-
Notifications
You must be signed in to change notification settings - Fork 311
/
testInverseKinematicsSolver.cpp
937 lines (750 loc) · 35.1 KB
/
testInverseKinematicsSolver.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
/* -------------------------------------------------------------------------- *
* OpenSim: testInverseKinematicsSolver.cpp *
* -------------------------------------------------------------------------- *
* The OpenSim API is a toolkit for musculoskeletal modeling and simulation. *
* See http://opensim.stanford.edu and the NOTICE file for more information. *
* OpenSim is developed at Stanford University and supported by the US *
* National Institutes of Health (U54 GM072970, R24 HD065690) and by DARPA *
* through the Warrior Web program. *
* *
* Copyright (c) 2005-2017 Stanford University and the Authors *
* Author(s): Ajay Seth *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
//=============================================================================
// testInverseKinematicsSolver verifies that changes to the accuracy and marker
// weights have expected effects on the inverse kinematics results/errors
//=============================================================================
#include <OpenSim/Simulation/osimSimulation.h>
#include <OpenSim/Simulation/InverseKinematicsSolver.h>
#include <OpenSim/Simulation/MarkersReference.h>
#include <OpenSim/Simulation/BufferedOrientationsReference.h>
#include <OpenSim/Common/MarkerData.h>
#include <OpenSim/Common/Constant.h>
#include <OpenSim/Common/STOFileAdapter.h>
#include <random>
#include <catch2/catch_all.hpp>
using namespace OpenSim;
using namespace std;
namespace {
// Utility function to build a simple pendulum with markers attached
Model* constructPendulumWithMarkers()
{
Model* pendulum = new Model();
pendulum->setName("pendulum");
Body* ball =
new Body("ball", 1.0, SimTK::Vec3(0), SimTK::Inertia::sphere(0.05));
pendulum->addBody(ball);
// PinJoint hinge is 1m above ground origin and 1m above the ball in the
// ball reference frame such that the ball center is at the origin with
// the hinge angle is zero
PinJoint* hinge = new PinJoint("hinge", pendulum->getGround(),
SimTK::Vec3(0, 1.0, 0), SimTK::Vec3(0),
*ball, SimTK::Vec3(0, 1.0, 0), SimTK::Vec3(0));
hinge->updCoordinate().setName("theta");
pendulum->addJoint(hinge);
// Add Markers
Marker*m0 = new Marker();
m0->setName("m0");
m0->setParentFrame(*ball);
m0->set_location(SimTK::Vec3(0));
pendulum->addMarker(m0);
// Shifted Right 1cm
Marker*mR = new Marker();
mR->setName("mR");
mR->setParentFrame(*ball);
mR->set_location(SimTK::Vec3(0.01, 0, 0));
pendulum->addMarker(mR);
// Shifted Left 2cm
Marker*mL = new Marker();
mL->setName("mL");
mL->setParentFrame(*ball);
mL->set_location(SimTK::Vec3(-0.02, 0, 0));
pendulum->addMarker(mL);
return pendulum;
}
// Using a model with markers and trajectory of states, create synthetic
// marker data. If noiseRadius is provided use it to scale the noise
// that perturbs the marker data. Optionally, use the constantOffset
// parameter true to use the same noise for each time frame, otherwise
// randomly select the noise to be added at each frame.
TimeSeriesTable_<SimTK::Vec3>
generateMarkerDataFromModelAndStates(const Model& model,
const StatesTrajectory& states,
const SimTK::RowVector_<SimTK::Vec3>& biases,
double noiseRadius = 0,
bool isConstantOffset = false) {
// use a fixed seed so that we can reproduce and debug failures.
