open_sim_helpers.h File Reference

#include <liboscar/concepts/dereferences_to.h>
#include <liboscar/graphics/color.h>
#include <liboscar/maths/ray.h>
#include <liboscar/maths/vector.h>
#include <liboscar/shims/cpp23/generator.h>
#include <liboscar/utilities/c_string_view.h>
#include <liboscar/utilities/string_name.h>
#include <OpenSim/Common/ComponentPath.h>
#include <SimTKcommon/internal/Transform.h>
#include <algorithm>
#include <concepts>
#include <cstddef>
#include <filesystem>
#include <functional>
#include <iosfwd>
#include <iterator>
#include <memory>
#include <optional>
#include <span>
#include <stdexcept>
#include <string_view>
#include <string>
#include <type_traits>
#include <unordered_map>
#include <utility>
#include <vector>

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Classes
class	opyn::ComponentConnectionView
struct	opyn::LinesOfAction
struct	opyn::ForcePoint
struct	opyn::PointInfo
struct	opyn::ComponentSpatialRepresentation
struct	opyn::StorageLoadingParameters
struct	opyn::StorageIndexToModelStateVarMappingResult

Namespaces
namespace	OpenSim
namespace	SimTK
namespace	opyn

Concepts
concept	opyn::ClonesToRawPointer

Functions
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
size_t	opyn::size (const OpenSim::Set< T, C > &s)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
ptrdiff_t	opyn::ssize (const OpenSim::Set< T, C > &s)
template<typename T >
size_t	opyn::size (const OpenSim::ArrayPtrs< T > &ary)
template<typename T >
size_t	opyn::size (const OpenSim::Array< T > &ary)
template<typename T >
size_t	opyn::size (const OpenSim::Property< T > &p)
template<typename T >
const T *	opyn::begin (const OpenSim::Array< T > &ary)
template<typename T >
T *	opyn::begin (OpenSim::Array< T > &ary)
template<typename T >
const T *	opyn::end (const OpenSim::Array< T > &ary)
template<typename T >
T *	opyn::end (OpenSim::Array< T > &ary)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
bool	opyn::empty (const OpenSim::Set< T, C > &s)
template<typename T >
T &	opyn::At (OpenSim::ArrayPtrs< T > &ary, size_t pos)
template<typename T >
const T &	opyn::At (const OpenSim::Array< T > &ary, size_t pos)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
const T &	opyn::At (const OpenSim::Set< T, C > &s, size_t pos)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
T &	opyn::At (OpenSim::Set< T, C > &s, size_t pos)
template<typename T >
const T &	opyn::At (const OpenSim::Property< T > &p, size_t pos)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
bool	opyn::EraseAt (OpenSim::Set< T, C > &s, size_t i)
template<typename T > requires (std::strict_weak_order<std::ranges::less, T, T> and std::equality_comparable<T>)
bool	opyn::IsAllElementsUnique (const OpenSim::Array< T > &v)
bool	opyn::IsConcreteClassNameLexicographicallyLowerThan (const OpenSim::Component &, const OpenSim::Component &)
template<osc::DereferencesTo< const OpenSim::Component & > ComponentPtrLike>
bool	opyn::IsConcreteClassNameLexicographicallyLowerThan (const ComponentPtrLike &a, const ComponentPtrLike &b)
bool	opyn::IsNameLexographicallyLowerThan (const OpenSim::Component &, const OpenSim::Component &)
template<osc::DereferencesTo< const OpenSim::Component & > Ptr>
bool	opyn::IsNameLexographicallyLowerThan (const Ptr &a, const Ptr &b)
template<osc::DereferencesTo< const OpenSim::Component & > Ptr>
bool	opyn::IsNameLexographicallyGreaterThan (const Ptr &a, const Ptr &b)
OpenSim::Component *	opyn::UpdOwner (OpenSim::Component &root, const OpenSim::Component &)
OpenSim::Component &	opyn::UpdOwnerOrThrow (OpenSim::Component &root, const OpenSim::Component &)
template<std::derived_from< OpenSim::Component > T>
T &	opyn::UpdOwnerOrThrow (OpenSim::Component &root, const OpenSim::Component &c)
template<std::derived_from< OpenSim::Component > T>
