void compareMotionTables(const TimeSeriesTable& report,
const TimeSeriesTable& standard)
{
ASSERT(report.getNumRows() == standard.getNumRows());
ASSERT(report.getNumColumns() == standard.getNumColumns());
auto reportLabels = report.getColumnLabels();
auto stdLabels = standard.getColumnLabels();
std::vector<int> mapStdToReport;
// cycle through the coordinates in the model order and store the
// corresponding column index in the table according to column name
for (auto& label : reportLabels) {
int index = -1;
auto found = std::find(stdLabels.begin(), stdLabels.end(), label);
if (found != stdLabels.end()) {
// skip any pelvis translations
if (found->find("pelvis_t") == std::string::npos) {
index = (int)std::distance(stdLabels.begin(), found);
}
}
mapStdToReport.push_back(index);
}
size_t nt = report.getNumRows();
//For simplicity, we ignore pelvis coordinates 0-5
for (size_t i = 0; i < mapStdToReport.size(); ++i) {
if (mapStdToReport[i] >= 0) {
auto repVec = report.getDependentColumnAtIndex(i);
auto stdVec = standard.getDependentColumnAtIndex(mapStdToReport[i]);
auto error = SimTK::Real(SimTK_RTD)*repVec - stdVec;
cout << "Column '" << reportLabels[i] << "' has RMSE = "
<< sqrt(error.normSqr() / nt) << "degrees" << endl;
SimTK_ASSERT1_ALWAYS((sqrt(error.normSqr() / nt) < 0.1),
"Column '%s' FAILED to meet accuracy of 0.1 degree RMS.",
reportLabels[i].c_str());
}
}
}
void tableAndTrajectoryMatch(const Model& model,
const TimeSeriesTable& table,
const StatesTrajectory& states,
std::vector<std::string> columns = {}) {
const auto stateNames = model.getStateVariableNames();
size_t numColumns{};
if (columns.empty()) {
numColumns = stateNames.getSize();
} else {
numColumns = columns.size();
}
SimTK_TEST(table.getNumColumns() == numColumns);
SimTK_TEST(table.getNumRows() == states.getSize());
const auto& colNames = table.getColumnLabels();
// Test that the data table has exactly the same numbers.
for (size_t itime = 0; itime < states.getSize(); ++itime) {
// Test time.
SimTK_TEST(table.getIndependentColumn()[itime] ==
states[itime].getTime());
// Test state values.
for (size_t icol = 0; icol < table.getNumColumns(); ++icol) {
const auto& stateName = colNames[icol];
const auto& valueInStates = model.getStateVariableValue(
states[itime], stateName);
const auto& column = table.getDependentColumnAtIndex(icol);
const auto& valueInTable = column[static_cast<int>(itime)];
SimTK_TEST(valueInStates == valueInTable);
}
}
}