std::mt19937 gen(0);
std::normal_distribution<double> noise(0.0, 1);
unique_ptr<Model> m{ model.clone() };
auto* markerReporter = new TableReporterVec3();
auto markers = m->updComponentList<Marker>();
int cnt = 0;
for (auto& marker : markers) {
marker.set_location(marker.get_location() + biases[cnt++]);
markerReporter->addToReport(
marker.getOutput("location"), marker.getName());
}
m->addComponent(markerReporter);
SimTK::State s = m->initSystem();
for (const auto& state : states) {
// collect results into reporter
m->realizeReport(state);
}
// make a copy of the reported table
auto results = markerReporter->getTable();
SimTK::Vec3 offset = noiseRadius*SimTK::Vec3(double(noise(gen)),
double(noise(gen)),
double(noise(gen)));
if (noiseRadius >= SimTK::Eps) {
for (size_t i = 0; i < results.getNumRows(); ++i) {
auto row = results.updRowAtIndex(i);
for (int j = 0; j < row.size(); ++j) {
if (!isConstantOffset) {
offset = noiseRadius*SimTK::Vec3(double(noise(gen)),
double(noise(gen)),
double(noise(gen)));
}
// add noise to each marker
row[j] += offset;
}
}
}
return results;
}
// Utility function to build a simple 3dof leg model
Model* constructLegWithOrientationFrames()
{
std::unique_ptr<Model> leg{ new Model() };
leg->setName("leg");
Body* thigh =
new Body("thigh", 5.0, SimTK::Vec3(0),
SimTK::Inertia::cylinderAlongY(0.1, 0.5) );
leg->addBody(thigh);
Body* shank =
new Body("shank", 2.0, SimTK::Vec3(0),
SimTK::Inertia::cylinderAlongY(0.04, 0.4) );
leg->addBody(shank);
Body* foot =
new Body("foot", 1.0, SimTK::Vec3(0),
SimTK::Inertia::cylinderAlongY(0.02, 0.1));
leg->addBody(foot);
// PinJoint hip is 1m above ground origin and 1m above the ball in the
// ball reference frame such that the ball center is at the origin with
// the hinge angle is zero
PinJoint* hip = new PinJoint("hip", leg->getGround(),
SimTK::Vec3(0, 1.0, 0), SimTK::Vec3(0),
*thigh, SimTK::Vec3(0, 0.25, 0), SimTK::Vec3(0));
hip->updCoordinate().setName("flex");
leg->addJoint(hip);
PinJoint* knee = new PinJoint("knee", *thigh,
SimTK::Vec3(0, -0.25, 0), SimTK::Vec3(0),
*shank, SimTK::Vec3(0, 0.2, 0), SimTK::Vec3(0));
knee->updCoordinate().setName("flex");
leg->addJoint(knee);
PinJoint* ankle = new PinJoint("ankle", *shank,
SimTK::Vec3(0, -0.2, 0), SimTK::Vec3(0),
*foot, SimTK::Vec3(0, 0.1, 0), SimTK::Vec3(0));
ankle->updCoordinate().setName("flex");
leg->addJoint(ankle);
// Add Orientation Sensor Frames
SimTK::Transform offset(SimTK::Rotation(0.378, SimTK::YAxis) );
thigh->addComponent(new PhysicalOffsetFrame("thigh_imu", *thigh, offset));
shank->addComponent(new PhysicalOffsetFrame("shank_imu", *shank, offset));
foot->addComponent(new PhysicalOffsetFrame("foot_imu", *foot, offset));
return leg.release();
}
// Using a model with orientation reference frames and a trajectory of
// states, create synthetic orientation data. If noiseRadius is provided
// use it to scale the noise that perturbs the orientation data. Optionally,
// use the constantOffset parameter true to use the same noise for each time
// frame, otherwise randomly select the noise to be added at each frame.
TimeSeriesTable_<SimTK::Rotation>
generateOrientationsDataFromModelAndStates(const Model& model,
const StatesTrajectory& states,
const SimTK::RowVector_<SimTK::Rotation>& biases,
double noiseLevel, // noise standard deviation in radians
bool constantOffset) {
// use a fixed seed so that we can reproduce and debug failures.
