diff --git a/Applications/Analyze/test/externalForces.xml b/Applications/Analyze/test/externalForces.xml
index 1959c51e22..856b28f4ab 100644
--- a/Applications/Analyze/test/externalForces.xml
+++ b/Applications/Analyze/test/externalForces.xml
@@ -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>
diff --git a/Applications/Analyze/test/std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto b/Applications/Analyze/test/std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto
index c0074ede54..3f34204402 100644
--- a/Applications/Analyze/test/std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto
+++ b/Applications/Analyze/test/std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto
@@ -1,98 +1,49 @@
center_of_mass
version=1
-nRows=85
+nRows=36
nColumns=373
inDegrees=no
This file contains accelerations of coordinates or bodies.
Units are S.I. units (seconds, meters, Newtons, ...)
-Angles are in degrees.
+If the header above contains a line with 'inDegrees', this indicates whether rotational values are in degrees (yes) or radians (no).
endheader
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diff --git a/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_activation.sto b/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_activation.sto
index bb0bdf8b00..fced16da72 100644
--- a/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_activation.sto
+++ b/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_activation.sto
@@ -7,87 +7,87 @@ This file contains static optimization results.
endheader
time hamstrings_r bifemsh_r glut_max_r iliopsoas_r rect_fem_r vasti_r gastroc_r soleus_r tib_ant_r hamstrings_l bifemsh_l glut_max_l iliopsoas_l rect_fem_l vasti_l gastroc_l soleus_l tib_ant_l FX FY MZ hip_flexion_r_reserve knee_angle_r_reserve ankle_angle_r_reserve hip_flexion_l_reserve knee_angle_l_reserve ankle_angle_l_reserve lumbar_extension_reserve
- 0.50000000 0.04597646 0.03660979 0.00012116 0.04806965 0.00021658 0.00005360 0.03722521 0.00006092 0.05785065 0.21641436 0.13614439 0.00003534 0.18373939 0.00001080 0.00000540 0.57734357 0.00867889 0.00122123 -20.48477567 -2.45863609 5.02202660 0.00041505 -0.00126072 0.00042065 0.00198843 -0.00838669 -0.00002543 17.64049604
- 0.50300000 0.04491459 0.03737666 0.00012114 0.05073171 0.00022972 0.00005217 0.03874504 0.00005985 0.05948285 0.21798706 0.13831706 0.00003403 0.19014461 0.00001059 0.00000531 0.58773678 0.00730864 0.00126259 -20.58378809 -2.73972098 6.10291153 0.00043622 -0.00130642 0.00043084 0.00206655 -0.00856432 -0.00002296 17.63656433
- 0.51300000 0.04516107 0.04020106 0.00010333 0.05931884 0.00020060 0.00004553 0.04445010 0.00005233 0.06519230 0.22150029 0.14546229 0.00002991 0.21375475 0.00000996 0.00000498 0.62115486 0.00393431 0.00167381 -20.40367284 -2.08106078 8.99538690 0.00051006 -0.00149873 0.00047630 0.00236925 -0.00918682 -0.00000964 17.62145930
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- 0.54300000 0.10448224 0.05252981 0.00008022 0.07015936 0.00008477 0.00002699 0.07445388 0.00002729 0.09657190 0.19998967 0.16181155 0.00001946 0.31212796 0.00000888 0.00000414 0.69417922 0.00728566 0.00102487 -21.64918680 -2.47869286 5.59638708 0.00061766 -0.00262102 0.00075173 0.00367845 -0.01075226 -0.00002408 16.85252346
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+ 1.29400000 0.42145612 0.44823062 0.00010487 0.85672005 0.00010321 0.00010082 0.41674490 0.00010314 0.99792527 0.13295504 0.00171180 0.11910696 0.00014345 0.00016800 0.01349985 0.00016262 0.00012662 0.11134821 2.02603725 -5.25071170 13.44261825 0.01405445 -0.02727193 0.00804453 -0.00109202 0.00006676 0.00084416 20.49073097
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diff --git a/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_force.sto b/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_force.sto
index 05da27e146..c2b24799d2 100644
--- a/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_force.sto
+++ b/Applications/Analyze/test/std_walk_subject01_ankle_spring_StaticOptimization_force.sto
@@ -9,91 +9,91 @@ This file contains the forces exerted on a model during a simulation.
A force is a generalized force, meaning that it can be either a force (N) or a torque (Nm).
Units are S.I. units (second, meters, Newtons, ...)
-Angles are in degrees.
+If the header above contains a line with 'inDegrees', this indicates whether rotational values are in degrees (yes) or radians (no).
endheader
-time hamstrings_r bifemsh_r glut_max_r iliopsoas_r rect_fem_r vasti_r gastroc_r soleus_r tib_ant_r hamstrings_l bifemsh_l glut_max_l iliopsoas_l rect_fem_l vasti_l gastroc_l soleus_l tib_ant_l AnkleLimitSpringDamper PotentialEnergy FX FY MZ hip_flexion_r_reserve knee_angle_r_reserve ankle_angle_r_reserve hip_flexion_l_reserve knee_angle_l_reserve ankle_angle_l_reserve lumbar_extension_reserve calcn_r_RightForce_transformedP_Fx calcn_r_RightForce_transformedP_Fy calcn_r_RightForce_transformedP_Fz calcn_r_RightForce_transformedP_px calcn_r_RightForce_transformedP_py calcn_r_RightForce_transformedP_pz calcn_r_RightForce_transformedP_Tx calcn_r_RightForce_transformedP_Ty calcn_r_RightForce_transformedP_Tz calcn_l_LeftForce_transformedP_Fx calcn_l_LeftForce_transformedP_Fy calcn_l_LeftForce_transformedP_Fz calcn_l_LeftForce_transformedP_px calcn_l_LeftForce_transformedP_py calcn_l_LeftForce_transformedP_pz calcn_l_LeftForce_transformedP_Tx calcn_l_LeftForce_transformedP_Ty calcn_l_LeftForce_transformedP_Tz
