Merge branch 'main' into list_sockets

Bindings/Python/tests/test_DataTable.py

@@ -49,7 +49,7 @@ def test_vector_rowvector(self):
         assert (str(col[0]) == str(row[0]) and
                 str(col[1]) == str(row[1]) and
                 str(col[2]) == str(row[2]))
-        print('Test transpose VectorOVec3 to RowVectorVec3.')
+        print('Test transpose VectorVec3 to RowVectorVec3.')
         row_copy = col.transpose()
         assert (str(row_copy[0]) == str(row[0]) and
                 str(row_copy[1]) == str(row[1]) and

Bindings/Python/tests/test_opensense.py

@@ -33,6 +33,10 @@ def test_createObjects(self):
         constraint_var = .0001
         ikSolver = osim.InverseKinematicsSolver(model, mRefs, oRefs, coordinateReferences, constraint_var)
         print("Created InverseKinematicsSolver object..")
+        oRefs = osim.BufferedOrientationsReference()
+        print("Created BufferedOrientationsReference object..")
+        ikSolver = osim.InverseKinematicsSolver(model, mRefs, oRefs, coordinateReferences, constraint_var)
+        print("Created InverseKinematicsSolver object with BufferedOrientationsReference..")
 
     def test_vector_rowvector(self):
         print()
@@ -43,3 +47,19 @@ def test_vector_rowvector(self):
                 col[1] == row[1] and
                 col[2] == row[2] and
                 col[3] == row[3])
+
+    def test_BufferedOrientationReferencePut(self):
+        # Make sure that we can append new data to the BufferedOrientationReference object
+        quatTable = osim.TimeSeriesTableQuaternion(os.path.join(test_dir,'orientation_quats.sto'))
+        print("Created TimeSeriesTableQuaternion object..")
+        orientationsData = osim.OpenSenseUtilities.convertQuaternionsToRotations(quatTable)
+        print("Convert Quaternions to orientationsData")
+        time = 0
+        rowVecView = orientationsData.getNearestRow(time)
+        print("Sliced orientationData")
+        rowVec = osim.RowVectorRotation(rowVecView)
+        print("Converted slice to row vector")
+        oRefs = osim.BufferedOrientationsReference()
+        print("Created BufferedOrienationReference object")
+        oRefs.putValues(time, rowVec)
+        print("Added row vector to BufferedOrientationReference object")

CHANGELOG.md

@@ -46,6 +46,7 @@ and `Blankevoort1991Ligament`, usages of `get_GeometryPath`, `upd_GeometryPath`,
 - Exposed simbody methods to obtain GravityForces, MobilityForces and BodyForces (#3490)
 - Simbody was updated such that the headers it transitively exposes to downstream projects are compatible with C++20 (#3619)
 - Moved speed computation from `computeForce` in children of `ScalarActuator` to dedicated `getSpeed` function.
+- Fix type problem with BufferedOrientationReference (Issue #3415, PR #3644)
 
 
 v4.4.1

OpenSim/Analyses/PointKinematics.cpp

@@ -223,12 +223,12 @@ constructDescription()
     strcat(descrip,"(position, velocity, or acceleration) of\n");
 
     if(_relativeToBody){
-        sprintf(tmp,"point (%lf, %lf, %lf) on body %s relative to body %s of model %s.\n",
+        snprintf(tmp, BUFFER_LENGTH, "point (%lf, %lf, %lf) on body %s relative to body %s of model %s.\n",
             _point[0],_point[1],_point[2],_body->getName().c_str(),
             _relativeToBody->getName().c_str(), _model->getName().c_str());
     }
     else{
-        sprintf(tmp,"point (%lf, %lf, %lf) on the %s of model %s.\n",
+        snprintf(tmp, BUFFER_LENGTH, "point (%lf, %lf, %lf) on the %s of model %s.\n",
             _point[0],_point[1],_point[2],_body->getName().c_str(),
             _model->getName().c_str());
     }

OpenSim/Common/About.cpp

@@ -128,7 +128,7 @@ static const char* OpenSimVersion = GET_OSIM_VERSION;
 
 std::string GetVersionAndDate() { 
     char buffer[256];
-    sprintf(buffer,"version %s, build date %s %s",
+    snprintf(buffer, 256, "version %s, build date %s %s",
             OpenSimVersion, __TIME__, __DATE__);
     return std::string(buffer);
 }

OpenSim/Common/IO.cpp

@@ -90,7 +90,7 @@ ConstructDateAndTimeStamp()
 