std::mt19937 gen(0);
std::normal_distribution<double> noise(0.0, 1);
unique_ptr<Model> m{ model.clone() };
auto* orientationsReporter = new TableReporter_<SimTK::Rotation>();
auto imus = m->updComponentList<PhysicalOffsetFrame>();
int cnt = 0;
for (auto& imu : imus) {
if (imu.getName().find("_imu") != std::string::npos) {
imu.setOffsetTransform(
SimTK::Transform(imu.getOffsetTransform().R()*biases[cnt++]));
orientationsReporter->addToReport(
imu.getOutput("rotation"), imu.getName());
}
}
m->addComponent(orientationsReporter);
SimTK::State s = m->initSystem();
for (const auto& state : states) {
// collect results into reporter
m->realizeReport(state);
}
// make a copy of the reported table
auto results = orientationsReporter->getTable();
SimTK::Rotation offset = SimTK::Rotation(
SimTK::BodyRotationSequence,
noiseLevel*double(noise(gen)), SimTK::XAxis,
noiseLevel*double(noise(gen)), SimTK::YAxis,
noiseLevel*double(noise(gen)), SimTK::ZAxis );
cout << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl;
if (noiseLevel >= SimTK::Eps) {
for (size_t i = 0; i < results.getNumRows(); ++i) {
auto row = results.updRowAtIndex(i);
for (int j = 0; j < row.size(); ++j) {
if (!constantOffset) {
offset = SimTK::Rotation(SimTK::BodyRotationSequence,
noiseLevel*double(noise(gen)), SimTK::XAxis,
noiseLevel*double(noise(gen)), SimTK::YAxis,
noiseLevel*double(noise(gen)), SimTK::ZAxis);
}
// add noise to each orientation sensor
row[j] *= offset;
}
}
}
return results;
}
}
// Verify that the marker weight are consistent with the initial Set
// of MarkerWeights used to construct the MarkersReference
TEST_CASE("testMarkersReference")
{
// column labels for marker data
vector<std::string> labels{ "A", "B", "C", "D", "E", "F" };
// for testing construct a set of marker weights is a different order
vector<int> order = { 3, 5, 1, 4, 0, 2 };
size_t nc = labels.size();
size_t nr = 5;
TimeSeriesTable_<SimTK::Vec3> markerData;
markerData.setColumnLabels(labels);
for (size_t r{0}; r < nr; ++r) {
SimTK::RowVector_<SimTK::Vec3> row{ int(nc), SimTK::Vec3(0) };
markerData.appendRow(0.1*r, row);
}
Set<MarkerWeight> markerWeights;
for (size_t m{0}; m < nc; ++m)
markerWeights.adoptAndAppend(
new MarkerWeight(labels[order[m]], double(order[m])) );
std::cout << markerWeights.dump() << std::endl;
MarkersReference markersRef(markerData, markerWeights);
Model model;
SimTK::State& s = model.initSystem();
s.updTime() = 0.0;
SimTK::Array_<string> names = markersRef.getNames();
SimTK::Array_<double> weights;
markersRef.getWeights(s, weights);
SimTK_ASSERT_ALWAYS(names.size() == weights.size(),
"Number of markers does not match number of weights.");
for (unsigned int i{ 0 }; i < names.size(); ++i) {
std::cout << names[i] << ": " << weights[i] << std::endl;
SimTK_ASSERT_ALWAYS(weights[i] == double(i),
"Mismatched weight to marker.");
}
// Add marker weights for markers not present in the data
markerWeights.adoptAndAppend(new MarkerWeight("X", 0.1));
markerWeights.insert(0, new MarkerWeight("Y", 0.01));
MarkersReference markersRef2(markerData, markerWeights);
auto& mWeightSet = markersRef2.get_marker_weights();
// verify that internal weight set was updated
std::cout << mWeightSet.dump() << std::endl;
names = markersRef2.getNames();
markersRef2.getWeights(s, weights);
SimTK_ASSERT_ALWAYS(names.size() == weights.size(),
"Number of markers does not match number of weights.");
for (unsigned int i=0; i < names.size(); ++i) {
std::cout << names[i] << ": " << weights[i] << std::endl;
SimTK_ASSERT_ALWAYS(weights[i] == double(i),
"Mismatched weight to marker.");
}
}
// Verify that the orientations sensor weights are consistent with the initial
// Set of OrientationWeights used to construct the OrientationsReference
TEST_CASE("testOrientationsReference") {