- 0.50000000 151.77794863 35.90386044 0.18824477 126.91911216 0.09581192 0.07694821 116.94196854 0.21070689 178.14821367 376.22293697 113.78945924 0.04057457 467.14510212 0.01323967 0.01092521 1606.98643967 52.23614735 2.72876258 0.00000000 0.00000000 -20.48477567 -2.45863609 5.02202660 0.00041505 -0.00126072 0.00042065 0.00198843 -0.00838669 -0.00002543 17.64049604 -0.00026717 0.00020832 -0.00006210 0.00069743 -0.07503583 -0.00700860 0.00003942 -0.00001740 -0.00008634 28.52803371 663.20686319 48.13965480 0.18661513 -0.04739552 -0.01960777 0.00000000 1.35430498 0.00000000
- 0.50300000 148.51202601 36.65275487 0.18790346 134.14664297 0.10242144 0.07494588 121.70346592 0.20819409 183.04250644 378.51341074 115.45497498 0.03902659 481.89493399 0.01302296 0.01070098 1630.57350432 43.97190329 2.82042289 0.00000000 0.00000000 -20.58378809 -2.73972098 6.10291153 0.00043622 -0.00130642 0.00043084 0.00206655 -0.00856432 -0.00002296 17.63656433 -0.00009710 0.00007571 -0.00002257 -0.00385302 -0.07351216 -0.00710690 0.00001433 -0.00000632 -0.00003138 30.54239444 666.09675136 48.62658467 0.18691768 -0.04725050 -0.01969200 0.00000000 1.24061160 0.00000000
- 0.51300000 149.62275747 39.25835082 0.16033368 157.28647118 0.09288789 0.06592984 139.23251547 0.18773210 199.40323823 383.34767037 120.80833665 0.03426464 535.74898347 0.01236366 0.01002182 1702.11929867 23.60529494 3.74567053 0.00000000 0.00000000 -20.40367284 -2.08106078 8.99538690 0.00051006 -0.00149873 0.00047630 0.00236925 -0.00918682 -0.00000964 17.62145930 0.00107867 -0.00084105 0.00025072 -0.01815627 -0.06847855 -0.00742341 -0.00015914 0.00007023 0.00034858 37.37567032 676.81085325 49.96628370 0.18769343 -0.04677639 -0.01986461 -0.00000000 0.93861768 -0.00000000
- 0.52300000 193.82974339 42.09802788 0.19257056 168.39955906 0.16249277 0.05566903 161.53688304 0.16968615 218.13074423 375.83173796 125.23242857 0.02959505 605.33499071 0.01192878 0.00948123 1751.24153815 28.50048918 13.95918732 0.00000000 0.00000000 -20.88018161 -2.13188262 9.13058800 0.00054800 -0.00177791 0.00053501 0.00276375 -0.00976162 0.00000884 17.43859751 -0.00148414 0.00115720 -0.00034497 -0.03096165 -0.06366036 -0.00772229 0.00021897 -0.00009663 -0.00047962 43.88937673 688.69328116 51.06107161 0.18788334 -0.04635547 -0.01994588 0.00000000 0.81339496 0.00000000
- 0.53300000 272.32348143 45.46303583 0.14478869 170.27464375 0.05836550 0.04487426 191.80266367 0.14238365 244.15387050 355.11633710 127.92511815 0.02556752 682.57180994 0.01174026 0.00910710 1780.68420082 26.89132719 3.56630203 0.00000000 0.00000000 -23.23583453 -2.82411239 7.23283705 0.00056146 -0.00214993 0.00062432 0.00322076 -0.01021413 -0.00001291 17.33984000 -0.00315941 0.00246342 -0.00073435 -0.04203179 -0.05923416 -0.00800298 0.00046613 -0.00020571 -0.00102100 50.06158115 701.24585101 52.16270584 0.18761779 -0.04600224 -0.01997262 0.00000000 0.85372065 0.00000000
- 0.54300000 337.22118703 49.37673027 0.13152961 182.61882658 0.04529777 0.03541075 229.14381653 0.11800612 278.35850140 343.74661457 131.70256002 0.02255815 753.95132408 0.01141663 0.00868737 1807.33251551 42.91027873 2.33935734 0.00000000 0.00000000 -21.64918680 -2.47869286 5.59638708 0.00061766 -0.00262102 0.00075173 0.00367845 -0.01075226 -0.00002408 16.85252346 0.01298593 -0.01012526 0.00301838 -0.05110463 -0.05536312 -0.00826544 -0.00191592 0.00084553 0.00419655 56.89798707 714.40536128 53.41520437 0.18771574 -0.04567029 -0.01985254 -0.00000000 0.92621778 -0.00000001
- 0.55300000 382.27405510 52.68983954 0.11484841 199.88792393 0.03710697 0.02910176 267.51896914 0.09813418 315.02043997 353.63547466 137.37484313 0.02057319 805.68389868 0.01083889 0.00818583 1845.09855788 64.14235982 2.12804192 0.00000000 0.00000000 -18.94778075 -1.83702434 3.79012585 0.00070558 -0.00314322 0.00090364 0.00406580 -0.01144218 -0.00003767 16.27393940 -0.00615383 0.00479820 -0.00143036 -0.05793708 -0.05219649 -0.00850919 0.00090792 -0.00040068 -0.00198868 64.73489368 728.23562102 54.71359507 0.18875734 -0.04532125 -0.01948906 0.00000000 1.00146628 0.00000000
- 0.56300000 403.60644825 54.40780439 0.10007299 214.92791571 0.03296944 0.02550093 301.20201910 0.08412522 348.08718303 382.34850960 144.68605960 0.01926548 838.74276109 0.01009693 0.00764461 1891.86429220 94.27028909 4.84002515 0.00000000 0.00000000 -16.66220066 -0.25241343 2.10270576 0.00080966 -0.00365035 0.00105453 0.00437790 -0.01226177 -0.00005691 15.78447562 -0.05547339 0.04325314 -0.01289392 -0.06233297 -0.04986298 -0.00873353 0.00818442 -0.00361194 -0.01792687 73.27747057 742.43964730 55.76006195 0.19073121 -0.04497313 -0.01880961 0.00000001 1.11843325 0.00000002
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- 0.60500000 258.35209646 44.83657492 0.06994800 214.61533660 0.02993784 0.02156652 245.36654136 0.09396843 307.19598535 358.19633954 157.98574053 0.01442700 1015.60395655 0.00893026 0.00660235 1832.78741848 320.83305541 0.48515130 0.00000000 0.00000000 -12.32090446 8.91451238 14.24990722 0.00115974 -0.00446035 0.00094493 0.00604198 -0.01396365 -0.00020072 14.13177806 -3.18529039 4.70161822 -0.55133652 -0.05350172 -0.05005992 -0.00945045 0.44130308 -0.18515437 -0.66048777 106.91657889 782.94908859 52.50369848 0.19317020 -0.04602421 -0.01437291 -0.00000045 2.22688005 -0.00000072
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+time hamstrings_r bifemsh_r glut_max_r iliopsoas_r rect_fem_r vasti_r gastroc_r soleus_r tib_ant_r hamstrings_l bifemsh_l glut_max_l iliopsoas_l rect_fem_l vasti_l gastroc_l soleus_l tib_ant_l AnkleLimitSpringDamper PotentialEnergy FX FY MZ hip_flexion_r_reserve knee_angle_r_reserve ankle_angle_r_reserve hip_flexion_l_reserve knee_angle_l_reserve ankle_angle_l_reserve lumbar_extension_reserve calcn_r_RightForce_Fx calcn_r_RightForce_Fy calcn_r_RightForce_Fz calcn_r_RightForce_px calcn_r_RightForce_py calcn_r_RightForce_pz calcn_r_RightForce_Tx calcn_r_RightForce_Ty calcn_r_RightForce_Tz calcn_l_LeftForce_Fx calcn_l_LeftForce_Fy calcn_l_LeftForce_Fz calcn_l_LeftForce_px calcn_l_LeftForce_py calcn_l_LeftForce_pz calcn_l_LeftForce_Tx calcn_l_LeftForce_Ty calcn_l_LeftForce_Tz
