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Adding a few more quick bindings to SubjectOnDisk to support finishin…
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…g the AddBiomechanics upgrade
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@keenon
keenon committed Sep 27, 2024
1 parent d648e57 commit d7fbb18
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Showing 4 changed files with 145 additions and 1 deletion.
79 changes: 79 additions & 0 deletions dart/biomechanics/SubjectOnDisk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1836,6 +1836,11 @@ void SubjectOnDiskTrialPass::setType(ProcessingPassType type)
mType = type;
}

ProcessingPassType SubjectOnDiskTrialPass::getType()
{
return mType;
}

void SubjectOnDiskTrialPass::setPoses(Eigen::MatrixXs poses)
{
mPos = poses;
Expand Down Expand Up @@ -2034,6 +2039,31 @@ Eigen::MatrixXs SubjectOnDiskTrialPass::getRootEulerHistoryInRootFrame()
return mRootEulerHistoryInRootFrame;
}

// This gets the data from `getGroundBodyCopTorqueForce()` in the form of
// ForcePlate objects, which are easier to work with.
std::vector<ForcePlate> SubjectOnDiskTrialPass::getProcessedForcePlates()
{
std::vector<ForcePlate> plates;
int numPlates = (int)(mGroundBodyCopTorqueForce.rows() / 9);
for (int i = 0; i < numPlates; i++)
{
ForcePlate plate;
for (int t = 0; t < mGroundBodyCopTorqueForce.cols(); t++)
{
Eigen::Vector3s cop = mGroundBodyCopTorqueForce.block(i * 9, t, 3, 1);
Eigen::Vector3s torque
= mGroundBodyCopTorqueForce.block(i * 9 + 3, t, 3, 1);
Eigen::Vector3s force
= mGroundBodyCopTorqueForce.block(i * 9 + 6, t, 3, 1);
plate.centersOfPressure.push_back(cop);
plate.moments.push_back(torque);
plate.forces.push_back(force);
}
plates.push_back(plate);
}
return plates;
}

// This will return a matrix where every one of our properties with setters is
// stacked together vertically. Each column represents time, and each row is a
// different property of interest. The point here is not to introspect into
Expand Down Expand Up @@ -3112,6 +3142,46 @@ void SubjectOnDiskTrial::setSplitIndex(int split)
mSplitIndex = split;
}

int SubjectOnDiskTrial::getOriginalTrialStartFrame()
{
return mOriginalTrialStartFrame;
}

void SubjectOnDiskTrial::setOriginalTrialStartFrame(int startFrame)
{
mOriginalTrialStartFrame = startFrame;
}

int SubjectOnDiskTrial::getOriginalTrialEndFrame()
{
return mOriginalTrialEndFrame;
}

void SubjectOnDiskTrial::setOriginalTrialEndFrame(int endFrame)
{
mOriginalTrialEndFrame = endFrame;
}

s_t SubjectOnDiskTrial::getOriginalTrialStartTime()
{
return mOriginalTrialStartTime;
}

void SubjectOnDiskTrial::setOriginalTrialStartTime(s_t startTime)
{
mOriginalTrialStartTime = startTime;
}

s_t SubjectOnDiskTrial::getOriginalTrialEndTime()
{
return mOriginalTrialEndTime;
}

void SubjectOnDiskTrial::setOriginalTrialEndTime(s_t endTime)
{
mOriginalTrialEndTime = endTime;
}

std::vector<MissingGRFReason> SubjectOnDiskTrial::getMissingGRFReason()
{
return mMissingGRFReason;
Expand Down Expand Up @@ -3214,6 +3284,11 @@ void SubjectOnDiskTrial::read(const proto::SubjectOnDiskTrialHeader& proto)

mSplitIndex = proto.split_index();

mOriginalTrialStartFrame = proto.original_trial_start_frame();
mOriginalTrialEndFrame = proto.original_trial_end_frame();
mOriginalTrialStartTime = proto.original_trial_start_time();
mOriginalTrialEndTime = proto.original_trial_end_time();

mTrialPasses.clear();
for (int i = 0; i < proto.processing_pass_header_size(); i++)
{
Expand Down Expand Up @@ -3281,6 +3356,10 @@ void SubjectOnDiskTrial::write(proto::SubjectOnDiskTrialHeader* proto)

proto->set_original_name(mOriginalTrialName);
proto->set_split_index(mSplitIndex);
proto->set_original_trial_start_frame(mOriginalTrialStartFrame);
proto->set_original_trial_end_frame(mOriginalTrialEndFrame);
proto->set_original_trial_start_time(mOriginalTrialStartTime);
proto->set_original_trial_end_time(mOriginalTrialEndTime);

// std::vector<std::string> mTrialTags;
for (int i = 0; i < mTrialTags.size(); i++)
Expand Down
18 changes: 18 additions & 0 deletions dart/biomechanics/SubjectOnDisk.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,6 +134,7 @@ class SubjectOnDiskTrialPass
public:
SubjectOnDiskTrialPass();
void setType(ProcessingPassType type);
ProcessingPassType getType();
void setDofPositionsObserved(std::vector<bool> dofPositionsObserved);
void setDofVelocitiesFiniteDifferenced(
std::vector<bool> dofVelocitiesFiniteDifferenced);
Expand Down Expand Up @@ -248,6 +249,10 @@ class SubjectOnDiskTrialPass
void setRootEulerHistoryInRootFrame(Eigen::MatrixXs rootHistory);
Eigen::MatrixXs getRootEulerHistoryInRootFrame();