// column labels for orientation sensor data
vector<std::string> labels{"A", "B", "C", "D", "E", "F"};
// for testing construct a set of marker weights in a different order
vector<int> order = {3, 5, 1, 4, 0, 2};
size_t nc = labels.size(); // number of columns of orientation data
size_t nr = 5; // number of rows of orientation data
TimeSeriesTable_<SimTK::Rotation> orientationData;
orientationData.setColumnLabels(labels);
for (size_t r{0}; r < nr; ++r) {
SimTK::RowVector_<SimTK::Rotation> row{int(nc), SimTK::Rotation()};
orientationData.appendRow(0.1 * r, row);
}
Set<OrientationWeight> orientationWeights;
for (size_t m{0}; m < nc; ++m)
orientationWeights.adoptAndAppend(
new OrientationWeight(labels[order[m]], double(order[m])));
std::cout << orientationWeights.dump() << std::endl;
OrientationsReference orientationsRef(orientationData, &orientationWeights);
Model model;
SimTK::State& s = model.initSystem();
s.updTime() = 0.0;
SimTK::Array_<string> names = orientationsRef.getNames();
SimTK::Array_<double> weights;
orientationsRef.getWeights(s, weights);
SimTK_ASSERT_ALWAYS(names.size() == weights.size(),
"Number of markers does not match number of weights.");
for (unsigned int i{0}; i < names.size(); ++i) {
std::cout << names[i] << ": " << weights[i] << std::endl;
SimTK_ASSERT_ALWAYS(
weights[i] == double(i), "Mismatched weight to marker.");
}
// Add marker weights for markers not present in the data
orientationWeights.adoptAndAppend(new OrientationWeight("X", 0.1));
orientationWeights.insert(0, new OrientationWeight("Y", 0.01));
OrientationsReference orientationsRef2(
orientationData, &orientationWeights);
auto& oWeightSet = orientationsRef2.get_orientation_weights();
// verify that internal weight set was updated
std::cout << oWeightSet.dump() << std::endl;
names = orientationsRef2.getNames();
orientationsRef2.getWeights(s, weights);
SimTK_ASSERT_ALWAYS(names.size() == weights.size(),
"Number of orientation sensors does not match number of weights.");
for (unsigned int i = 0; i < names.size(); ++i) {
std::cout << names[i] << ": " << weights[i] << std::endl;
SimTK_ASSERT_ALWAYS(weights[i] == double(i),
"Mismatched weight to orientation sensor.");
}
}
// Verify that accuracy improves the number of decimals points to which
// the solver solution (coordinates) can be trusted as it is tightened.
TEST_CASE("testAccuracy")
{
cout << "\ntestInverseKinematicsSolver::testAccuracy()" << endl;
std::unique_ptr<Model> pendulum{ constructPendulumWithMarkers() };
Coordinate& coord = pendulum->getCoordinateSet()[0];
double refVal = 0.123456789;
double looseAccuracy = 1e-3;
double tightAccuracy = 1.0e-9;
SimTK::Array_<CoordinateReference> coordRefs;
Constant coordRefFunc(refVal);
CoordinateReference coordRef(coord.getName(), coordRefFunc);
coordRef.setWeight(1.0);
coordRefs.push_back(coordRef);
SimTK::State state = pendulum->initSystem();
double coordValue = coord.getValue(state);
cout.precision(10);
cout << "Initial " << coord.getName() << " value = " << coordValue <<
" referenceValue = " << coordRefs[0].getValue(state) << endl;
coord.setValue(state, refVal);
StatesTrajectory states;
states.append(state);
SimTK::RowVector_<SimTK::Vec3> biases(3, SimTK::Vec3(0));
std::shared_ptr<MarkersReference>
markersRef(
new MarkersReference(generateMarkerDataFromModelAndStates(
*pendulum, states, biases),
Set<MarkerWeight>()));
markersRef->setDefaultWeight(1.0);
// Reset the initial coordinate value
coord.setValue(state, 0.0);
InverseKinematicsSolver ikSolver(*pendulum, markersRef, coordRefs);
ikSolver.setAccuracy(looseAccuracy);
ikSolver.assemble(state);
coordValue = coord.getValue(state);
cout << "Assembled " << coord.getName() << " value = " << coordValue << endl;
double accuracy = abs(coordValue - refVal);