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+ 1.30000000 354.22856303 265.18441048 0.14311186 1590.69650143 0.14697925 0.45632912 494.59762938 0.37465624 2576.41527803 210.11096017 0.81520076 200.49175794 0.33057135 0.24653492 144.60993551 0.23345931 0.47666454 380.49327407 -205.82692214 12.07170300 11.11812639 -6.16478338 23.42849725 0.01478829 -0.02519474 0.00727989 -0.00096307 0.00016779 0.00095527 21.05996060 129.62105869 616.50316093 -25.51736249 0.24121852 -0.05006214 0.02188612 0.00000000 1.79381226 -0.00000000 -33.38359949 263.76957090 -25.50795648 -0.00689399 -0.05831531 0.03806654 0.00000000 3.97741272 -0.00000000
diff --git a/Applications/CMC/test/CMakeLists.txt b/Applications/CMC/test/CMakeLists.txt
index 31feff6667..6e9087376b 100644
--- a/Applications/CMC/test/CMakeLists.txt
+++ b/Applications/CMC/test/CMakeLists.txt
@@ -8,4 +8,3 @@ OpenSimAddTests(
LINKLIBS osimTools
)
-OpenSimCopySharedTestFiles(std_subject01_walk1_states.sto)
diff --git a/Applications/CMC/test/std_subject01_walk1_states_WithControlConstraints.sto b/Applications/CMC/test/std_subject01_walk1_states_WithControlConstraints.sto
new file mode 100644
index 0000000000..7fb314b125
--- /dev/null
+++ b/Applications/CMC/test/std_subject01_walk1_states_WithControlConstraints.sto
@@ -0,0 +1,216 @@
+subject01_walk1_states
+version=1
+nRows=209
+nColumns=155
+inDegrees=no
+endheader
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/jointset/mtp_r/mtp_angle_r/speed /jointset/hip_l/hip_flexion_l/value /jointset/hip_l/hip_flexion_l/speed /jointset/hip_l/hip_adduction_l/value /jointset/hip_l/hip_adduction_l/speed /jointset/hip_l/hip_rotation_l/value /jointset/hip_l/hip_rotation_l/speed /jointset/knee_l/knee_angle_l/value /jointset/knee_l/knee_angle_l/speed /jointset/ankle_l/ankle_angle_l/value /jointset/ankle_l/ankle_angle_l/speed /jointset/subtalar_l/subtalar_angle_l/value /jointset/subtalar_l/subtalar_angle_l/speed /jointset/mtp_l/mtp_angle_l/value /jointset/mtp_l/mtp_angle_l/speed /jointset/back/lumbar_extension/value /jointset/back/lumbar_extension/speed /jointset/back/lumbar_bending/value /jointset/back/lumbar_bending/speed /jointset/back/lumbar_rotation/value /jointset/back/lumbar_rotation/speed /forceset/glut_med1_r/activation /forceset/glut_med1_r/fiber_length /forceset/glut_med2_r/activation /forceset/glut_med2_r/fiber_length /forceset/glut_med3_r/activation /forceset/glut_med3_r/fiber_length /forceset/bifemlh_r/activation /forceset/bifemlh_r/fiber_length /forceset/bifemsh_r/activation /forceset/bifemsh_r/fiber_length /forceset/sar_r/activation /forceset/sar_r/fiber_length /forceset/add_mag2_r/activation /forceset/add_mag2_r/fiber_length /forceset/tfl_r/activation /forceset/tfl_r/fiber_length /forceset/pect_r/activation /forceset/pect_r/fiber_length /forceset/grac_r/activation /forceset/grac_r/fiber_length /forceset/glut_max1_r/activation /forceset/glut_max1_r/fiber_length /forceset/glut_max2_r/activation /forceset/glut_max2_r/fiber_length /forceset/glut_max3_r/activation /forceset/glut_max3_r/fiber_length /forceset/iliacus_r/activation /forceset/iliacus_r/fiber_length /forceset/psoas_r/activation /forceset/psoas_r/fiber_length /forceset/quad_fem_r/activation /forceset/quad_fem_r/fiber_length /forceset/gem_r/activation /forceset/gem_r/fiber_length /forceset/peri_r/activation /forceset/peri_r/fiber_length /forceset/rect_fem_r/activation /forceset/rect_fem_r/fiber_length /forceset/vas_int_r/activation /forceset/vas_int_r/fiber_length /forceset/med_gas_r/activation /forceset/med_gas_r/fiber_length /forceset/soleus_r/activation /forceset/soleus_r/fiber_length /forceset/tib_post_r/activation /forceset/tib_post_r/fiber_length /forceset/tib_ant_r/activation /forceset/tib_ant_r/fiber_length /forceset/glut_med1_l/activation /forceset/glut_med1_l/fiber_length /forceset/glut_med2_l/activation /forceset/glut_med2_l/fiber_length /forceset/glut_med3_l/activation /forceset/glut_med3_l/fiber_length /forceset/bifemlh_l/activation /forceset/bifemlh_l/fiber_length /forceset/bifemsh_l/activation /forceset/bifemsh_l/fiber_length /forceset/sar_l/activation /forceset/sar_l/fiber_length /forceset/add_mag2_l/activation /forceset/add_mag2_l/fiber_length /forceset/tfl_l/activation /forceset/tfl_l/fiber_length /forceset/pect_l/activation /forceset/pect_l/fiber_length /forceset/grac_l/activation /forceset/grac_l/fiber_length /forceset/glut_max1_l/activation /forceset/glut_max1_l/fiber_length /forceset/glut_max2_l/activation /forceset/glut_max2_l/fiber_length /forceset/glut_max3_l/activation /forceset/glut_max3_l/fiber_length /forceset/iliacus_l/activation /forceset/iliacus_l/fiber_length /forceset/psoas_l/activation /forceset/psoas_l/fiber_length /forceset/quad_fem_l/activation /forceset/quad_fem_l/fiber_length /forceset/gem_l/activation /forceset/gem_l/fiber_length /forceset/peri_l/activation /forceset/peri_l/fiber_length /forceset/rect_fem_l/activation /forceset/rect_fem_l/fiber_length /forceset/vas_int_l/activation /forceset/vas_int_l/fiber_length /forceset/med_gas_l/activation /forceset/med_gas_l/fiber_length /forceset/soleus_l/activation /forceset/soleus_l/fiber_length /forceset/tib_post_l/activation /forceset/tib_post_l/fiber_length /forceset/tib_ant_l/activation /forceset/tib_ant_l/fiber_length /forceset/ercspn_r/activation /forceset/ercspn_r/fiber_length /forceset/ercspn_l/activation /forceset/ercspn_l/fiber_length /forceset/intobl_r/activation /forceset/intobl_r/fiber_length /forceset/intobl_l/activation /forceset/intobl_l/fiber_length /forceset/extobl_r/activation /forceset/extobl_r/fiber_length /forceset/extobl_l/activation /forceset/extobl_l/fiber_length
