Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Undo binding of model getCoordinatesInMultibodyTreeOrder and introduc… #3656

Merged
merged 6 commits into from
Dec 20, 2023
Merged

Undo binding of model getCoordinatesInMultibodyTreeOrder and introduc… #3656

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
6b111ef
Undo binding of model getCoordinatesInMultibodyTreeOrder and introduc…
aymanhab Dec 19, 2023
2995259
Fix dereferencing the ReferencePtr and exercise in test case
aymanhab Dec 19, 2023
02f5ec9
Fix compilation warnings/errors on linux and call site to index the S…
aymanhab Dec 19, 2023
068bbe8
Fix int/size_t mixup that causes compilation errors on linux
aymanhab Dec 19, 2023
30f0de1
Update CHANGELOG.md
aymanhab Dec 19, 2023
3e345e4
Address feedback on PR in test, changelog language
aymanhab Dec 19, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions Bindings/Python/tests/test_simbody.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -205,6 +205,9 @@ def test_SimbodyMatterSubsystem(self):
assert (smss.calcSystemMassCenterLocationInGround(s)[2] ==
model.calcMassCenterPosition(s)[2])

coordNames = model.getCoordinateNamesInMultibodyTreeOrder();
print('firstCoord', coordNames.get(0));

J = osim.Matrix()
smss.calcSystemJacobian(s, J)
# 6 * number of mobilized bodies
Expand Down Expand Up @@ -248,3 +251,5 @@ def test_SimbodyMatterSubsystem(self):
assert residual.size() == s.getNU()
for i in range(residual.size()):
assert abs(residual[i]) < 1e-10


3 changes: 0 additions & 3 deletions Bindings/simulation.i
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -177,9 +177,6 @@ OpenSim::ModelComponentSet<OpenSim::Controller>;
%include <OpenSim/Simulation/Model/ModelVisualPreferences.h>
%include <OpenSim/Simulation/Model/ModelVisualizer.h>
%copyctor OpenSim::Model;
%include <SimTKcommon/internal/ReferencePtr.h>
%template(ReferencePtrCoordinate) SimTK::ReferencePtr<const OpenSim::Coordinate>;
%template(StdVectorReferencePtrCoordinate) std::vector<SimTK::ReferencePtr<const OpenSim::Coordinate>>;
%include <OpenSim/Simulation/Model/Model.h>

%include <OpenSim/Simulation/Model/AbstractPathPoint.h>
Expand Down
8 changes: 8 additions & 0 deletions OpenSim/Simulation/Model/Model.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -943,6 +943,14 @@ OpenSim_OBJECT_NONTEMPLATE_DEFS(Model, ModelComponent);
std::vector<SimTK::ReferencePtr<const OpenSim::Coordinate>>
getCoordinatesInMultibodyTreeOrder() const;

/** A variant of getCoordinatesInMultibodyTreeOrder that returns names for Scripting users */
SimTK::Array_<std::string> getCoordinateNamesInMultibodyTreeOrder() {
SimTK::Array_<std::string> namesArray;
aymanhab marked this conversation as resolved.
Show resolved Hide resolved
auto coords = getCoordinatesInMultibodyTreeOrder();
for (auto coord : coords)
namesArray.push_back(coord->getName());
return namesArray;
}
/** Get a warning message if any Coordinates have a MotionType that is NOT
consistent with its previous user-specified value that existed in
Model files prior to OpenSim 4.0 */
Expand Down
Loading