cout << "Specified accuracy: " << looseAccuracy << "; achieved: "
<< accuracy << endl;
// verify that the target accuracy was met after assemble()
SimTK_ASSERT_ALWAYS(accuracy <= looseAccuracy,
"InverseKinematicsSolver assemble() failed to meet specified accuracy");
ikSolver.track(state);
coordValue = coord.getValue(state);
cout << "Tracked " << coord.getName() << " value = " << coordValue << endl;
accuracy = abs(coordValue - refVal);
// verify that the target accuracy was met after track()
SimTK_ASSERT_ALWAYS(accuracy <= looseAccuracy,
"InverseKinematicsSolver track() failed to meet specified accuracy");
SimTK::Array_<double> sqMarkerErrors;
double looseSumSqError = 0;
ikSolver.computeCurrentSquaredMarkerErrors(sqMarkerErrors);
for (const double& err : sqMarkerErrors) {
looseSumSqError += err;
}
cout << "For accuracy: " << looseAccuracy << "; Sum-squared Error: "
<< looseSumSqError << endl;
// Reset the initial coordinate value
coord.setValue(state, 0.0);
ikSolver.setAccuracy(tightAccuracy);
// verify that track() throws after changing the accuracy of the Solver
SimTK_TEST_MUST_THROW_EXC(ikSolver.track(state), Exception);
ikSolver.setAccuracy(tightAccuracy);
ikSolver.assemble(state);
coordValue = coord.getValue(state);
cout << "Assembled " << coord.getName() <<" value = "<< coordValue << endl;
accuracy = abs(coord.getValue(state) - refVal);
cout << "Specified accuracy: " << tightAccuracy << "; achieved: "
<< accuracy << endl;
// verify that the target accuracy was met after tightening the accuracy
SimTK_ASSERT_ALWAYS(accuracy <= tightAccuracy,
"InverseKinematicsSolver assemble() failed to meet tightened accuracy");
// perturb the solution to verify that track() achieves the accuracy
coord.setValue(state, refVal-looseAccuracy);
ikSolver.track(state);
accuracy = abs(coord.getValue(state) - refVal);
// verify that track() achieves the tightened accuracy
SimTK_ASSERT_ALWAYS(accuracy <= tightAccuracy,
"InverseKinematicsSolver track() failed to meet tightened accuracy");
double tightSumSqError = 0;
ikSolver.computeCurrentSquaredMarkerErrors(sqMarkerErrors);
for (const double& err : sqMarkerErrors) {
tightSumSqError += err;
}
cout << "For accuracy: " << tightAccuracy << "; Sum-squared Error: "
<< tightSumSqError << endl;
// refining the accuracy should not increase tracking errors
SimTK_ASSERT_ALWAYS(tightSumSqError <= looseSumSqError,
"InverseKinematicsSolver failed to maintain or lower marker errors "
"when accuracy was tightened.");
}
// Verify that the marker weights impact the solver and has the expected
// effect of reducing the error for the marker weight that is increased.
TEST_CASE("testUpdateMarkerWeights")
{
cout << "\ntestInverseKinematicsSolver::testUpdateMarkerWeights()" << endl;
std::unique_ptr<Model> pendulum{ constructPendulumWithMarkers() };
Coordinate& coord = pendulum->getCoordinateSet()[0];
double refVal = 0.123456789;
SimTK::State state = pendulum->initSystem();
coord.setValue(state, refVal);
StatesTrajectory states;
states.append(state);
SimTK::RowVector_<SimTK::Vec3> biases(3, SimTK::Vec3(0));
std::shared_ptr<MarkersReference>
markersRef(
new MarkersReference(generateMarkerDataFromModelAndStates(*pendulum,
states, biases,
0.02),
Set<MarkerWeight>()));
auto& markerNames = markersRef->getNames();
for (const auto& name : markerNames) {
markersRef->updMarkerWeightSet().adoptAndAppend(
new MarkerWeight(name, 1.0));
}
SimTK::Array_<CoordinateReference> coordRefs;
// Reset the initial coordinate value
coord.setValue(state, 0.0);
InverseKinematicsSolver ikSolver(*pendulum, markersRef, coordRefs);
ikSolver.setAccuracy(1.0e-8);
ikSolver.assemble(state);
double coordValue = coord.getValue(state);
cout << "Assembled " << coord.getName() << " value = "
<< coordValue << endl;
SimTK::Array_<double> nominalMarkerErrors;