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+ 0.88644909 0.08780183 0.06549867 -0.03134348 0.17421998 0.05219787 -0.29589819 0.60353877 -0.05783141 1.03251022 0.17982536 0.03562729 0.16359463 0.14239617 -1.91782732 0.04300169 0.14577162 -0.12113864 0.41291014 -0.33383938 1.38021976 0.09844393 0.35545795 0.01729476 -0.21055448 0.00708233 0.02909441 0.12934644 2.28121027 -0.12451804 0.25498621 -0.07893202 -0.05506903 -1.19311916 -1.00583344 -0.07142491 1.75711550 -0.03767570 -0.28080697 -0.04962055 -0.93255188 -0.26839294 -0.08682827 0.08379445 -0.34142356 -0.05336795 0.67809800 0.50926400 0.05213697 0.36424803 0.08671389 0.27411364 0.06532053 0.09046815 0.10020863 0.02000000 0.18095692 0.02169794 0.50961013 0.02000000 0.08348084 0.06456561 0.11927471 0.02000000 0.07382735 0.02000000 0.34362966 0.12410859 0.08609445 0.12693988 0.09495576 0.02955215 0.10460628 0.02000000 0.10770096 0.02000000 0.10011384 0.02000000 0.04097868 0.02172345 0.02235745 0.05339286 0.02112848 0.07814153 0.12098177 0.14302833 0.09114364 0.08629041 0.08606743 0.08089595 0.08143864 0.09309573 0.03270792 0.03658610 0.07529924 0.05930577 0.04354105 0.02000000 0.07913387 0.02545640 0.06003829 0.05127210 0.07636314 0.28509410 0.15629790 0.07879673 0.49504220 0.05804644 0.09381442 0.02139723 0.12067484 0.06688286 0.08010289 0.10138610 0.32481957 0.02000000 0.08156289 0.02000000 0.09294992 0.02000000 0.11163943 0.33008570 0.10808922 0.33991807 0.09984874 0.03394710 0.05004579 0.02000000 0.02537417 0.02424203 0.01812697 0.02432211 0.15967345 0.02000000 0.12846817 0.02065388 0.06291004 0.02000000 0.07482822 0.02000000 0.03275392 0.17363800 0.08161802 0.02814806 0.13551528 0.15322989 0.14054813 0.02000000 0.07886797 0.07390275 0.10021154 0.02000000 0.11771803 0.06980985 0.12198695
+ 0.88716278 0.08784822 0.06451120 -0.03121638 0.18192509 0.05198554 -0.29913425 0.60349729 -0.05839904 1.03263838 0.17932854 0.03574370 0.16261251 0.14102759 -1.91734974 0.04310222 0.13596341 -0.12084157 0.41953647 -0.33285347 1.38260618 0.09869899 0.35880703 0.01713770 -0.22904877 0.00709904 0.01897945 0.13097189 2.27384304 -0.12432888 0.27502125 -0.07896677 -0.04233170 -1.19382330 -0.96739996 -0.07017151 1.75464642 -0.03787101 -0.26672557 -0.05027761 -0.90720168 -0.26845502 -0.08713673 0.08354784 -0.34962267 -0.05288422 0.67747845 0.51012505 0.05211178 0.36434751 0.08667999 0.27222634 0.06529160 0.08950974 0.10017847 0.02000000 0.18098339 0.02166791 0.50969814 0.02000000 0.08343851 0.06381288 0.11934041 0.02000000 0.07385755 0.02000000 0.34363865 0.12499421 0.08602485 0.12955371 0.09486095 0.02938323 0.10449852 0.02000000 0.10775745 0.02000000 0.10016964 0.02000000 0.04098563 0.02169298 0.02236575 0.05299893 0.02112165 0.07711335 0.12102206 0.14085268 0.09111066 0.08577169 0.08611480 0.08216043 0.08142648 0.09453729 0.03271095 0.03632816 0.07529608 0.05861068 0.04358808 0.02000000 0.07918967 0.02535991 0.06008968 0.05071908 0.07645751 0.28344507 0.15628176 0.07940202 0.49494033 0.05806841 0.09384038 0.02137252 0.12062754 0.06727436 0.08005933 0.10151259 0.32478933 0.02000000 0.08164917 0.02000000 0.09304474 0.02000000 0.11174991 0.32975938 0.10802154 0.34036937 0.09977948 0.03473320 0.05002903 0.02000000 0.02536270 0.02416701 0.01813521 0.02424568 0.15963602 0.02000000 0.12849612 0.02064232 0.06293963 0.02000000 0.07488455 0.02000000 0.03277361 0.17373779 0.08157067 0.02800397 0.13552098 0.15314173 0.14054599 0.02000000 0.07890927 0.07401070 0.10016731 0.02000000 0.11770578 0.07047133 0.12198526
+ 0.88787648 0.08789390 0.06349055 -0.03108386 0.18940041 0.05177090 -0.30234882 0.60345541 -0.05897316 1.03276618 0.17882019 0.03585940 0.16162909 0.13965939 -1.91677319 0.04319580 0.12629022 -0.12053988 0.42581624 -0.33186586 1.38498962 0.09895534 0.35906566 0.01696856 -0.24443423 0.00711135 0.01685363 0.13259214 2.26665284 -0.12412556 0.29470058 -0.07899248 -0.02975914 -1.19450003 -0.92904273 -0.06892124 1.74844599 -0.03805668 -0.25375188 -0.05091340 -0.87314019 -0.26851731 -0.08741244 0.08329547 -0.35755401 -0.05240093 0.67687342 0.51092678 0.05208620 0.36444013 0.08664583 0.27037242 0.06526263 0.08856827 0.10014821 0.02000000 0.18100989 0.02163841 0.50978585 0.02000000 0.08339676 0.06307346 0.11940587 0.02000000 0.07388801 0.02000000 0.34364822 0.12581883 0.08595544 0.13198749 0.09476689 0.02921730 0.10439116 0.02000000 0.10781391 0.02000000 0.10022541 0.02000000 0.04099336 0.02166304 0.02237442 0.05261196 0.02111487 0.07610335 0.12106216 0.13871551 0.09107762 0.08526214 0.08616217 0.08333781 0.08141512 0.09587955 0.03271368 0.03607478 0.07529300 0.05792788 0.04363530 0.02000000 0.07924599 0.02526512 0.06014173 0.05017584 0.07655190 0.28182521 0.15626628 0.07996562 0.49483997 0.05808886 0.09386546 0.02134825 0.12058086 0.06763889 0.08001547 0.10163036 0.32475939 0.02000000 0.08173573 0.02000000 0.09313961 0.02000000 0.11185959 0.32943883 0.10795392 0.34078958 0.09971033 0.03546514 0.05001249 0.02000000 0.02535152 0.02409332 0.01814484 0.02417060 0.15959797 0.02000000 0.12852311 0.02063096 0.06297161 0.02000000 0.07494089 0.02000000 0.03279318 0.17383070 0.08152329 0.02786243 0.13552694 0.15305513 0.14054364 0.02000000 0.07895121 0.07411122 0.10012246 0.02000000 0.11769390 0.07108724 0.12198350
