Merge pull request #2881 from opensim-org/fix_ik_imus_for_gui_use

Fix ik imus for GUI use

Author: carmichaelong

Bindings/simulation.i

@@ -222,8 +222,8 @@ OpenSim::ModelComponentSet<OpenSim::Controller>;
 %shared_ptr(OpenSim::MarkersReference);
 %template(SetMarkerWeights) OpenSim::Set<MarkerWeight, OpenSim::Object>;
 %include <OpenSim/Simulation/CoordinateReference.h>
-%template (SetOientationWeights) OpenSim::Set<OrientationWeight, OpenSim::Object>;
 %include <OpenSim/Simulation/OrientationsReference.h>
+%template (SetOientationWeights) OpenSim::Set<OrientationWeight, OpenSim::Object>;
 %shared_ptr(OpenSim::OrientationsReference);
 %include <OpenSim/Simulation/BufferedOrientationsReference.h>
 %shared_ptr(OpenSim::BufferedOrientationsReference);

OpenSim/Tools/IMUInverseKinematicsTool.cpp

@@ -154,6 +154,10 @@ void IMUInverseKinematicsTool::runInverseKinematicsWithOrientationsFromFile(
         model.setUseVisualizer(true);
     SimTK::State& s0 = model.initSystem();
 
+    AnalysisSet& analysisSet = model.updAnalysisSet();
+    analysisSet.begin(s0);
+
+
     double t0 = s0.getTime();
 
     // create the solver given the input data
@@ -188,6 +192,7 @@ void IMUInverseKinematicsTool::runInverseKinematicsWithOrientationsFromFile(
         model.getVisualizer().show(s0);
         model.getVisualizer().getSimbodyVisualizer().setShowSimTime(true);
     }
+    int step = 0;
     for (auto time : times) {
         s0.updTime() = time;
         ikSolver.track(s0);
@@ -201,16 +206,19 @@ void IMUInverseKinematicsTool::runInverseKinematicsWithOrientationsFromFile(
         else
             log_info("Solved at time: {} s", time);
         // realize to report to get reporter to pull values from model
+        analysisSet.step(s0, step++);
         model.realizeReport(s0);
     }
 
     auto report = ikReporter->getTable();
 
-    auto eix = orientationsFileName.rfind(".");
-    auto stix = orientationsFileName.rfind("/") + 1;
-
     IO::makeDir(get_results_directory());
-    std::string outName = "ik_" + orientationsFileName.substr(stix, eix-stix);
+    std::string outName = get_output_motion_file();
+    if (outName.empty()) { 
+        auto eix = orientationsFileName.rfind(".");
+        auto stix = orientationsFileName.rfind("/") + 1;
+        outName = "ik_" + orientationsFileName.substr(stix, eix - stix);
+    }
     std::string outputFile = get_results_directory() + "/" + outName;
 
     // Convert to degrees to compare with marker-based IK

OpenSim/Tools/InverseKinematicsTool.cpp

@@ -70,9 +70,8 @@ InverseKinematicsTool::InverseKinematicsTool() : InverseKinematicsToolBase() {
  *
  * @param aFileName File name of the document.
  */
-InverseKinematicsTool::InverseKinematicsTool(const string &aFileName, bool aLoadModel) :
-    InverseKinematicsToolBase(aFileName, true)
-{
+InverseKinematicsTool::InverseKinematicsTool(const string &aFileName, bool aLoadModel) : 
+    InverseKinematicsToolBase(aFileName, aLoadModel) {
     constructProperties();
     updateFromXMLDocument();
 }
@@ -86,7 +85,6 @@ void InverseKinematicsTool::constructProperties()
     constructProperty_IKTaskSet(IKTaskSet());
     constructProperty_marker_file("");
     constructProperty_coordinate_file("");
-    constructProperty_output_motion_file("");
     constructProperty_report_marker_locations(false);
 }
 

OpenSim/Tools/InverseKinematicsToolBase.h

@@ -119,6 +119,7 @@ class OSIMTOOLS_API InverseKinematicsToolBase : public Tool {
         // Make range -Infinity to Infinity unless limited by data
         range[0] = -SimTK::Infinity; 
         constructProperty_time_range(range);
+        constructProperty_output_motion_file("");
         constructProperty_report_errors(true);
     };