ikSolver.computeCurrentMarkerErrors(nominalMarkerErrors);
SimTK::Array_<double> markerWeights;
markersRef->getWeights(state, markerWeights);
for (unsigned int i = 0; i < markerNames.size(); ++i) {
cout << markerNames[i] << "(weight = " << markerWeights[i]
<< ") error = " << nominalMarkerErrors[i] << endl;
}
// Increase the weight of the right marker
markerWeights[1] *= 10.0;
ikSolver.updateMarkerWeights(markerWeights);
// Reset the initial coordinate value
coord.setValue(state, 0.0);
ikSolver.track(state);
coordValue = coord.getValue(state);
cout << "Assembled " << coord.getName() << " value = "
<< coordValue << endl;
SimTK::Array_<double> rightMarkerWeightedErrors;
ikSolver.computeCurrentMarkerErrors(rightMarkerWeightedErrors);
for (unsigned int i = 0; i < markerNames.size(); ++i) {
cout << markerNames[i] << "(weight = " << markerWeights[i]
<< ") error = " << rightMarkerWeightedErrors[i] << endl;
}
// increasing the marker weight (marker[1] = "mR") should cause that marker
// error to decrease
SimTK_ASSERT_ALWAYS(rightMarkerWeightedErrors[1] < nominalMarkerErrors[1],
"InverseKinematicsSolver failed to lower 'right' marker error when "
"marker weight was increased.");
// update the marker weights and repeat for the left hand marker "mL"
markerWeights[2] *= 20.0; // "mL"
ikSolver.updateMarkerWeights(markerWeights);
// Reset the initial coordinate value and reassemble
coord.setValue(state, 0.0);
ikSolver.track(state);
coordValue = coord.getValue(state);
cout << "Assembled " << coord.getName() << " value = "
<< coordValue << endl;
SimTK::Array_<double> leftMarkerWeightedErrors;
ikSolver.computeCurrentMarkerErrors(leftMarkerWeightedErrors);
for (unsigned int i = 0; i < markerNames.size(); ++i) {
cout << markerNames[i] << "(weight = " << markerWeights[i]
<< ") error = " << leftMarkerWeightedErrors[i] << endl;
}
// increasing the marker weight (marker[2] = "mL") should cause that marker
// error to decrease
SimTK_ASSERT_ALWAYS(
leftMarkerWeightedErrors[2] < rightMarkerWeightedErrors[2],
"InverseKinematicsSolver failed to lower 'left' marker error when "
"marker weight was increased.");
}
// Verify that the track() solution is also effected by updating marker
// weights and marker error is being reduced as its weighting increases.
TEST_CASE("testTrackWithUpdateMarkerWeights")
{
cout <<
"\ntestInverseKinematicsSolver::testTrackWithUpdateMarkerWeights()"
<< endl;
std::unique_ptr<Model> pendulum{ constructPendulumWithMarkers() };
Coordinate& coord = pendulum->getCoordinateSet()[0];
SimTK::State state = pendulum->initSystem();
StatesTrajectory states;
// sample time
double dt = 0.01;
for (int i = 0; i < 101; ++i) {
state.updTime()=i*dt;
coord.setValue(state, SimTK::Pi / 3);
states.append(state);
}
SimTK::RowVector_<SimTK::Vec3> biases(3, SimTK::Vec3(0));
std::shared_ptr<MarkersReference> markersRef(
new MarkersReference(generateMarkerDataFromModelAndStates(
*pendulum, states, biases, 0.02, true),
Set<MarkerWeight>()));
auto& markerNames = markersRef->getNames();
for (const auto& name : markerNames) {
markersRef->updMarkerWeightSet().adoptAndAppend(
new MarkerWeight(name, 1.0));
}
SimTK::Array_<CoordinateReference> coordRefs;
// Reset the initial coordinate value
coord.setValue(state, 0.0);
InverseKinematicsSolver ikSolver(*pendulum, markersRef, coordRefs);
ikSolver.setAccuracy(1e-6);
ikSolver.assemble(state);
SimTK::Array_<double> markerWeights;
markersRef->getWeights(state, markerWeights);
SimTK::Array_<double> leftMarkerWeightedErrors;
double previousErr = 0.1;
for (unsigned i = 0; i < markersRef->getNumFrames(); ++i) {
state.updTime() = i*dt;
// increment the weight of the left marker each time
markerWeights[2] = 0.1*i+1;
ikSolver.updateMarkerWeights(markerWeights);
ikSolver.track(state);
if (i>0 && (i % 10 == 0)) {
