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Remove kinematics_for_external_loads property #2770

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merged 22 commits into from
Sep 1, 2020
Merged

Remove kinematics_for_external_loads property #2770

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111520b
Remove kinematics_for_external_loads property from ExternalLoads obje…
aymanhab May 13, 2020
8260d39
Update externalForces file to latest format and remove reference to e…
aymanhab May 19, 2020
8ba06c4
Fix IAA to handle externalForce.expressedInBody being "ground" which …
aymanhab May 20, 2020
0917baa
Remove kinematics_for_external_loads property from ExternalLoads obje…
aymanhab May 13, 2020
134a5b8
Update externalForces file to latest format and remove reference to e…
aymanhab May 19, 2020
5b81e09
Fix IAA to handle externalForce.expressedInBody being "ground" which …
aymanhab May 20, 2020
40d8f85
Merge branch 'remove_kin_external_loads' of https://github.com/opensi…
aymanhab Jun 11, 2020
25918ab
Merge branch 'master' of github.com:opensim-org/opensim-core into rem…
chrisdembia Jun 12, 2020
9ddd2d8
Remove kinematics_for_external_loads property from ExternalLoads obje…
aymanhab May 13, 2020
ed63930
Update externalForces file to latest format and remove reference to e…
aymanhab May 19, 2020
f4f1639
Fix IAA to handle externalForce.expressedInBody being "ground" which …
aymanhab May 20, 2020
2fc1a97
Merge branch 'remove_kin_external_loads' of https://github.com/opensi…
aymanhab Jun 15, 2020
fcfae60
Use log methods instead of cout
aymanhab Jun 16, 2020
ac99fcf
Port bugfix to IAA from already reviewed PR 2691
aymanhab Jun 16, 2020
035f90f
Fix comment
aymanhab Jun 16, 2020
f4b25fa
log_warn instead of cout
aymanhab Jun 16, 2020
7504d7a
Merge branch 'master' into remove_kin_external_loads
aymanhab Aug 21, 2020
33355c1
Update standard for SO test case to account for removal of Kinematics…
aymanhab Aug 27, 2020
cfc2fd6
Update std for InducedAcceleration test case
aymanhab Aug 27, 2020
d79e572
Fix testCMCWithControlConstraintsGait2354 by updating standard and us…
aymanhab Aug 28, 2020
0f787f2
Fix indentation that failed ci build on linux
aymanhab Aug 28, 2020
dce7562
Undo XMLDocument version upgrade to keep backward compatibility of Mo…
aymanhab Aug 31, 2020
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113 changes: 30 additions & 83 deletions Applications/Analyze/test/externalForces.xml
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Original file line number Diff line number Diff line change
@@ -1,91 +1,38 @@
<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="20201">
<ExternalLoads name="">
<OpenSimDocument Version="40000">
<ExternalLoads name="default">
<objects>
<PrescribedForce name="RightForce">
<ExternalForce name="RightForce">
<!--Name of the body the force is applied to.-->
<body>calcn_r</body>
<!--Flag indicating whether the point (specified in pointFunctions) is in
global frame-->
<pointIsGlobal>false</pointIsGlobal>
<!--Flag indicating whether the quantities (specified in
force/torqueFunctions) is in global frame-->
<forceIsGlobal>true</forceIsGlobal>
<!--Three functions describing the force to be applied.-->
<FunctionSet name="forceFunctions">
<objects>
<NaturalCubicSpline name="ground_force_vx" />
<NaturalCubicSpline name="ground_force_vy" />
<NaturalCubicSpline name="ground_force_vz" />
</objects>
<groups />
</FunctionSet>
<!--Three functions describing the location at which the force is applied-->
<FunctionSet name="pointFunctions">
<objects>
<NaturalCubicSpline name="ground_force_px" />
<NaturalCubicSpline name="ground_force_py" />
<NaturalCubicSpline name="ground_force_pz" />
</objects>
<groups />
</FunctionSet>
<!--Three functions describing the torque the PrescribedForce applies-->
<FunctionSet name="torqueFunctions">
<objects>
<NaturalCubicSpline name="ground_torque_x" />
<NaturalCubicSpline name="ground_torque_y" />
