/** get the weighting (importance) of meeting this Reference */
void CoordinateReference::getWeights(const SimTK::State &s, SimTK::Array_<double> &weights) const
{
weights.resize(getNumRefs());
weights[0] = _defaultWeight;
}
/** Compute and return the distance errors between all model marker and observations. */
void InverseKinematicsSolver::computeCurrentSquaredMarkerErrors(SimTK::Array_<double> &markerErrors)
{
markerErrors.resize(_markerAssemblyCondition->getNumMarkers());
for(unsigned int i=0; i<markerErrors.size(); i++)
markerErrors[i] = _markerAssemblyCondition->findCurrentMarkerErrorSquared(SimTK::Markers::MarkerIx(i));
}
/** get the values of the CoordinateReference */
void CoordinateReference::getValues(const SimTK::State &s, SimTK::Array_<double> &values) const
{
SimTK::Vector t(1, s.getTime());
values.resize(getNumRefs());
values[0] = _coordinateValueFunction->calcValue(t);
}
/** Compute and return the spatial locations of all markers in ground. */
void InverseKinematicsSolver::computeCurrentMarkerLocations(SimTK::Array_<SimTK::Vec3> &markerLocations)
{
markerLocations.resize(_markerAssemblyCondition->getNumMarkers());
for(unsigned int i=0; i<markerLocations.size(); i++)
markerLocations[i] = _markerAssemblyCondition->findCurrentMarkerLocation(SimTK::Markers::MarkerIx(i));
}