opensim-org · alexbeattie42 · Dec 19, 2024
diff --git a/Applications/Analyze/test/CMakeLists.txt b/Applications/Analyze/test/CMakeLists.txt
@@ -1,11 +1,13 @@
+find_package(Catch2 REQUIRED
+        HINTS "${OPENSIM_DEPENDENCIES_DIR}/catch2")
 
 file(GLOB TEST_PROGS "test*.cpp")
 file(GLOB TEST_FILES *.osim *.xml *.sto *.mot)
 
 OpenSimAddTests(
     TESTPROGRAMS ${TEST_PROGS}
     DATAFILES ${TEST_FILES}
-    LINKLIBS osimTools
+    LINKLIBS osimTools Catch2::Catch2WithMain
     )
 
 if(BUILD_TESTING)

diff --git a/Applications/Analyze/test/testPointKinematics.cpp b/Applications/Analyze/test/testPointKinematics.cpp
@@ -0,0 +1,165 @@
+/* -------------------------------------------------------------------------- *
+ *                       OpenSim:  testPointKinematics.cpp                    *
+ * -------------------------------------------------------------------------- *
+ * The OpenSim API is a toolkit for musculoskeletal modeling and simulation.  *
+ * See http://opensim.stanford.edu and the NOTICE file for more information.  *
+ * OpenSim is developed at Stanford University and supported by the US        *
+ * National Institutes of Health (U54 GM072970, R24 HD065690) and by DARPA    *
+ * through the Warrior Web program.                                           *
+ *                                                                            *
+ * Copyright (c) 2005-2024 Stanford University and the Authors                *
+ * Author(s): Alexander Beattie                                               *
+ *                                                                            *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
+ * not use this file except in compliance with the License. You may obtain a  *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
+ *                                                                            *
+ * Unless required by applicable law or agreed to in writing, software        *
+ * distributed under the License is distributed on an "AS IS" BASIS,          *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
+ * See the License for the specific language governing permissions and        *
+ * limitations under the License.                                             *
+ * -------------------------------------------------------------------------- */
+
+// INCLUDE
+#include <limits>
+#include <iterator> // std::next
+
+#include <OpenSim/Analyses/PointKinematics.h>
+#include <OpenSim/Simulation/Model/Model.h>
+#include <OpenSim/Tools/AnalyzeTool.h>
+
+#include <catch2/catch_all.hpp>
+
+using namespace OpenSim;
+
+constexpr double tol = std::numeric_limits<double>::epsilon() * 10;
+
+TEST_CASE("PointKinematics Construction with Blank Model", "[PointKinematics]") {
+    Model model;
+    PointKinematics pk(&model);
+
+    REQUIRE(pk.getBody() == nullptr);
+    REQUIRE(pk.getRelativeToBody() == nullptr);
+    REQUIRE(pk.getPointName() == "NONAME");
+}
+
+TEST_CASE("PointKinematics Construction with No Model", "[PointKinematics]") {
+    PointKinematics pk;
+
+    REQUIRE(pk.getBody() == nullptr);
+    REQUIRE(pk.getRelativeToBody() == nullptr);
+    REQUIRE(pk.getPointName() == "NONAME");
+}
+
+TEST_CASE("PointKinematics Set and Get Body", "[PointKinematics]") {
+    Model model("SinglePin.osim");
+    const auto &bodies = model.getComponentList<Body>();
+    const auto bodyIt = bodies.begin();
+    const auto body = *bodyIt;
+
+    PointKinematics pk(&model);
+    pk.setBody(&body);
+
+    REQUIRE(pk.getBody() == &body);
+    REQUIRE(pk.getBody()->getName() == body.getName());
+}
+
+TEST_CASE("PointKinematics Set and Get RelativeToBody", "[PointKinematics]") {
+    Model model("subject01.osim");
+    const auto &bodies = model.getComponentList<Body>();
+    // Gets the 2nd body (which is at index 1)
+    const auto bodyIt = std::next(bodies.begin(),1);
+    const auto body = *bodyIt;
+
+    PointKinematics pk(&model);
+    pk.setRelativeToBody(&body);
+
+    REQUIRE(pk.getRelativeToBody() == &body);
+    REQUIRE(pk.getRelativeToBody()->getName() == body.getName());
+}
+
+TEST_CASE("PointKinematics Set and Get Point", "[PointKinematics]") {
+    Model model;
+    PointKinematics pk(&model);
+    SimTK::Vec3 point(1.0, 2.0, 3.0);
+
+    pk.setPoint(point);
+    SimTK::Vec3 retrievedPoint;
+    pk.getPoint(retrievedPoint);