//get the marker errors
ikSolver.computeCurrentMarkerErrors(leftMarkerWeightedErrors);
cout << "time: " << state.getTime() << " | " << markerNames[2]
<< "(weight = " << markerWeights[2] << ") error = "
<< leftMarkerWeightedErrors[2] << endl;
// increasing the marker weight (marker[2] = "mL") should cause
// that marker error to decrease
SimTK_ASSERT_ALWAYS(
leftMarkerWeightedErrors[2] < previousErr,
"InverseKinematicsSolver track failed to lower 'left' "
"marker error when marker weight was increased.");
previousErr = leftMarkerWeightedErrors[2];
}
}
}
// Verify that solver does not confuse/mismanage markers when reference
// has more markers than the model, order is changed or marker reference
// includes intervals with NaNs (no observation)
TEST_CASE("testNumberOfMarkersMismatch")
{
cout <<
"\ntestInverseKinematicsSolver::testNumberOfMarkersMismatch()"
<< endl;
std::unique_ptr<Model> pendulum{ constructPendulumWithMarkers() };
const Coordinate& coord = pendulum->getCoordinateSet()[0];
SimTK::State state = pendulum->initSystem();
StatesTrajectory states;
// sample time
double dt = 0.1;
int N = 11;
for (int i = 0; i < N; ++i) {
state.updTime() = i*dt;
coord.setValue(state, i*dt*SimTK::Pi / 3);
states.append(state);
}
double err = 0.05;
SimTK::RowVector_<SimTK::Vec3> biases(3, SimTK::Vec3(0));
// bias m0
biases[0] += SimTK::Vec3(0, err, 0);
cout << "biases: " << biases << endl;
auto markerTable = generateMarkerDataFromModelAndStates(*pendulum,
states,
biases,
0.0,
true);
SimTK::Vector_<SimTK::Vec3> unusedCol(N, SimTK::Vec3(0.987654321));
auto usedMarkerNames = markerTable.getColumnLabels();
// add an unused marker to the marker data
markerTable.appendColumn("unused", unusedCol);
cout << "Before:\n" << markerTable << endl;
// re-order "observed" marker data
SimTK::Matrix_<SimTK::Vec3> dataGutsCopy = markerTable.getMatrix();
int last = dataGutsCopy.ncol() - 1;
// swap first and last columns
markerTable.updMatrix()(0) = dataGutsCopy(last);
markerTable.updMatrix()(last) = dataGutsCopy(0);
auto columnNames = markerTable.getColumnLabels();
markerTable.setColumnLabel(0, columnNames[last]);
markerTable.setColumnLabel(last, columnNames[0]);
columnNames = markerTable.getColumnLabels();
// Inject NaN in "observations" of "mR" marker data
for (int i = 4; i < 7; ++i) {
markerTable.updMatrix()(i, 1) = SimTK::NaN;
}
cout << "After reorder and NaN injections:\n" << markerTable << endl;
Set<MarkerWeight> markerWeightSet;
std::shared_ptr<MarkersReference> markersRef(new MarkersReference(markerTable, markerWeightSet));
int nmr = markersRef->getNumRefs();
auto& markerNames = markersRef->getNames();
cout << markerNames << endl;
SimTK::Array_<CoordinateReference> coordRefs;
// Reset the initial coordinate value
coord.setValue(state, 0.0);
InverseKinematicsSolver ikSolver(*pendulum, markersRef, coordRefs);
double tol = 1e-4;
ikSolver.setAccuracy(tol);
ikSolver.assemble(state);
int nm = ikSolver.getNumMarkersInUse();
SimTK::Array_<double> markerErrors(nm);
for (unsigned i = 0; i < markersRef->getNumFrames(); ++i) {
state.updTime() = i*dt;
ikSolver.track(state);
//get the marker errors
ikSolver.computeCurrentMarkerErrors(markerErrors);
int nme = markerErrors.size();
SimTK_ASSERT_ALWAYS(nme == nm,
"InverseKinematicsSolver failed to account "
"for unused marker reference (observation).");
cout << "time: " << state.getTime() << " |";
auto namesIter = usedMarkerNames.begin();
for (int j = 0; j < nme; ++j) {
const auto& markerName = ikSolver.getMarkerNameForIndex(j);
cout << " " << markerName << " error = " << markerErrors[j];
SimTK_ASSERT_ALWAYS( *namesIter++ != "unused",
"InverseKinematicsSolver failed to ignore "
"unused marker reference (observation).");
if (markerName == "m0") {//should see error on biased marker
SimTK_ASSERT_ALWAYS(abs(markerErrors[j]-err) <= tol,
