CoordinateSet()
o = osim.Coordinate()
s.adoptAndAppend(o)
del s
del o
s = osim.JointSet()
o = osim.BallJoint()
s.adoptAndAppend(o)
del s
del o
s = osim.PathPointSet()
o = osim.PathPoint()
s.adoptAndAppend(o)
del s
del o
s = osim.IKTaskSet()
o = osim.IKMarkerTask()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerPairSet()
o = osim.MarkerPair()
s.adoptAndAppend(o)
del s
del o
s = osim.MeasurementSet()
o = osim.Measurement()
s.adoptAndAppend(o)
del s
del o
# TODO
# s = osim.ProbeSet()
# o = osim.Umberger2010MuscleMetabolicsProbe()
# s.adoptAndAppend(o)
# del s
# del o
s = osim.ConstraintSet()
a = osim.Model()
body = osim.Body('body', 1.0, osim.Vec3(0, 0, 0), osim.Inertia(0, 0, 0))
loc_in_parent = osim.Vec3(0, -0, 0)
orient_in_parent = osim.Vec3(0, 0, 0)
loc_in_body = osim.Vec3(0, 0, 0)
orient_in_body = osim.Vec3(0, 0, 0)
joint = osim.WeldJoint("weld_joint", a.getGroundBody(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
a.addBody(body)
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
s.adoptAndAppend(constr)
def _populate_references(self):
# Initialize objects needed to populate the references.
coord_functions = opensim.FunctionSet()
marker_weights = opensim.SetMarkerWeights()
# Load coordinate data, if available.
if self.coordinate_file and (self.coordinate_file != ""
and self.coordinate_file != "Unassigned"):
coordinate_values = opensim.Storage(self.coordinate_file)
# Convert to radians, if in degrees.
if not coordinate_values.isInDegrees():
self.model.getSimbodyEngine().convertDegreesToRadians(
coordinate_values)
coord_functions = opensim.GCVSplineSet(5, coordinate_values)
index = 0
for i in range(0, self.ik_task_set.getSize()):
if not self.ik_task_set.get(i).getApply():
continue
if opensim.IKCoordinateTask.safeDownCast(self.ik_task_set.get(i)):
# NOTE: Opposed to C++, a variable cannot be declared in the above if statement, so do it now.
coord_task = opensim.IKCoordinateTask.safeDownCast(
self.ik_task_set.get(i))
coord_ref = opensim.CoordinateReference()
if coord_task.getValueType(
) == opensim.IKCoordinateTask.FromFile:
if not coord_functions:
raise Exception(
"InverseKinematicsTool: value for coordinate " +
coord_task.getName() + " not found.")
index = coord_functions.getIndex(coord_task.getName(),
index)
if index >= 0:
coord_ref = opensim.CoordinateReference(
coord_task.getName(), coord_functions.get(index))
elif coord_task.getValueType(
) == opensim.IKCoordinateTask.ManualValue:
reference = opensim.Constant(
opensim.Constant(coord_task.getValue()))
coord_ref = opensim.CoordinateReference(
coord_task.getName(), reference)
else: # Assume it should be held at its default value
value = self.model.getCoordinateSet().get(
coord_task.getName()).getDefaultValue()
reference = opensim.Constant(value)
coord_ref = opensim.CoordinateReference(
coord_task.getName(), reference)
if not coord_ref:
raise Exception(
"InverseKinematicsTool: value for coordinate " +
coord_task.getName() + " not found.")
else:
coord_ref.setWeight(coord_task.getWeight())
self.coordinate_references.push_back(coord_ref)
elif opensim.IKMarkerTask.safeDownCast(self.ik_task_set.get(i)):
# NOTE: Opposed to C++, a variable cannot be declared in the above if statement, so do it now.
marker_task = opensim.IKMarkerTask.safeDownCast(
self.ik_task_set.get(i))
if marker_task.getApply():
# Only track markers that have a task and it is "applied"
marker_weights.cloneAndAppend(
opensim.MarkerWeight(marker_task.getName(),
marker_task.getWeight()))
self.markers_reference.initializeFromMarkersFile(
self.marker_file, marker_weights)