+
+    REQUIRE_THAT(retrievedPoint[0], Catch::Matchers::WithinAbs(1.0,tol));
+    REQUIRE_THAT(retrievedPoint[1], Catch::Matchers::WithinAbs(2.0,tol));
+    REQUIRE_THAT(retrievedPoint[2], Catch::Matchers::WithinAbs(3.0,tol));
+}
+
+TEST_CASE("PointKinematics Record Kinematics Single Body", "[PointKinematics]") {
+    std::string model_name = "subject01.osim";
+    std::string coordinates_file_name = "subject01_walk1_ik.mot";
+
+    Model model(model_name);
+    model.initSystem();
+
+    AnalyzeTool analyzeTool;
+    analyzeTool.setName("test_analysis");
+    analyzeTool.setModel(model);
+    analyzeTool.setModelFilename(model_name);
+    analyzeTool.setCoordinatesFileName(coordinates_file_name);
+    analyzeTool.setLowpassCutoffFrequency(-1);
+    analyzeTool.setResultsDir("results");
+
+    const auto &bodies = model.getComponentList<Body>();
+    const auto bodyIt = bodies.begin();
+    const auto body1 = *bodyIt;
+    // Gets the 2nd body (which is at index 1)
+    const auto bodyIt2 = std::next(bodies.begin(),1);
+    const auto body2 = *bodyIt2;
+
+    PointKinematics pk(&model);
+    pk.setBody(&body1);
+    pk.setRelativeToBody(&body2);
+    pk.setPoint(SimTK::Vec3(1.0, 2.0, 3.0));
+    analyzeTool.updAnalysisSet().cloneAndAppend(pk);
+
+    std::string output_file_name = "test_analysis_point_kinematics_1.xml";
+    analyzeTool.print(output_file_name);
+    AnalyzeTool roundTrip(output_file_name);
+    roundTrip.run();
+}
+
+TEST_CASE("PointKinematics Record Kinematics Whole Body", "[PointKinematics]") {
+    std::string model_name = "subject01.osim";
+    std::string coordinates_file_name = "subject01_walk1_ik.mot";
+
+    Model model(model_name);
+    model.initSystem();
+
+    AnalyzeTool analyzeTool;
+    analyzeTool.setName("test_analysis");
+    analyzeTool.setModel(model);
+    analyzeTool.setModelFilename(model_name);
+    analyzeTool.setCoordinatesFileName(coordinates_file_name);
+    analyzeTool.setLowpassCutoffFrequency(-1);
+    analyzeTool.setResultsDir("results");
+
+    const auto &bodies = model.getComponentList<Body>();
+    for (auto& root : bodies) {
+        const std::string& root_name = root.getName();
+        for (auto& sub_component: bodies) {
+            const std::string& sub_component_name = sub_component.getName();
+            // Create point kinematics reporter
+            PointKinematics pointKin;
+            pointKin.setPointName(root_name + "-" + sub_component_name);
+            pointKin.setPoint(SimTK::Vec3(1.0, 2.0, 3.0));
+            pointKin.setBody(&root);
+            pointKin.setRelativeToBody(&sub_component);
+            analyzeTool.updAnalysisSet().cloneAndAppend(pointKin);
+        }
+    }
+
+    std::string output_file_name = "test_analysis_point_kinematics_2.xml";
+    analyzeTool.print(output_file_name);
+    AnalyzeTool roundTrip(output_file_name);
+    roundTrip.run();
+}
+
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -53,6 +53,7 @@ v4.6
   in the intersection of names in the model and names in the provided referece/data. Remove methods that are index based from public interface.(#3951) 
 - Replace usages of `OpenSim::make_unique` with `std::make_unique` and remove wrapper function now that C++14 is used in OpenSim (#3979). 
 - Add utility method `createVectorLinspaceInterval` for the `std::vector` type and add unit tests. Utilize the new utility method to fix a bug (#3976) in creating the uniformly sampled time interval from the experimental data sampling frequency in `APDMDataReader` and `XsensDataReader` (#3977).
+- Fix Point Kinematics Reporter variable and initialization error and add unit tests (#3966)
 
 
 v4.5.1

diff --git a/OpenSim/Analyses/PointKinematics.cpp b/OpenSim/Analyses/PointKinematics.cpp
@@ -368,15 +368,15 @@ void PointKinematics::setRelativeToBody(const PhysicalFrame* aBody)
     // CHECK
     if (aBody==NULL) {
         log_warn("PointKinematics.setRelativeToBody: null body pointer.");
-        _body = NULL;
+        _relativeToBody = NULL;
         return;
     }
 
     // SET
     _relativeToBody = aBody;
     _relativeToBodyName = aBody->getName();
     log_info("PointKinematics.setRelativeToBody: set relative-to body to {}.",
-            _bodyName);
+            _relativeToBodyName);
 }
 
 //_____________________________________________________________________________