Merge pull request #3896 from AllisonJohn/moco_inverse_trajectory

Added accessor for kinematics from `MocoInverse` init
opensim-org · Aug 30, 2024 · 43e2c6b · 43e2c6b
2 parents 38fed30 + 59258a4
commit 43e2c6b
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diff --git a/CHANGELOG_MOCO.md b/CHANGELOG_MOCO.md
@@ -3,6 +3,9 @@ Moco Change Log
 
 1.4.0
 -----
+- 2024-08-30: Added `MocoInverse::initializeKinematics()` to allow users to retrieve kinematics after
+              converting the `MocoInverse` to a `MocoStudy`. 
+
 - 2024-08-26: Changed all `printDescription()` and `printDescriptionImpl()` methods to log at level info 
               instead of cout.
 

diff --git a/OpenSim/Moco/MocoInverse.cpp b/OpenSim/Moco/MocoInverse.cpp
@@ -42,6 +42,10 @@ void MocoInverse::constructProperties() {
 
 MocoStudy MocoInverse::initialize() const { return initializeInternal().first; }
 
+TimeSeriesTable MocoInverse::initializeKinematics() const {
+    return initializeInternal().second;
+}
+
 std::pair<MocoStudy, TimeSeriesTable> MocoInverse::initializeInternal() const {
 
     // Process inputs.

diff --git a/OpenSim/Moco/MocoInverse.h b/OpenSim/Moco/MocoInverse.h
@@ -199,6 +199,7 @@ class OSIMMOCO_API MocoInverse : public MocoTool {
     }
 
     MocoStudy initialize() const;
+    TimeSeriesTable initializeKinematics() const;
     /// Solve the problem returned by initialize() and compute the outputs
     /// listed in output_paths.
     MocoInverseSolution solve() const;

diff --git a/OpenSim/Moco/Test/testMocoInverse.cpp b/OpenSim/Moco/Test/testMocoInverse.cpp
@@ -207,7 +207,19 @@ TEST_CASE("MocoInverse Rajagopal2016, 18 muscles", "[casadi]") {
             CHECK(med_gas_l_excitation[i] <=
                     Approx(0.1).margin(1e-6));
         }
+    }
 
+    SECTION("initializeKinematics") {
+        auto kinematics = inverse.initializeKinematics();
+        // check that some of the expected columns are there
+        CHECK_NOTHROW(kinematics.getColumnIndex(
+                "/jointset/hip_r/hip_rotation_r/value"));
+        CHECK_NOTHROW(kinematics.getColumnIndex(
+                "/jointset/ground_pelvis/pelvis_tilt/value"));
+        CHECK_NOTHROW(kinematics.getColumnIndex(
+                "/jointset/walker_knee_r/knee_angle_r/speed"));
+        CHECK_NOTHROW(kinematics.getColumnIndex(
+                "/jointset/back/lumbar_extension/speed"));
     }
 }
 // Next test_case fails on linux while parsing .sto file, disabling for now