+ 0.88859017 0.08793884 0.06243355 -0.03094609 0.19663363 0.05155397 -0.30555015 0.60341311 -0.05955302 1.03289362 0.17829945 0.03597440 0.16064517 0.13829164 -1.91609500 0.04328252 0.11676740 -0.12023384 0.43175618 -0.33087655 1.38736146 0.09921085 0.35659727 0.01678956 -0.25661819 0.00712480 0.02180761 0.13420732 2.25963155 -0.12390832 0.31400851 -0.07900928 -0.01735094 -1.19514943 -0.89078501 -0.06767655 1.73910790 -0.03823342 -0.24165469 -0.05152217 -0.83173053 -0.26857978 -0.08765029 0.08303754 -0.36520620 -0.05191805 0.67629518 0.51167330 0.05206025 0.36452638 0.08661141 0.26855128 0.06523360 0.08764346 0.10011786 0.02000000 0.18103643 0.02160944 0.50987326 0.02000000 0.08335558 0.06234711 0.11947094 0.02000000 0.07391872 0.02000000 0.34365838 0.12658665 0.08588626 0.13425363 0.09467368 0.02905430 0.10428420 0.02000000 0.10787034 0.02000000 0.10028115 0.02000000 0.04100185 0.02163363 0.02238345 0.05223183 0.02110816 0.07511121 0.12110205 0.13661613 0.09104452 0.08476161 0.08620952 0.08443410 0.08140457 0.09712936 0.03271616 0.03582588 0.07528998 0.05725716 0.04368270 0.02000000 0.07930282 0.02517201 0.06019442 0.04964221 0.07664631 0.28023400 0.15625145 0.08049040 0.49474108 0.05810790 0.09388969 0.02132441 0.12053478 0.06797831 0.07997129 0.10174002 0.32472975 0.02000000 0.08182255 0.02000000 0.09323452 0.02000000 0.11196847 0.32912395 0.10788637 0.34118085 0.09964131 0.03614667 0.04999615 0.02000000 0.02534063 0.02402093 0.01815602 0.02409684 0.15955930 0.02000000 0.12854915 0.02061980 0.06300584 0.02000000 0.07499713 0.02000000 0.03281262 0.17391722 0.08147589 0.02772339 0.13553316 0.15297006 0.14054109 0.02000000 0.07899376 0.07420481 0.10007701 0.02000000 0.11768241 0.07166073 0.12198168
+ 0.88930387 0.08798301 0.06133347 -0.03080324 0.20362260 0.05133476 -0.30874573 0.60337040 -0.06013763 1.03302068 0.17776460 0.03608870 0.15966136 0.13692441 -1.91530840 0.04336251 0.10739711 -0.11992368 0.43736151 -0.32988557 1.38967605 0.09946398 0.35261225 0.01660312 -0.26517972 0.00714345 0.03086186 0.13581755 2.25277358 -0.12367744 0.33294243 -0.07901729 -0.00510216 -1.19577156 -0.85265157 -0.06643945 1.72728117 -0.03840176 -0.23014543 -0.05209921 -0.78446590 -0.26864241 -0.08784072 0.08277424 -0.37257906 -0.05143558 0.67575204 0.51236839 0.05203391 0.36460669 0.08657674 0.26676235 0.06520450 0.08673499 0.10008743 0.02000000 0.18106301 0.02158098 0.50996036 0.02000000 0.08331497 0.06163361 0.11953554 0.02000000 0.07394967 0.02000000 0.34366911 0.12730158 0.08581729 0.13636367 0.09458138 0.02889418 0.10417765 0.02000000 0.10792675 0.02000000 0.10033686 0.02000000 0.04101106 0.02160474 0.02239281 0.05185842 0.02110149 0.07413662 0.12114170 0.13455388 0.09101133 0.08426992 0.08625684 0.08545487 0.08139482 0.09829307 0.03271842 0.03558138 0.07528703 0.05659830 0.04373027 0.02000000 0.07936014 0.02508055 0.06024776 0.04911802 0.07674077 0.27867092 0.15623727 0.08097903 0.49464362 0.05812563 0.09391306 0.02130099 0.12048928 0.06829435 0.07992681 0.10184213 0.32470042 0.02000000 0.08190963 0.02000000 0.09332947 0.02000000 0.11207659 0.32881464 0.10781888 0.34154517 0.09957241 0.03678125 0.04998000 0.02000000 0.02533002 0.02394983 0.01816885 0.02402439 0.15951999 0.02000000 0.12857425 0.02060884 0.06304213 0.02000000 0.07505315 0.02000000 0.03283191 0.17399777 0.08142848 0.02758681 0.13553961 0.15288649 0.14053834 0.02000000 0.07903692 0.07429196 0.10003099 0.02000000 0.11767128 0.07219472 0.12197982
+ 0.89000000 0.08802532 0.06021146 -0.03065919 0.21020497 0.05111875 -0.31186381 0.60332834 -0.06071146 1.03314425 0.17722753 0.03619952 0.15870239 0.13559139 -1.91442900 0.04343413 0.09840428 -0.11961741 0.44251418 -0.32891741 1.39183405 0.09970798 0.34842289 0.01641673 -0.26968449 0.00716839 0.04079194 0.13738350 2.24623736 -0.12343934 0.35105115 -0.07901672 0.00669913 -1.19635221 -0.81560018 -0.06524157 1.71398402 -0.03855815 -0.21917859 -0.05262800 -0.73418829 -0.26870360 -0.08797039 0.08251245 -0.37950430 -0.05096534 0.67526273 0.51300022 0.05200787 0.36467969 0.08654268 0.26504792 0.06517605 0.08586436 0.10005768 0.02000000 0.18108897 0.02155370 0.51004502 0.02000000 0.08327591 0.06094982 0.11959803 0.02000000 0.07398009 0.02000000 0.34368013 0.12795144 0.08575024 0.13828169 0.09449225 0.02874073 0.10407411 0.02000000 0.10798173 0.02000000 0.10039117 0.02000000 0.04102071 0.02157705 0.02240224 0.05150057 0.02109503 0.07320261 0.12118012 0.13257751 0.09097888 0.08379871 0.08630293 0.08638274 0.08138607 0.09935089 0.03272047 0.03534706 0.07528422 0.05596688 0.04377682 0.02000000 0.07941652 0.02499290 0.06030038 0.04861565 0.07683294 0.27717294 0.15622407 0.08142320 0.49454990 0.05814175 0.09393505 0.02127854 0.12044545 0.06858163 0.07988311 0.10193494 0.32467211 0.02000000 0.08199481 0.02000000 0.09342213 0.02000000 0.11218131 0.32851821 0.10775309 0.34187633 0.09950532 0.03735808 0.04996445 0.02000000 0.02531995 0.02388168 0.01818305 0.02395496 0.15948104 0.02000000 0.12859783 0.02059834 0.06307933 0.02000000 0.07510749 0.02000000 0.03285057 0.17407100 0.08138226 0.02745591 0.13554614 0.15280641 0.14053548 0.02000000 0.07907957 0.07437117 0.09998556 0.02000000 0.11766078 0.07268011 0.12197799
diff --git a/Applications/CMC/test/testCMCWithControlConstraintsGait2354.cpp b/Applications/CMC/test/testCMCWithControlConstraintsGait2354.cpp
index 9b42f9c3bc..48ce06df85 100644
--- a/Applications/CMC/test/testCMCWithControlConstraintsGait2354.cpp
+++ b/Applications/CMC/test/testCMCWithControlConstraintsGait2354.cpp
@@ -75,7 +75,7 @@ void testGait2354() {
__FILE__, __LINE__, "testGait2354 tracking failed");
Storage results2("subject01_ResultsCMC/subject01_walk1_states.sto");
- Storage standard2("std_subject01_walk1_states.sto");
+ Storage standard2("std_subject01_walk1_states_WithControlConstraints.sto");