T *	opyn::UpdOwner (OpenSim::Component &root, const OpenSim::Component &c)
const OpenSim::Component &	opyn::GetOwnerOrThrow (const OpenSim::AbstractOutput &)
const OpenSim::Component &	opyn::GetOwnerOrThrow (const OpenSim::Component &)
const OpenSim::Component &	opyn::GetOwnerOr (const OpenSim::Component &, const OpenSim::Component &fallback)
const OpenSim::Component *	opyn::GetOwner (const OpenSim::Component &)
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::GetOwner (const OpenSim::Component &c)
template<std::derived_from< OpenSim::Component > T>
bool	opyn::OwnerIs (const OpenSim::Component &c)
std::optional< std::string >	opyn::TryGetOwnerName (const OpenSim::Component &)
size_t	opyn::DistanceFromRoot (const OpenSim::Component &)
OpenSim::ComponentPath	opyn::GetRootComponentPath ()
bool	opyn::IsEmpty (const OpenSim::ComponentPath &)
void	opyn::Clear (OpenSim::ComponentPath &)
std::vector< const OpenSim::Component * >	opyn::GetPathElements (const OpenSim::Component &)
void	opyn::ForEachComponent (const OpenSim::Component &, const std::function< void(const OpenSim::Component &)> &)
void	opyn::ForEachComponentInclusive (const OpenSim::Component &, const std::function< void(const OpenSim::Component &)> &)
template<std::derived_from< OpenSim::Component > T>
size_t	opyn::GetNumChildren (const OpenSim::Component &c)
size_t	opyn::GetNumChildren (const OpenSim::Component &)
bool	opyn::IsInclusiveChildOf (const OpenSim::Component *parent, const OpenSim::Component *c)
const OpenSim::Component *	opyn::IsInclusiveChildOf (std::span< const OpenSim::Component * > parents, const OpenSim::Component *c)
const OpenSim::Component *	opyn::FindFirstAncestorInclusive (const OpenSim::Component *, bool(*pred)(const OpenSim::Component *))
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::FindAncestorWithType (const OpenSim::Component *c)
template<std::derived_from< OpenSim::Component > T>
bool	opyn::IsChildOfA (const OpenSim::Component &c)
const OpenSim::Component *	opyn::FindFirstDescendentInclusive (const OpenSim::Component &component, bool(*predicate)(const OpenSim::Component &))
const OpenSim::Component *	opyn::FindFirstDescendent (const OpenSim::Component &component, bool(*predicate)(const OpenSim::Component &))
OpenSim::Component *	opyn::FindFirstDescendentMut (OpenSim::Component &component, bool(*predicate)(const OpenSim::Component &))
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::FindFirstDescendentOfType (const OpenSim::Component &c)
template<std::derived_from< OpenSim::Component > T>
T *	opyn::FindFirstDescendentOfTypeMut (OpenSim::Component &c)
std::vector< const OpenSim::Coordinate * >	opyn::GetCoordinatesInModel (const OpenSim::Model &)
void	opyn::GetCoordinatesInModel (const OpenSim::Model &, std::vector< const OpenSim::Coordinate * > &)
std::vector< OpenSim::Coordinate * >	opyn::UpdDefaultLockedCoordinatesInModel (OpenSim::Model &)
float	opyn::ConvertCoordValueToDisplayValue (const OpenSim::Coordinate &, double v)
double	opyn::ConvertCoordDisplayValueToStorageValue (const OpenSim::Coordinate &, float v)
osc::CStringView	opyn::GetCoordDisplayValueUnitsString (const OpenSim::Coordinate &)
std::vector< std::string >	opyn::GetSocketNames (const OpenSim::Component &)
std::vector< const OpenSim::AbstractSocket * >	opyn::GetAllSockets (const OpenSim::Component &)
std::vector< OpenSim::AbstractSocket * >	opyn::UpdAllSockets (OpenSim::Component &)
void	opyn::WriteComponentTopologyGraphAsDotViz (const OpenSim::Component &, std::ostream &)
void	opyn::WriteModelMultibodySystemGraphAsDotViz (const OpenSim::Model &, std::ostream &)
const OpenSim::Component *	opyn::FindComponent (const OpenSim::Component &root, const OpenSim::ComponentPath &)
const OpenSim::Component *	opyn::FindComponent (const OpenSim::Model &, const std::string &absPath)
const OpenSim::Component *	opyn::FindComponent (const OpenSim::Model &, const osc::StringName &absPath)