<NaturalCubicSpline name="ground_torque_z" />
</objects>
<groups />
</FunctionSet>
</PrescribedForce>
<PrescribedForce name="LeftForce">
<applied_to_body>calcn_r</applied_to_body>
<!--Name of the body the force is expressed in (default is ground).-->
<force_expressed_in_body>ground</force_expressed_in_body>
<!--Name of the body the point is expressed in (default is ground).-->
<point_expressed_in_body>ground</point_expressed_in_body>
<!--Identifier (string) to locate the force to be applied in the data source.-->
<force_identifier>ground_force_v</force_identifier>
<!--Identifier (string) to locate the point to be applied in the data source.-->
<point_identifier>ground_force_p</point_identifier>
<!--Identifier (string) to locate the torque to be applied in the data source.-->
<torque_identifier>ground_torque_</torque_identifier>
</ExternalForce>
<ExternalForce name="LeftForce">
<!--Name of the body the force is applied to.-->
<body>calcn_l</body>
<!--Flag indicating whether the point (specified in pointFunctions) is in
global frame-->
<pointIsGlobal>false</pointIsGlobal>
<!--Flag indicating whether the quantities (specified in
force/torqueFunctions) is in global frame-->
<forceIsGlobal>true</forceIsGlobal>
<!--Three functions describing the force to be applied.-->
<FunctionSet name="forceFunctions">
<objects>
<NaturalCubicSpline name="l_ground_force_vx" />
<NaturalCubicSpline name="l_ground_force_vy" />
<NaturalCubicSpline name="l_ground_force_vz" />
</objects>
<groups />
</FunctionSet>
<!--Three functions describing the location at which the force is applied-->
<FunctionSet name="pointFunctions">
<objects>
<NaturalCubicSpline name="l_ground_force_px" />
<NaturalCubicSpline name="l_ground_force_py" />
<NaturalCubicSpline name="l_ground_force_pz" />
</objects>
<groups />
</FunctionSet>
<!--Three functions describing the torque the PrescribedForce applies-->
<FunctionSet name="torqueFunctions">
<objects>
<NaturalCubicSpline name="l_ground_torque_x" />
<NaturalCubicSpline name="l_ground_torque_y" />
<NaturalCubicSpline name="l_ground_torque_z" />
</objects>
<groups />
</FunctionSet>
</PrescribedForce>
<applied_to_body>calcn_l</applied_to_body>
<!--Name of the body the force is expressed in (default is ground).-->
<force_expressed_in_body>ground</force_expressed_in_body>
<!--Name of the body the point is expressed in (default is ground).-->
<point_expressed_in_body>ground</point_expressed_in_body>
<!--Identifier (string) to locate the force to be applied in the data source.-->
<force_identifier>l_ground_force_v</force_identifier>
<!--Identifier (string) to locate the point to be applied in the data source.-->
<point_identifier>l_ground_force_p</point_identifier>
<!--Identifier (string) to locate the torque to be applied in the data source.-->
<torque_identifier>l_ground_torque_</torque_identifier>
</ExternalForce>
</objects>
<!--Storage file (.sto) containing the Forces, Torques and locations of
the external loads.-->
<groups />
<!--Storage file (.sto) containing (3) components of force and/or torque and point of application.Note: this file overrides the data source specified by the individual external forces if specified.-->
<datafile>subject01_walk1_grf.mot</datafile>
<!--Motion file (.mot) or storage file (.sto) containing the model
kinematics corresponding to the external loads.-->
<external_loads_model_kinematics_file>subject01_walk1_ik.mot</external_loads_model_kinematics_file>
<!--Low-pass cut-off frequency for filtering the model kinematics
corresponding to the external loads. A negative value results in no
filtering. The default value is -1.0, so no filtering.-->
<lowpass_cutoff_frequency_for_load_kinematics>6</lowpass_cutoff_frequency_for_load_kinematics>
</ExternalLoads>
</OpenSimDocument>
125 changes: 38 additions & 87 deletions Applications/Analyze/test/std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto
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