Array<string> col_labels = standard2.getColumnLabels();
diff --git a/OpenSim/Analyses/InducedAccelerations.cpp b/OpenSim/Analyses/InducedAccelerations.cpp
index e6e9119858..f7f8f93cce 100644
--- a/OpenSim/Analyses/InducedAccelerations.cpp
+++ b/OpenSim/Analyses/InducedAccelerations.cpp
@@ -963,16 +963,25 @@ Array<bool> InducedAccelerations::applyContactConstraintAccordingToExternalForce
point = exf->getPointAtTime(t);
// point should be expressed in the "applied to" body for consistency across all constraints
if(exf->getPointExpressedInBodyName() != exf->getAppliedToBodyName()){
-
- const PhysicalFrame* appliedToBody = _model->findComponent<PhysicalFrame>(exf->getAppliedToBodyName());
- const PhysicalFrame* expressedInBody = _model->findComponent<PhysicalFrame>(exf->getPointExpressedInBodyName());
-
-
+ const PhysicalFrame* appliedToBody =
+ _model->findComponent<PhysicalFrame>(
+ exf->getAppliedToBodyName());
+ const PhysicalFrame* expressedInBody =
+ _model->findComponent<PhysicalFrame>(
+ exf->getPointExpressedInBodyName());
+ OPENSIM_THROW_IF_FRMOBJ(appliedToBody == nullptr, Exception,
+ "ExternalForce's appliedToBody " +
+ exf->getAppliedToBodyName() + " not found.");
+ OPENSIM_THROW_IF_FRMOBJ(expressedInBody == nullptr, Exception,
+ "ExternalForce's pointExpressedInBodyName " +
+ exf->getPointExpressedInBodyName() +
+ " not found.");
OPENSIM_THROW_IF_FRMOBJ(appliedToBody == nullptr, Exception, "ExternalForce's appliedToBody " + exf->getAppliedToBodyName() + " not found.");
OPENSIM_THROW_IF_FRMOBJ(expressedInBody == nullptr, Exception, "ExternalForce's pointExpressedInBodyName " + exf->getPointExpressedInBodyName() + " not found.");
_model->getMultibodySystem().realize(s, SimTK::Stage::Velocity);
- point = expressedInBody->findStationLocationInAnotherFrame(s, point, *appliedToBody);
+ point = expressedInBody->findStationLocationInAnotherFrame(
+ s, point, *appliedToBody);
}
_constraintSet.get(i).setContactPointForInducedAccelerations(s, point);
diff --git a/OpenSim/Analyses/InducedAccelerationsSolver.cpp b/OpenSim/Analyses/InducedAccelerationsSolver.cpp
index dd2563f765..5c65110300 100644
--- a/OpenSim/Analyses/InducedAccelerationsSolver.cpp
+++ b/OpenSim/Analyses/InducedAccelerationsSolver.cpp
@@ -345,15 +345,24 @@ Array<bool> InducedAccelerationsSolver::
point = exf->getPointAtTime(t);
// point should be expressed in the "applied to" body for consistency across all constraints
if(exf->getPointExpressedInBodyName() != exf->getAppliedToBodyName()){
-
- const PhysicalFrame* appliedToBody = getModel().findComponent<PhysicalFrame>(exf->getAppliedToBodyName());
- const PhysicalFrame* expressedInBody = getModel().findComponent<PhysicalFrame>(exf->getPointExpressedInBodyName());
+ const PhysicalFrame* appliedToBody =
+ getModel().findComponent<PhysicalFrame>(
+ exf->getAppliedToBodyName());
+ const PhysicalFrame* expressedInBody =
+ getModel().findComponent<PhysicalFrame>(
+ exf->getPointExpressedInBodyName());
+
+ OPENSIM_THROW_IF_FRMOBJ(appliedToBody == nullptr, Exception,
+ "ExternalForce's appliedToBody " +
+ exf->getAppliedToBodyName() + " not found.");
+ OPENSIM_THROW_IF_FRMOBJ(expressedInBody == nullptr, Exception,
+ "ExternalForce's pointExpressedInBodyName " +
+ exf->getPointExpressedInBodyName() +
+ " not found.");
- OPENSIM_THROW_IF_FRMOBJ(appliedToBody == nullptr, Exception, "ExternalForce's appliedToBody " + exf->getAppliedToBodyName() + " not found.");
- OPENSIM_THROW_IF_FRMOBJ(expressedInBody == nullptr, Exception, "ExternalForce's pointExpressedInBodyName " + exf->getPointExpressedInBodyName() + " not found.");
-
getModel().getMultibodySystem().realize(s, SimTK::Stage::Velocity);
- point = expressedInBody->findStationLocationInAnotherFrame(s, point, *appliedToBody);
+ point = expressedInBody->findStationLocationInAnotherFrame(
+ s, point, *appliedToBody);
}
_replacementConstraints[i].setContactPointForInducedAccelerations(s, point);
diff --git a/OpenSim/Common/XMLDocument.cpp b/OpenSim/Common/XMLDocument.cpp
index 9821f1ac78..da02e5c9f9 100644
--- a/OpenSim/Common/XMLDocument.cpp
+++ b/OpenSim/Common/XMLDocument.cpp
@@ -65,7 +65,8 @@ using namespace std;
// 30515 for WrapObject color, display_preference, VisibleObject -> Appearance
// 30516 for GeometryPath default_color -> Appearance
// 30517 for removal of _connectee_name suffix to shorten XML for socket, input
-// 40000 for OpenSim 4.0 release
+// 40000 for OpenSim 4.0 release 40000
+
const int XMLDocument::LatestVersion = 40000;
//=============================================================================
// DESTRUCTOR AND CONSTRUCTOR(S)
diff --git a/OpenSim/Simulation/Model/AbstractTool.cpp b/OpenSim/Simulation/Model/AbstractTool.cpp
index 715d569165..e11703e37b 100644
--- a/OpenSim/Simulation/Model/AbstractTool.cpp
+++ b/OpenSim/Simulation/Model/AbstractTool.cpp
@@ -584,59 +584,6 @@ bool AbstractTool::createExternalLoads( const string& aExternalLoadsFileName,
throw(ex);
}
- string loadKinematicsFileName =
- externalLoads->getExternalLoadsModelKinematicsFileName();
-
- const Storage *loadKinematicsForPointTransformation = nullptr;
-
- IO::TrimLeadingWhitespace(loadKinematicsFileName);
- Storage *temp = NULL;
- // fine if there are no kinematics as long as it was not assigned
- if (!(loadKinematicsFileName == "") && !(loadKinematicsFileName == "Unassigned")) {
- if (IO::FileExists(loadKinematicsFileName)) {
- temp = new Storage(loadKinematicsFileName);
- }
- else {
- // attempt to find the file local to the external loads XML file
- std::string savedCwd = IO::getCwd();
- IO::chDir(IO::getParentDirectory(aExternalLoadsFileName));
- if (IO::FileExists(loadKinematicsFileName)) {