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::FindComponent (const OpenSim::Component &root, const OpenSim::ComponentPath &cp)
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::FindComponent (const OpenSim::Model &root, const std::string &cp)
template<std::derived_from< OpenSim::Component > T>
const T *	opyn::FindComponent (const OpenSim::Model &root, const osc::StringName &cp)
OpenSim::Component *	opyn::FindComponentMut (OpenSim::Component &root, const OpenSim::ComponentPath &)
template<std::derived_from< OpenSim::Component > T>
T *	opyn::FindComponentMut (OpenSim::Component &root, const OpenSim::ComponentPath &cp)
bool	opyn::ContainsComponent (const OpenSim::Component &root, const OpenSim::ComponentPath &)
const OpenSim::AbstractSocket *	opyn::FindSocket (const OpenSim::Component &, const std::string &socketName)
OpenSim::AbstractSocket *	opyn::FindSocketMut (OpenSim::Component &, const std::string &socketName)
bool	opyn::IsConnectedTo (const OpenSim::AbstractSocket &, const OpenSim::Component &)
bool	opyn::IsAbleToConnectTo (const OpenSim::AbstractSocket &, const OpenSim::Component &)
void	opyn::RecursivelyReassignAllSockets (OpenSim::Component &root, const OpenSim::Component &from, const OpenSim::Component &to)
std::ostream &	opyn::operator<< (std::ostream &, const ComponentConnectionView &)
osc::cpp23::generator< ComponentConnectionView >	opyn::ForEachInboundConnection (const OpenSim::Component *root, const OpenSim::Component *c, std::function< bool(const OpenSim::Component &)> filter=[](const OpenSim::Component &){ return true;})
OpenSim::AbstractProperty *	opyn::FindPropertyMut (OpenSim::Component &, const std::string &)
template<typename T >
OpenSim::SimpleProperty< T > *	opyn::FindSimplePropertyMut (OpenSim::Component &c, const std::string &name)
const OpenSim::AbstractOutput *	opyn::FindOutput (const OpenSim::Component &, const std::string &outputName)
const OpenSim::AbstractOutput *	opyn::FindOutput (const OpenSim::Component &root, const OpenSim::ComponentPath &, const std::string &outputName)
bool	opyn::HasInputFileName (const OpenSim::Model &)
std::optional< std::filesystem::path >	opyn::TryFindInputFile (const OpenSim::Model &)
std::string	opyn::RecommendedDocumentName (const OpenSim::Model &)
std::optional< std::filesystem::path >	opyn::FindGeometryFileAbsPath (const OpenSim::Model &, const OpenSim::Mesh &)
std::string	opyn::GetMeshFileName (const OpenSim::Mesh &)
bool	opyn::ShouldShowInUI (const OpenSim::Component &)
bool	opyn::TryDeleteComponentFromModel (OpenSim::Model &, OpenSim::Component &)
void	opyn::CopyCommonJointProperties (const OpenSim::Joint &src, OpenSim::Joint &dest)
bool	opyn::DeactivateAllWrapObjectsIn (OpenSim::Model &)
bool	opyn::ActivateAllWrapObjectsIn (OpenSim::Model &)
std::vector< const OpenSim::WrapObject * >	opyn::GetAllWrapObjectsReferencedBy (const OpenSim::GeometryPath &)
bool	opyn::HasModelFileExtension (const std::filesystem::path &path)
std::unique_ptr< OpenSim::Model >	opyn::LoadModel (const std::filesystem::path &)
void	opyn::InitializeModel (OpenSim::Model &)
void	opyn::TryEquilibrateMusclesOrLogWarning (OpenSim::Model &, SimTK::State &)
SimTK::State &	opyn::InitializeState (OpenSim::Model &)
void	opyn::FinalizeFromProperties (OpenSim::Model &)
void	opyn::FinalizeConnections (OpenSim::Model &)
std::optional< size_t >	opyn::FindJointInParentJointSet (const OpenSim::Joint &)
std::string	opyn::GetDisplayName (const OpenSim::Geometry &)
osc::CStringView	opyn::GetMotionTypeDisplayName (const OpenSim::Coordinate &)
const OpenSim::Appearance *	opyn::TryGetAppearance (const OpenSim::Component &)
OpenSim::Appearance *	opyn::TryUpdAppearance (OpenSim::Component &)
bool	opyn::TrySetAppearancePropertyIsVisibleTo (OpenSim::Component &, bool)