"InverseKinematicsSolver mangled marker order.");
}
else { // other markers should be minimally affected
SimTK_ASSERT_ALWAYS(markerErrors[j] <= tol,
"InverseKinematicsSolver mangled marker order.");
}
}
cout << endl;
}
}
TEST_CASE("testNumberOfOrientationsMismatch")
{
cout <<
"\ntestInverseKinematicsSolver::testNumberOfOrientationsMismatch()"
<< endl;
std::unique_ptr<Model> leg{ constructLegWithOrientationFrames() };
const Coordinate& coord = leg->getCoordinateSet()[0];
SimTK::State state = leg->initSystem();
StatesTrajectory states;
// sample time
double dt = 0.1;
int N = 11;
for (int i = 0; i < N; ++i) {
state.updTime() = i*dt;
coord.setValue(state, i*dt*SimTK::Pi / 3);
states.append(state);
}
double err = 0.1;
SimTK::RowVector_<SimTK::Rotation> biases(3, SimTK::Rotation());
// bias thigh_imu
biases[0] *= SimTK::Rotation(err, SimTK::XAxis);
cout << "biases: " << biases << endl;
auto orientationsTable =
generateOrientationsDataFromModelAndStates(*leg,
states,
biases,
0.0,
true);
SimTK::Vector_<SimTK::Rotation> unusedCol(N,
SimTK::Rotation(0.987654321, SimTK::ZAxis));
auto usedOrientationNames = orientationsTable.getColumnLabels();
// add an unused orientation sensor to the given orientation data
orientationsTable.appendColumn("unused", unusedCol);
cout << "Before:\n" << orientationsTable << endl;
// re-order "observed" orientation data
SimTK::Matrix_<SimTK::Rotation> dataGutsCopy
= orientationsTable.getMatrix();
int last = dataGutsCopy.ncol() - 1;
// swap first and last columns
orientationsTable.updMatrix()(0) = dataGutsCopy(last);
orientationsTable.updMatrix()(last) = dataGutsCopy(0);
auto columnNames = orientationsTable.getColumnLabels();
orientationsTable.setColumnLabel(0, columnNames[last]);
orientationsTable.setColumnLabel(last, columnNames[0]);
columnNames = orientationsTable.getColumnLabels();
// Inject NaN in "observations" of thigh_imu orientation data
for (int i = 4; i < 7; ++i) {
orientationsTable.updMatrix()(i, 1).scalarMultiply(SimTK::NaN);
}
cout << "After reorder and NaN injections:\n" << orientationsTable << endl;
std::shared_ptr<OrientationsReference> orientationsRef(
new OrientationsReference(orientationsTable));
int nmr = orientationsRef->getNumRefs();
auto& osNames = orientationsRef->getNames();
cout << osNames << endl;
SimTK::Array_<CoordinateReference> coordRefs;
// Reset the initial coordinate value
coord.setValue(state, 0.0);
InverseKinematicsSolver ikSolver(*leg, nullptr, orientationsRef, coordRefs);
double tol = 1e-4;
ikSolver.setAccuracy(tol);
ikSolver.assemble(state);
int nos = ikSolver.getNumOrientationSensorsInUse();
SimTK::Array_<double> orientationErrors(nos);
for (double t : orientationsRef->getTimes()) {
state.updTime() = t;
ikSolver.track(state);
//get the orientation errors
ikSolver.computeCurrentOrientationErrors(orientationErrors);
int nose = orientationErrors.size();
SimTK_ASSERT_ALWAYS(nose == nos,
"InverseKinematicsSolver failed to account "
"for unused orientations reference (observation).");
cout << "time: " << state.getTime() << " |";
auto namesIter = usedOrientationNames.begin();
for (int j = 0; j < nose; ++j) {
const auto& orientationName =
ikSolver.getOrientationSensorNameForIndex(j);
cout << " " << orientationName << " error = " << orientationErrors[j];
SimTK_ASSERT_ALWAYS(*namesIter++ != "unused",
"InverseKinematicsSolver failed to ignore "
"unused orientation reference (observation).");
if (orientationName == "thigh_imu") {//should see error on biased marker
SimTK_ASSERT_ALWAYS(abs(orientationErrors[j]) <= err,
"InverseKinematicsSolver mangled marker order.");
}
else { // other markers should be minimally affected
SimTK_ASSERT_ALWAYS(orientationErrors[j] <= tol,
"InverseKinematicsSolver mangled marker order.");
}
}
cout << endl;
}
}