     // CONSTRUCT STAMP
     char *stamp = new char[64];
-    sprintf(stamp,"%d%02d%02d_%02d%02d%02d",
+    snprintf(stamp, 64, "%d%02d%02d_%02d%02d%02d",
         timeStruct->tm_year+1900,timeStruct->tm_mon+1,timeStruct->tm_mday,
         timeStruct->tm_hour,timeStruct->tm_min,timeStruct->tm_sec);
 
@@ -282,18 +282,22 @@ void IO::
 ConstructDoubleOutputFormat()
 {
     if(_GFormatForDoubleOutput) {
-        sprintf(_DoubleFormat,"%%g");
+        snprintf(_DoubleFormat, IO_DBLFMTLEN, "%%g");
     } else if(_Scientific) {
         if(_Pad<0) {
-            sprintf(_DoubleFormat,"%%.%dle",_Precision);
+            snprintf(_DoubleFormat, IO_DBLFMTLEN,
+                     "%%.%dle", _Precision);
         } else {
-            sprintf(_DoubleFormat,"%%%d.%dle",_Pad+_Precision,_Precision);
+            snprintf(_DoubleFormat, IO_DBLFMTLEN,
+                     "%%%d.%dle", _Pad+_Precision, _Precision);
         }
     } else {
         if(_Pad<0) {
-            sprintf(_DoubleFormat,"%%.%dlf",_Precision);
+            snprintf(_DoubleFormat, IO_DBLFMTLEN,
+                     "%%.%dlf", _Precision);
         } else {
-            sprintf(_DoubleFormat,"%%%d.%dlf",_Pad+_Precision,_Precision);
+            snprintf(_DoubleFormat, IO_DBLFMTLEN,
+                     "%%%d.%dlf", _Pad+_Precision, _Precision);
         }
     }
 }

OpenSim/Common/IO.h

@@ -34,7 +34,8 @@
 #include <vector>
 
 // DEFINES
-const int IO_STRLEN = 2048;
+constexpr int IO_STRLEN = 2048;
+constexpr int IO_DBLFMTLEN = 256;
 
 
 namespace OpenSim { 
@@ -62,7 +63,7 @@ class OSIMCOMMON_API IO {
     /** Specifies the precision of number output. */
     static int _Precision;
     /** The output format string. */
-    static char _DoubleFormat[256];
+    static char _DoubleFormat[IO_DBLFMTLEN];
     /** Whether offline documents should also be printed when Object::print is called. */
     static bool _PrintOfflineDocuments;
 

OpenSim/Common/PropertyDbl.cpp

@@ -187,7 +187,7 @@ toString() const
 {
     if (SimTK::isFinite(_value)) {
         char dbl[256];
-        sprintf(dbl, "%g", _value);
+        snprintf(dbl, 256, "%g", _value);
         return dbl;
     }
 

OpenSim/Common/PropertyDblArray.cpp

@@ -216,7 +216,7 @@ toString() const
     string str = "(";
     char dbl[256];
     for(int i=0; i < _array.getSize(); i++){
-        sprintf(dbl, "%g", _array[i]);
+        snprintf(dbl, 256, "%g", _array[i]);
         str += (i>0?" ":"") + string(dbl);
     }
     str += ")";

OpenSim/Common/PropertyInt.cpp

@@ -185,6 +185,6 @@ string PropertyInt::
 toString() const
 {
     char intString[32];
-    sprintf(intString, "%d", _value);
+    snprintf(intString, 32, "%d", _value);
     return intString;
 }

OpenSim/Common/PropertyIntArray.cpp

@@ -214,7 +214,7 @@ toString() const
     string str = "(";
     char intString[256];
     for(int i=0; i < _array.getSize(); i++){
-        sprintf(intString, "%d", _array[i]);
+        snprintf(intString, 256, "%d", _array[i]);
         str += (i>0?" ":"") + string(intString);
     }
     str += ")";

OpenSim/Common/StateVector.cpp

@@ -543,7 +543,7 @@ print(FILE *fp) const
 
     // TIME
     char format[IO_STRLEN];
-    sprintf(format,"%s",IO::GetDoubleOutputFormat());
+    snprintf(format, IO_STRLEN, "%s", IO::GetDoubleOutputFormat());
     int n=0,nTotal=0;
     n = fprintf(fp,format,_t);
     if(n<0) {
@@ -553,7 +553,7 @@ print(FILE *fp) const
     nTotal += n;
 
     // STATES
-    sprintf(format,"\t%s",IO::GetDoubleOutputFormat());
+    snprintf(format, IO_STRLEN, "\t%s", IO::GetDoubleOutputFormat());
     for(int i=0;i<_data.getSize();i++) {
         n = fprintf(fp,format,_data[i]);
         if(n<0) {