- temp = new Storage(loadKinematicsFileName);
- IO::chDir(savedCwd);
- }
- else {
- IO::chDir(savedCwd);
- throw Exception("AbstractTool: could not find external loads kinematics file '"
- + loadKinematicsFileName + "'.");
- }
- }
- // if loading the data, do whatever filtering operations are also specified
- if (temp && externalLoads->getLowpassCutoffFrequencyForLoadKinematics() >= 0) {
- log_info("Low-pass filtering coordinates data with a cutoff frequency of {}.",
- _externalLoads.getLowpassCutoffFrequencyForLoadKinematics());
- temp->pad(temp->getSize() / 2);
- temp->lowpassIIR(externalLoads->getLowpassCutoffFrequencyForLoadKinematics());
- }
- loadKinematicsForPointTransformation = temp;
- }
-
- // if load kinematics for performing re-expressing the point of application is provided
- // then perform the transformations
- if(loadKinematicsForPointTransformation){
- SimTK::State& s = copyModel.initSystem();
-
- // Form complete storage so that the kinematics match the state labels/ordering
- Storage *qStore=NULL;
- Storage *uStore=NULL;
- copyModel.getSimbodyEngine().formCompleteStorages(s,
- *loadKinematicsForPointTransformation,
- qStore, uStore);
-
- externalLoads->transformPointsExpressedInGroundToAppliedBodies(*qStore, _ti, _tf);
- delete qStore;
- delete uStore;
- }
-
//Now add the ExternalLoads (transformed or not) to the Model to be analyzed
ExternalLoads* exLoadsClone = externalLoads->clone();
aModel.addModelComponent(exLoadsClone);
diff --git a/OpenSim/Simulation/Model/ExternalLoads.cpp b/OpenSim/Simulation/Model/ExternalLoads.cpp
index e55de46fb5..5f769d18c4 100644
--- a/OpenSim/Simulation/Model/ExternalLoads.cpp
+++ b/OpenSim/Simulation/Model/ExternalLoads.cpp
@@ -49,9 +49,7 @@ ExternalLoads::~ExternalLoads()
* Default constructor.
*/
ExternalLoads::ExternalLoads():
-_dataFileName(_dataFileNameProp.getValueStr()),
-_externalLoadsModelKinematicsFileName(_externalLoadsModelKinematicsFileNameProp.getValueStr()),
-_lowpassCutoffFrequencyForLoadKinematics(_lowpassCutoffFrequencyForLoadKinematicsProp.getValueDbl())
+_dataFileName(_dataFileNameProp.getValueStr())
{
setNull();
}
@@ -59,8 +57,6 @@ _lowpassCutoffFrequencyForLoadKinematics(_lowpassCutoffFrequencyForLoadKinematic
ExternalLoads::ExternalLoads(const std::string &fileName, bool updateFromXMLNode) :
Super(fileName, false),
_dataFileName(_dataFileNameProp.getValueStr()),
- _externalLoadsModelKinematicsFileName(_externalLoadsModelKinematicsFileNameProp.getValueStr()),
- _lowpassCutoffFrequencyForLoadKinematics(_lowpassCutoffFrequencyForLoadKinematicsProp.getValueDbl()),
_loadedFromFile(fileName)
{
setNull();
@@ -78,9 +74,7 @@ ExternalLoads::ExternalLoads(const std::string &fileName, bool updateFromXMLNode
*/
ExternalLoads::ExternalLoads(const ExternalLoads &otherExternalLoads) :
ModelComponentSet<ExternalForce>(otherExternalLoads),
- _dataFileName(_dataFileNameProp.getValueStr()),
- _externalLoadsModelKinematicsFileName(_externalLoadsModelKinematicsFileNameProp.getValueStr()),
- _lowpassCutoffFrequencyForLoadKinematics(_lowpassCutoffFrequencyForLoadKinematicsProp.getValueDbl())
+ _dataFileName(_dataFileNameProp.getValueStr())
{
setNull();
@@ -115,8 +109,6 @@ void ExternalLoads::copyData(const ExternalLoads &aAbsExternalLoads)
{
// ACTUATORS
_dataFileName = aAbsExternalLoads._dataFileName;
- _externalLoadsModelKinematicsFileName = aAbsExternalLoads._externalLoadsModelKinematicsFileName;
- _lowpassCutoffFrequencyForLoadKinematics = aAbsExternalLoads._lowpassCutoffFrequencyForLoadKinematics;
_storages = aAbsExternalLoads._storages;
_loadedFromFile = aAbsExternalLoads._loadedFromFile;
}
@@ -134,23 +126,6 @@ void ExternalLoads::setupSerializedMembers()
"Note: this file overrides the data source specified by the individual external forces if specified.";
_dataFileNameProp.setComment(comment);
_propertySet.append(&_dataFileNameProp);
-
- _externalLoadsModelKinematicsFileName="";
- comment = "The option is deprecated and unnecessary to apply external loads. "
- "A motion file (.mot) or storage file (.sto) containing the model kinematics "
- "used to transform a point expressed in ground to the body of force application."
- "If the point is not expressed in ground, the point is not transformed";
- _externalLoadsModelKinematicsFileNameProp.setComment(comment);
- _externalLoadsModelKinematicsFileNameProp.setName("external_loads_model_kinematics_file");
- _propertySet.append( &_externalLoadsModelKinematicsFileNameProp );
-
- _lowpassCutoffFrequencyForLoadKinematics=-1.0;
- comment = "Optional low-pass cut-off frequency for filtering the model kinematics corresponding "
- "used to transform the point of application. A negative value results in no filtering. "
- "The default value is -1.0, so no filtering.";
- _lowpassCutoffFrequencyForLoadKinematicsProp.setComment(comment);
- _lowpassCutoffFrequencyForLoadKinematicsProp.setName("lowpass_cutoff_frequency_for_load_kinematics");
- _propertySet.append( &_lowpassCutoffFrequencyForLoadKinematicsProp );
}
@@ -433,16 +408,18 @@ void ExternalLoads::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNum
SimTK::String transcoded = dataFileElementIter->getValueAs<SimTK::String>();
if (transcoded.length()>0)
_dataFileName =transcoded;
- }
+ }
SimTK::Xml::element_iterator kinFileNode = aNode.element_begin("external_loads_model_kinematics_file");
if (kinFileNode != aNode.element_end()){
SimTK::String transcoded = kinFileNode->getValueAs<SimTK::String>();
if (transcoded.length()>0)
- _externalLoadsModelKinematicsFileName =transcoded;
- }
+ log_warn("ExternalLoads: external_loads_model_kinematics_file option is not supported anymore."
