/**
* Get the names of the states of the actuators.
*
* @param rNames Array of names.
*/
void ForceSet::
getStateVariableNames(OpenSim::Array<std::string> &rNames) const
{
for(int i=0;i<getSize();i++) {
ScalarActuator *act = dynamic_cast<ScalarActuator*>(&get(i));
if(act) {
rNames.append(act->getStateVariableNames());
}
}
}
// Spatial Transform specific methods
OpenSim::Array<string> SpatialTransform::getCoordinateNames() const
{
OpenSim::Array<string> coordinateNames;
for(int i=0; i < NumTransformAxes; i++){
const TransformAxis& transform = getTransformAxis(i);
for(int j = 0; j < transform.getCoordinateNames().size(); j++){
string name = transform.getCoordinateNames()[j];
if(coordinateNames.findIndex(name) < 0)
coordinateNames.append(name);
}
}
return coordinateNames;
}
Array<std::string> MuscleOptimizer::getJointSpannedByMuscle(Model& model, const string& muscleName)
{
OpenSim::Array<std::string> jointNames;
OpenSim::BodySet bodySet(model.getBodySet());
OpenSim::Set<OpenSim::Muscle> muscles = model.getMuscles();
OpenSim::Muscle& muscle = muscles.get(muscleName);
OpenSim::GeometryPath musclePath(muscle.getGeometryPath());
OpenSim::PathPointSet musclePathPointSet(musclePath.getPathPointSet());
// check if there is a simple kinematic chain between geometry path extremes
int firstBodyIndex = 0;
const OpenSim::JointSet& jointSet = model.getJointSet();
// try to use consider first path point as on the proximal body, and last path point on the distal body
OpenSim::Body& lastBody = musclePathPointSet.get(musclePathPointSet.getSize() - 1).getBody();
OpenSim::Body& firstBody = musclePathPointSet.get(firstBodyIndex).getBody();
std::string currentBodyName(lastBody.getName());
std::string proximalBodyName(firstBody.getName());
while (currentBodyName != proximalBodyName && currentBodyName !="ground") {
for (int i = 0; i < jointSet.getSize(); i++)
{
if (jointSet.get(i).getBody().getName() == currentBodyName)
{
currentBodyName = jointSet.get(i).getParentBody().getName();
continue;
}
}
}
if (currentBodyName == "ground") {
// reverse - consider first path point as on distal body
currentBodyName = firstBody.getName();
proximalBodyName = lastBody.getName();
while (currentBodyName != proximalBodyName && currentBodyName != "ground") {
for (int i = 0; i < jointSet.getSize(); i++)
{
if (jointSet.get(i).getBody().getName() == currentBodyName)
{
currentBodyName = jointSet.get(i).getParentBody().getName();
continue;
}
}
}
if (currentBodyName == "ground") {
std::cout << "WARNING: Geometry Path for muscle " << muscleName << " does not follow a simple open kinematic chain" << std::endl;
return jointNames;
}
else {
currentBodyName = firstBody.getName();
}
}
else {
currentBodyName = lastBody.getName();
}
while (currentBodyName != proximalBodyName) {
for (int i = 0; i < jointSet.getSize(); i++)
{
if (jointSet.get(i).getBody().getName() == currentBodyName)
{
if (jointSet.get(i).getCoordinateSet().getSize() != 0)
jointNames.append(jointSet.get(i).getName());
currentBodyName = jointSet.get(i).getParentBody().getName();
continue;
}
}
}
return jointNames;
}