OpenSim/Common/Storage.cpp

@@ -3404,7 +3404,7 @@ bool Storage::makeStorageLabelsUnique() {
             int c = 1;
             while (exist) {
                 char cString[20];
-                sprintf(cString,"%d", c);
+                snprintf(cString, 20, "%d", c);
                 newName = std::string(cString) + "_" + offending;
                 exist = (lbls.findIndex(newName) != -1);
                 c++;

OpenSim/Common/XMLDocument.cpp

@@ -220,7 +220,7 @@ getVersionAsString(const int aVersion, std::string& aString)
     for(int i=0; i<3; i++)
     {
         int digits = ver / div;
-        sprintf(pad, "%02d",digits); 
+        snprintf(pad, 3, "%02d", digits);
         ver -= div*(ver / div);
         div /=100;
         aString += string(pad);

OpenSim/Simulation/BufferedOrientationsReference.h

@@ -33,7 +33,7 @@ namespace OpenSim {
 //=============================================================================
 /**
  * Subclass of OrientationsReference that handles live data by providing a DataQueue
- * that allows clients to push data into and allows the InverseKinematicsSolver to 
+ * that allows clients to push data into and allows the InverseKinematicsSolver to
  * draw data from for solving.
  * Ideally this would be templatized, allowing for all Reference classes to leverage it.
  *
@@ -79,19 +79,19 @@ class OSIMSIMULATION_API BufferedOrientationsReference
             SimTK::Array_<SimTK::Rotation_<double>>& values) const override;
 
     /** add passed in values to data procesing Queue */
-    void putValues(double time, const SimTK::RowVector_<SimTK::Rotation>& dataRow);
+    void putValues(double time, const SimTK::RowVector_<SimTK::Rotation_<double>>& dataRow);
 
     double getNextValuesAndTime(
             SimTK::Array_<SimTK::Rotation_<double>>& values) override;
 
     virtual bool hasNext() const override { return !_finished; };
 
-    void setFinished(bool finished) { 
+    void setFinished(bool finished) {
         _finished = finished;
     };
 private:
     // Use a specialized data structure for holding the orientation data
-    mutable DataQueue_<SimTK::Rotation> _orientationDataQueue;
+    mutable DataQueue_<SimTK::Rotation_<double>> _orientationDataQueue;
     bool _finished{false};
     //=============================================================================
 };  // END of class BufferedOrientationsReference

OpenSim/Simulation/Model/AbstractTool.cpp

@@ -822,7 +822,8 @@ std::string AbstractTool::createExternalLoadsFile(const std::string& oldFile,
             ExternalForce* xf = new ExternalForce();
             xf->setAppliedToBodyName((f==0)?body1:body2);
             char pad[3];
-            sprintf(pad,"%d", f+1);
+            snprintf(pad, 3, "%d", f+1);
+
             std::string suffix = "ExternalForce_"+string(pad);
             xf->setName(suffix);
             _externalLoads.adoptAndAppend(xf);

OpenSim/Tools/IKMarkerTask.h

@@ -41,6 +41,9 @@ OpenSim_DECLARE_CONCRETE_OBJECT(IKMarkerTask, IKTask);
 public:
     IKMarkerTask() = default;
     IKMarkerTask(const IKMarkerTask&) = default;
+    IKMarkerTask(IKMarkerTask&&) = default;
+    IKMarkerTask& operator=(const IKMarkerTask&) = default;
+    IKMarkerTask& operator=(IKMarkerTask&&) = default;
     //=============================================================================
 };  // END of class IKMarkerTask
 //=============================================================================

OpenSim/Tools/IMUInverseKinematicsTool.h

@@ -58,6 +58,9 @@ class OSIMTOOLS_API OrientationWeightSet : public Set<OrientationWeight> {
     // default copy, assignment operator, and destructor
     OrientationWeightSet() = default;
     OrientationWeightSet(const OrientationWeightSet&) = default;
+    OrientationWeightSet(OrientationWeightSet&&) = default;
+    OrientationWeightSet& operator=(const OrientationWeightSet&) = default;
+    OrientationWeightSet& operator=(OrientationWeightSet&&) = default;
     //=============================================================================
 }; 
         //=============================================================================

dependencies/CMakeLists.txt

@@ -183,7 +183,7 @@ AddDependency(NAME       ezc3d
 AddDependency(NAME       simbody
               DEFAULT    ON
               GIT_URL    https://github.com/simbody/simbody.git
-              GIT_TAG    930ae0feff0adb5aec184af62d14f9d138cacd48
+              GIT_TAG    589e931f4a127830a5876ee4dd8f327b47361504
               CMAKE_ARGS -DBUILD_EXAMPLES:BOOL=OFF
                          -DBUILD_TESTING:BOOL=OFF
                          ${SIMBODY_EXTRA_CMAKE_ARGS})