osc::Color	opyn::to_color (const OpenSim::Appearance &)
osc::Color	opyn::GetSuggestedBoneColor ()
bool	opyn::IsShowingFrames (const OpenSim::Model &)
bool	opyn::ToggleShowingFrames (OpenSim::Model &)
bool	opyn::IsShowingMarkers (const OpenSim::Model &)
bool	opyn::ToggleShowingMarkers (OpenSim::Model &)
bool	opyn::IsShowingWrapGeometry (const OpenSim::Model &)
bool	opyn::ToggleShowingWrapGeometry (OpenSim::Model &)
bool	opyn::IsShowingContactGeometry (const OpenSim::Model &)
bool	opyn::IsShowingForces (const OpenSim::Model &)
bool	opyn::ToggleShowingContactGeometry (OpenSim::Model &)
bool	opyn::ToggleShowingForces (OpenSim::Model &)
void	opyn::GetAbsolutePathString (const OpenSim::Component &, std::string &)
std::string	opyn::GetAbsolutePathString (const OpenSim::Component &)
osc::StringName	opyn::GetAbsolutePathStringName (const OpenSim::Component &)
OpenSim::ComponentPath	opyn::GetAbsolutePath (const OpenSim::Component &)
OpenSim::ComponentPath	opyn::GetAbsolutePathOrEmpty (const OpenSim::Component *)
std::optional< LinesOfAction >	opyn::GetEffectiveLinesOfActionInGround (const OpenSim::Muscle &, const SimTK::State &)
std::optional< LinesOfAction >	opyn::GetAnatomicalLinesOfActionInGround (const OpenSim::Muscle &, const SimTK::State &)
std::optional< ForcePoint >	opyn::TryGetContactForceInGround (const OpenSim::Model &, const SimTK::State &, const OpenSim::HuntCrossleyForce &)
const OpenSim::PhysicalFrame &	opyn::GetFrameUsingExternalForceLookupHeuristic (const OpenSim::Model &, const std::string &bodyNameOrPath)
bool	opyn::CanExtractPointInfoFrom (const OpenSim::Component &, const SimTK::State &)
std::optional< PointInfo >	opyn::TryExtractPointInfo (const OpenSim::Component &, const SimTK::State &)
OpenSim::Component &	opyn::AddComponentToAppropriateSet (OpenSim::Model &, std::unique_ptr< OpenSim::Component >)
OpenSim::ModelComponent &	opyn::AddModelComponent (OpenSim::Model &, std::unique_ptr< OpenSim::ModelComponent > &&)
template<std::derived_from< OpenSim::ModelComponent > T>
T &	opyn::AddModelComponent (OpenSim::Model &model, std::unique_ptr< T > p)
template<std::derived_from< OpenSim::ModelComponent > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AddModelComponent (OpenSim::Model &model, Args &&... args)
OpenSim::Component &	opyn::AddComponent (OpenSim::Component &, std::unique_ptr< OpenSim::Component > &&)
template<std::derived_from< OpenSim::Component > T>
T &	opyn::AddComponent (OpenSim::Component &c, std::unique_ptr< T > p)
template<std::derived_from< OpenSim::Component > T>
T &	opyn::AddComponent (OpenSim::Component &host)
template<std::derived_from< OpenSim::Component > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AddComponent (OpenSim::Component &host, Args &&...args)
OpenSim::Body &	opyn::AddBody (OpenSim::Model &, std::unique_ptr< OpenSim::Body >)
template<typename... Args> requires std::constructible_from<OpenSim::Body, Args&&...>
OpenSim::Body &	opyn::AddBody (OpenSim::Model &model, Args &&... args)
OpenSim::Joint &	opyn::AddJoint (OpenSim::Model &, std::unique_ptr< OpenSim::Joint >)
template<std::derived_from< OpenSim::Joint > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AddJoint (OpenSim::Model &model, Args &&... args)
OpenSim::Constraint &	opyn::AddConstraint (OpenSim::Model &, std::unique_ptr< OpenSim::Constraint >)
template<std::derived_from< OpenSim::Constraint > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AddConstraint (OpenSim::Model &model, Args &&... args)
OpenSim::Marker &	opyn::AddMarker (OpenSim::Model &, std::unique_ptr< OpenSim::Marker >)
template<typename... Args> requires std::constructible_from<OpenSim::Marker, Args&&...>
OpenSim::Marker &	opyn::AddMarker (OpenSim::Model &model, Args &&... args)
OpenSim::Geometry &	opyn::AttachGeometry (OpenSim::Frame &, std::unique_ptr< OpenSim::Geometry >)