+ "Results may change.");
+ }
SimTK::Xml::element_iterator kinFilterNode = aNode.element_begin("lowpass_cutoff_frequency_for_load_kinematics");
if (kinFilterNode != aNode.element_end()){
- _lowpassCutoffFrequencyForLoadKinematics = kinFilterNode->getValueAs<double>();
+ // This is now unnecessary since we dropped supoprt for external_loads_model_kinematics_file
+ // _lowpassCutoffFrequencyForLoadKinematics = kinFilterNode->getValueAs<double>();
}
bool changeWorkingDir = false;
std::string savedCwd;
@@ -506,7 +483,20 @@ void ExternalLoads::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNum
}
delete dataSource;
}
- else
+ else {
+ // Warn on removed external_loads_kinematics_specification
+ SimTK::Xml::element_iterator kinFileNode =
+ aNode.element_begin("external_loads_model_kinematics_file");
+ if (kinFileNode != aNode.element_end()) {
+ SimTK::String transcoded =
+ kinFileNode->getValueAs<SimTK::String>();
+ if (transcoded.length() > 0)
+ log_warn("ExternalLoades: "
+ "external_loads_model_kinematics_file "
+ "option is not supported anymore. Results may "
+ "change.");
+ }
+ }
// Call base class now assuming _node has been corrected for current version
ModelComponentSet<ExternalForce>::updateFromXMLNode(aNode, versionNumber);
}
diff --git a/OpenSim/Simulation/Model/ExternalLoads.h b/OpenSim/Simulation/Model/ExternalLoads.h
index baf85fba1f..95d181ee45 100644
--- a/OpenSim/Simulation/Model/ExternalLoads.h
+++ b/OpenSim/Simulation/Model/ExternalLoads.h
@@ -70,15 +70,6 @@ OpenSim_DECLARE_CONCRETE_OBJECT(ExternalLoads,
* external forces identify which subsets of the data they will access.*/
PropertyStr _dataFileNameProp;
std::string &_dataFileName;
- /** Name of the file containing the model kinematics corresponding to the
- external loads. */
- PropertyStr _externalLoadsModelKinematicsFileNameProp;
- std::string &_externalLoadsModelKinematicsFileName;
- /** 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. */
- PropertyDbl _lowpassCutoffFrequencyForLoadKinematicsProp;
- double &_lowpassCutoffFrequencyForLoadKinematics;
private:
/* If point of applications for external forces must be re-expressed
@@ -120,11 +111,6 @@ OpenSim_DECLARE_CONCRETE_OBJECT(ExternalLoads,
const std::string& getDataFileName() const { return _dataFileName;};
void setDataFileName(const std::string& aNewFile) { _dataFileName = aNewFile; };
- const std::string &getExternalLoadsModelKinematicsFileName() const { return _externalLoadsModelKinematicsFileName; }
- void setExternalLoadsModelKinematicsFileName(const std::string &aFileName) { _externalLoadsModelKinematicsFileName = aFileName; }
- double getLowpassCutoffFrequencyForLoadKinematics() const { return _lowpassCutoffFrequencyForLoadKinematics; }
- void setLowpassCutoffFrequencyForLoadKinematics(double aLowpassCutoffFrequency) { _lowpassCutoffFrequencyForLoadKinematics = aLowpassCutoffFrequency; }
-
void transformPointsExpressedInGroundToAppliedBodies(const Storage &kinematics, double startTime = -SimTK::Infinity, double endTime = SimTK::Infinity);
ExternalForce* transformPointExpressedInGroundToAppliedBody(const ExternalForce &exForce, const Storage &kinematics, double startTime, double endTime);
diff --git a/OpenSim/Tools/DynamicsTool.cpp b/OpenSim/Tools/DynamicsTool.cpp
index 0f40ae0888..525892db0c 100644
--- a/OpenSim/Tools/DynamicsTool.cpp
+++ b/OpenSim/Tools/DynamicsTool.cpp
@@ -254,62 +254,6 @@ bool DynamicsTool::createExternalLoads( const string& aExternalLoadsFileName,
throw(ex);
}
- string loadKinematicsFileName =
- externalLoads->getExternalLoadsModelKinematicsFileName();
-
- const Storage *loadKinematicsForPointTransformation = nullptr;
-
- IO::TrimLeadingWhitespace(loadKinematicsFileName);
- Storage *temp = NULL;
- // fine if there are no kinematics as long as it was not assigned
- if (!(loadKinematicsFileName == "") && !(loadKinematicsFileName == "Unassigned")) {
- if (IO::FileExists(loadKinematicsFileName)) {
- temp = new Storage(loadKinematicsFileName);
- }
- else {
- // attempt to find the file local to the external loads XML file
- std::string savedCwd = IO::getCwd();
- IO::chDir(IO::getParentDirectory(aExternalLoadsFileName));
- if (IO::FileExists(loadKinematicsFileName)) {
- temp = new Storage(loadKinematicsFileName);
- IO::chDir(savedCwd);
- }
- else {
- IO::chDir(savedCwd);
- throw Exception("DynamicsTool: could not find external loads kinematics file '"
- + loadKinematicsFileName + "'.");
- }
- }
- // if loading the data, do whatever filtering operations are also specified
- if (temp && externalLoads->getLowpassCutoffFrequencyForLoadKinematics() >= 0) {
- log_info("Low-pass filtering coordinates data with a cutoff "
- "frequency of {:0.1f}.",
- _externalLoads.getLowpassCutoffFrequencyForLoadKinematics());
- temp->pad(temp->getSize() / 2);
- temp->lowpassIIR(externalLoads->getLowpassCutoffFrequencyForLoadKinematics());
- }
- loadKinematicsForPointTransformation = temp;
- }
-
-
- // if load kinematics for performing re-expressing the point of application is provided
- // then perform the transformations
- if(loadKinematicsForPointTransformation){
- SimTK::State& s = copyModel.initSystem();
-
- // Form complete storage so that the kinematics match the state labels/ordering
- Storage *qStore=NULL;
- Storage *uStore=NULL;
- // qStore and uStore returned are in radians
- copyModel.getSimbodyEngine().formCompleteStorages(s,
- *loadKinematicsForPointTransformation,
- qStore, uStore);
-
- externalLoads->transformPointsExpressedInGroundToAppliedBodies(*qStore, _timeRange[0], _timeRange[1]);
- delete qStore;
- delete uStore;
- }
-
//Now add the ExternalLoads (transformed or not) to the Model to be analyzed
ExternalLoads* exLoadsClone = externalLoads->clone();
aModel.addModelComponent(exLoadsClone);