// This gets the data from `getGroundBodyCopTorqueForce()` in the form of
// ForcePlate objects, which are easier to work with.
std::vector<ForcePlate> getProcessedForcePlates();

// This will return a matrix where every one of our properties with setters is
// stacked together vertically. Each column represents time, and each row is a
// different property of interest. The point here is not to introspect into
Expand Down Expand Up @@ -332,6 +337,14 @@ class SubjectOnDiskTrial
void setOriginalTrialName(const std::string& name);
int getSplitIndex();
void setSplitIndex(int split);
int getOriginalTrialStartFrame();
void setOriginalTrialStartFrame(int startFrame);
int getOriginalTrialEndFrame();
void setOriginalTrialEndFrame(int endFrame);
s_t getOriginalTrialStartTime();
void setOriginalTrialStartTime(s_t startTime);
s_t getOriginalTrialEndTime();
void setOriginalTrialEndTime(s_t endTime);
std::vector<MissingGRFReason> getMissingGRFReason();
void setMissingGRFReason(std::vector<MissingGRFReason> missingGRFReason);
void setCustomValues(std::vector<Eigen::MatrixXs> customValues);
Expand Down Expand Up @@ -367,6 +380,11 @@ class SubjectOnDiskTrial
std::string mOriginalTrialName;
int mSplitIndex;

int mOriginalTrialStartFrame;
int mOriginalTrialEndFrame;
s_t mOriginalTrialStartTime;
s_t mOriginalTrialEndTime;

///////////////////////////////////////////////////////////////////////////
// Recovered proto summaries, for incremental loading of Frames
///////////////////////////////////////////////////////////////////////////
Expand Down
5 changes: 5 additions & 0 deletions dart/proto/SubjectOnDisk.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,11 @@ message SubjectOnDiskTrialHeader {
string original_name = 10;
// This is the split index within the original trial -- 0 if we didn't split or if we're the first split
int32 split_index = 11;
// This is the shorthand for values from the original trial
int32 original_trial_start_frame = 12;
int32 original_trial_end_frame = 13;
float original_trial_start_time = 14;
float original_trial_end_time = 15;
}

message SubjectOnDiskPass {
Expand Down
44 changes: 43 additions & 1 deletion python/_nimblephysics/biomechanics/SubjectOnDisk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -533,6 +533,8 @@ Note that these are specified in the local body frame, acting on the body at its
"setType",
&dart::biomechanics::SubjectOnDiskTrialPass::setType,
::py::arg("type"))
.def(
"getType", &dart::biomechanics::SubjectOnDiskTrialPass::getType)
.def(
"setDofPositionsObserved",
&dart::biomechanics::SubjectOnDiskTrialPass::
Expand Down Expand Up @@ -798,7 +800,11 @@ Note that these are specified in the local body frame, acting on the body at its
.def(
"getResamplingMatrix",
&dart::biomechanics::SubjectOnDiskTrialPass::
getResamplingMatrix);
getResamplingMatrix)
.def(
"getProcessedForcePlates",
&dart::biomechanics::SubjectOnDiskTrialPass::
getProcessedForcePlates);

auto subjectOnDiskTrial
= ::py::class_<
Expand Down Expand Up @@ -842,6 +848,42 @@ Note that these are specified in the local body frame, acting on the body at its
.def(
"getSplitIndex",
&dart::biomechanics::SubjectOnDiskTrial::getSplitIndex)
.def(
"setOriginalTrialStartFrame",
&dart::biomechanics::SubjectOnDiskTrial::
setOriginalTrialStartFrame,
::py::arg("startFrame"))
.def(
"getOriginalTrialStartFrame",
&dart::biomechanics::SubjectOnDiskTrial::
getOriginalTrialStartFrame)
.def(
"setOriginalTrialEndFrame",
&dart::biomechanics::SubjectOnDiskTrial::
setOriginalTrialEndFrame,
::py::arg("endFrame"))
.def(
"getOriginalTrialEndFrame",
&dart::biomechanics::SubjectOnDiskTrial::
getOriginalTrialEndFrame)
.def(
"setOriginalTrialStartTime",
&dart::biomechanics::SubjectOnDiskTrial::
setOriginalTrialStartTime,
::py::arg("startTime"))
.def(
"getOriginalTrialStartTime",
&dart::biomechanics::SubjectOnDiskTrial::
getOriginalTrialStartTime)
.def(
"setOriginalTrialEndTime",
&dart::biomechanics::SubjectOnDiskTrial::
setOriginalTrialEndTime,
::py::arg("endTime"))
.def(
"getOriginalTrialEndTime",
&dart::biomechanics::SubjectOnDiskTrial::
getOriginalTrialEndTime)
.def(
"setMissingGRFReason",
&dart::biomechanics::SubjectOnDiskTrial::setMissingGRFReason,
Expand Down

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