template<std::derived_from< OpenSim::Geometry > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AttachGeometry (OpenSim::Frame &frame, Args &&... args)
void	opyn::OverwriteGeometry (OpenSim::Model &, OpenSim::Geometry &oldGeometry, std::unique_ptr< OpenSim::Geometry > newGeometry)
OpenSim::PhysicalOffsetFrame &	opyn::AddFrame (OpenSim::Joint &, std::unique_ptr< OpenSim::PhysicalOffsetFrame >)
OpenSim::WrapObject &	opyn::AddWrapObject (OpenSim::PhysicalFrame &, std::unique_ptr< OpenSim::WrapObject >)
template<std::derived_from< OpenSim::WrapObject > T, typename... Args> requires std::constructible_from<T, Args&&...>
T &	opyn::AddWrapObject (OpenSim::PhysicalFrame &physFrame, Args &&... args)
template<ClonesToRawPointer T>
std::unique_ptr< T >	opyn::Clone (const T &obj)
template<std::derived_from< OpenSim::Component > T>
void	opyn::Append (OpenSim::ObjectProperty< T > &prop, const T &c)
template<std::derived_from< OpenSim::Object > T, std::derived_from< OpenSim::Object > C = OpenSim::Object>
std::optional< size_t >	opyn::IndexOf (const OpenSim::Set< T, C > &set, const T &el)
template<std::derived_from< OpenSim::Object > T, std::derived_from< T > U, std::derived_from< OpenSim::Object > C = OpenSim::Object>
void	opyn::Append (OpenSim::Set< T, C > &set, std::unique_ptr< U > el)
template<std::derived_from< OpenSim::Object > T, std::derived_from< T > U, std::derived_from< OpenSim::Object > C = OpenSim::Object>
U &	opyn::Assign (OpenSim::Set< T, C > &set, size_t index, std::unique_ptr< U > el)
template<std::derived_from< OpenSim::Object > T, std::derived_from< T > U, std::derived_from< OpenSim::Object > C = OpenSim::Object>
U &	opyn::Assign (OpenSim::Set< T, C > &set, T &oldElement, std::unique_ptr< U > newElement)
template<std::derived_from< OpenSim::Object > T, std::derived_from< T > U, std::derived_from< OpenSim::Object > C = OpenSim::Object>
U &	opyn::Assign (OpenSim::Set< T, C > &set, size_t index, const U &el)
template<std::derived_from< OpenSim::Object > T, std::derived_from< T > U, std::derived_from< OpenSim::Object > C>
bool	opyn::TryDeleteItemFromSet (OpenSim::Set< T, C > &set, const U *item)
const OpenSim::PhysicalFrame *	opyn::TryGetParentToGroundFrame (const OpenSim::Component &)
std::optional< SimTK::Transform >	opyn::TryGetParentToGroundTransform (const OpenSim::Component &, const SimTK::State &)
std::optional< std::string >	opyn::TryGetPositionalPropertyName (const OpenSim::Component &)
std::optional< std::string >	opyn::TryGetOrientationalPropertyName (const OpenSim::Component &)
const OpenSim::Frame *	opyn::TryGetParentFrame (const OpenSim::Frame &)
std::optional< ComponentSpatialRepresentation >	opyn::TryGetSpatialRepresentation (const OpenSim::Component &, const SimTK::State &)
bool	opyn::IsValidOpenSimComponentNameCharacter (char)
std::string	opyn::SanitizeToOpenSimComponentName (std::string_view)
std::unique_ptr< OpenSim::Storage >	opyn::LoadStorage (const OpenSim::Model &, const std::filesystem::path &, const StorageLoadingParameters &={})
StorageIndexToModelStateVarMappingResult	opyn::CreateStorageIndexToModelStatevarMapping (const OpenSim::Model &, const OpenSim::Storage &)
std::unordered_map< int, int >	opyn::CreateStorageIndexToModelStatevarMappingWithWarnings (const OpenSim::Model &, const OpenSim::Storage &)
void	opyn::UpdateStateVariablesFromStorageRow (OpenSim::Model &, SimTK::State &, const std::unordered_map< int, int > &columnIndexToModelStateVarIndex, const OpenSim::Storage &, int row)
void	opyn::UpdateStateFromStorageTime (OpenSim::Model &, SimTK::State &, const std::unordered_map< int, int > &columnIndexToModelStateVarIndex, const OpenSim::Storage &, double time)
std::string	opyn::WriteObjectXMLToString (const OpenSim::Object &)
void	opyn::ScaleModelMassPreserveMassDistribution (OpenSim::Model &model, const SimTK::State &state, double newMass)