opensimKinematicFitting#

class pyCGM2.Model.Opensim.osimProcessing.opensimKinematicFitting(osimModel, ikToolFiles)#

Wrapper of the OpenSim inverse kinematics tool.

Parameters:

  • osimModel (opensim.Model) – OpenSim model.

  • ikToolFiles (str) – Path of the inverse kinematics setup file.

__init__(osimModel, ikToolFiles)#

Methods

__init__(osimModel, ikToolFiles)

addIkMarkerTask(label[, weight])

Create a marker task.

config(R_LAB_OSIM, acq, acqFileName)

Configure the tool for an acquisition.

createIKTaskSet()

Add the created marker tasks to the task set of the tool.

run()

Run the inverse kinematics.

updateIKTask(label, weight)

Update the weight of a marker task (a zero weight disables the task).
addIkMarkerTask(label, weight=100)#

Create a marker task.

Parameters:

  • label (str) – Marker label.

  • weight (float, optional) – Weight. Defaults to 100.

config(R_LAB_OSIM, acq, acqFileName)#

Configure the tool for an acquisition.

The acquisition is transformed into the OpenSim global frame and exported as a trc file.

Parameters:

  • R_LAB_OSIM (np.ndarray) – Rotation from the laboratory to the OpenSim global frame.

  • acq (btk.btkAcquisition) – Motion acquisition.

  • acqFileName (str) – Path of the c3d file.

createIKTaskSet()#

Add the created marker tasks to the task set of the tool.

run()#

Run the inverse kinematics.

updateIKTask(label, weight)#

Update the weight of a marker task (a zero weight disables the task).

Parameters:

  • label (str) – Marker label.

  • weight (float) – Weight.

Raises:

Exception – If the task does not exist.