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| + | ====== ModelOpenSim3 ====== | ||
| + | [[model|Model]] of type OpenSim3. | ||
| + | |||
| + | **Inherits from** [[model|Model]]. | ||
| + | |||
| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ model_file | path | File containing the OpenSim model. | | ||
| + | ^ integration_method | String | Integration method, options are: SemiExplicitEuler, SemiExplicitEuler2 (default), RungeKutta2, RungeKutta3, RungeKuttaMerson. | | ||
| + | ^ integration_accuracy | double | Accuracy parameter for integration; default = 0.001. | | ||
| + | ^ enable_external_forces | bool | Boolean that must be set before external forces can be added to the model; default = (automatic). | | ||
| + | ^ leg_upper_body | String | Unsided name of the leg upper body (if any); default = femur. | | ||
| + | ^ leg_lower_body | String | Unsided name of the leg lower body (if any), leave empty to use two bodies below leg_upper_body; default = "". | | ||
| + | ^ leg_contact_force | String | Unsided name of the leg contact force (if any); default = foot. | | ||
| + | ^ initial_state_offset | const PropNode * | Offset [rad] or [m] to apply to initial state; default = 0. | | ||
| + | ^ initial_state_offset_symmetric | bool | Use symmetric offset for left and right; default = 0. | | ||
| + | ^ initial_state_offset_include | String | Pattern matching the states to include in initial offset (semicolon seperated); default = "*". | | ||
| + | ^ initial_state_offset_exclude | String | Pattern matching the states to exclude in initial offset (semicolon seperated); default = "". | | ||
| + | ^ max_step_size | double | Maximum integration step size; default = 0.001. | | ||
| + | ^ use_fixed_control_step_size | bool | Use fixed step size for controllers; default = true. | | ||
| + | ^ fixed_control_step_size | double | Step size used for controllers; default = 0.001. | | ||
| + | ^ fixed_measure_step_size | double | Step size used for measures (not supported by all model types); default = ''fixed_control_step_size''. | | ||
| + | ^ initial_load | Real | Initial load [BW] at which to place the model initially; default = 0.2;. | | ||
| + | ^ initial_load_dof | String | Name of the DOF that needs to be adjusted to find the required initial_load; default = pelvis_ty. | | ||
| + | ^ sensor_delay_scaling_factor | Real | Scaling factor to apply to all sensor delays; default = 1. | | ||
| + | ^ initial_equilibration_activation | Real | Activation used to equilibrate muscles before control inputs are known; default = 0.05. | | ||
| + | ^ signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | | ||
| + | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | | ||
| + | |||
| + | ==== Public Functions ==== | ||
| + | ^ Function ^ Description ^ | ||
| + | | OpenSim::Model & **GetOsimModel**() | Get the OpenSim model attached to this model. | | ||
| + | |||
| + | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub> | ||