A bit cleaner way to separate the scripting capable signature of crea…

…tePeriodicTrajectory
opensim-org · Jan 7, 2025 · 05f973e · 05f973e
1 parent 12536ca
commit 05f973e
Showing 1 changed file with 15 additions and 10 deletions.
diff --git a/OpenSim/Moco/MocoUtilities.h b/OpenSim/Moco/MocoUtilities.h
@@ -117,7 +117,7 @@ OSIMMOCO_API void prescribeControlsToModel(const MocoTrajectory& trajectory,
 OSIMMOCO_API MocoTrajectory simulateTrajectoryWithTimeStepping(
         const MocoTrajectory& trajectory, Model model,
         double integratorAccuracy = SimTK::NaN);
-
+#ifndef SWIG
 /// Convert a trajectory covering half the period of a symmetric motion into a
 /// trajectory over the full period. This is useful for simulations of half a
 /// gait cycle.
@@ -173,16 +173,21 @@ OSIMMOCO_API MocoTrajectory createPeriodicTrajectory(
         std::vector<std::string> negateAndShiftPatterns = {
                                             ".*pelvis_list/value",
                                             ".*pelvis_tz/value",
-                                            ".*lumbar_bending/value"}
-#ifndef SWIG
-                                            ,
-        std::vector<std::pair<std::string, std::string>> symmetryPatterns = {
-                {R"(_r(\\|_|$|/))", "_l$1"}, 
-                {R"(_l(\\|_|$|/))", "_r$1"}
-        }
+                                                   ".*lumbar_bending/value"},
+        std::vector<std::pair<std::string, std::string>> symmetryPatterns =
+                {{R"(_r(/|_|$))", "_l$1"}, {R"(_l(/|_|$))", "_r$1"}});
+#else 
+// Variant that doesn't take symmetryPatterns which are unusable from scripting
+OSIMMOCO_API MocoTrajectory createPeriodicTrajectory(
+        const MocoTrajectory& halfPeriodTrajectory,
+        std::vector<std::string> addPatterns = {".*pelvis_tx/value"},
+        std::vector<std::string> negatePatterns = {".*pelvis_list(?!/value).*",
+                ".*pelvis_rotation.*", ".*pelvis_tz(?!/value).*",
+                ".*lumbar_bending(?!/value).*", ".*lumbar_rotation.*"},
+        std::vector<std::string> negateAndShiftPatterns = {
+                ".*pelvis_list/value", ".*pelvis_tz/value",
+                ".*lumbar_bending/value"});
 #endif
-);
-
 /// This obtains the value of the OPENSIM_MOCO_PARALLEL environment variable.
 /// The value has the following meanings:
 /// - 0: run in series (not parallel).