Make Frame frame_geometry a member subcomponent.

Bindings/Java/Matlab/examples/wiringInputsAndOutputsWithTableReporter.m

@@ -51,6 +51,7 @@
 reporter = TableReporterVec3();
 reporter.setName('reporter');
 reporter.set_report_time_interval(0.1);
+
 % Report the position of the origin of the body.
 reporter.addToReport(body.getOutput('position'));
 % For comparison, we will also get the center of mass position from the
@@ -64,6 +65,9 @@
 
 model.addComponent(reporter);
 
+% We must finalize connections to save the input-output connections in the
+% model file.
+model.finalizeConnections();
 model.print(modelFilename);
 
 
@@ -78,7 +82,7 @@
 % We can access the names of the outputs that the reporter is connected to.
 disp('Outputs connected to the reporter:');
 for i = 0:(reporter.getInput('inputs').getNumConnectees() - 1)
-    disp(reporter.getInput('inputs').getConnecteeName(i));
+    disp(reporter.getInput('inputs').getConnecteePath(i));
 end
 
 % Simulate the model.

Bindings/Java/Matlab/tests/testConnectorsInputsOutputs.m

@@ -33,7 +33,7 @@
 
 
 % Sockets
-% ==========
+% =======
 
 % Access (and iterate through) a component's AbstractSockets, using names.
 names = joint.getSocketNames();
@@ -56,7 +56,8 @@
 % Connect a socket. Try the different methods to ensure they all work.
 offset.connectSocket_parent(ground);
 offset.updSocket('parent').connect(ground);
-assert(strcmp(offset.getSocket('parent').getConnecteeName(), '../ground'));
+model.finalizeConnections()
+assert(strcmp(offset.getSocket('parent').getConnecteePath(), '/ground'));
 
 
 
@@ -81,7 +82,7 @@
 % --------
 % Access AbstractChannels.
 assert(strcmp(coord.getOutput('speed').getChannel('').getPathName(), ...
-              '/leg/jointset/pin/pin_coord_0|speed'));
+              '/jointset/pin/pin_coord_0|speed'));
 
 % Access the value of a concrete Channel.
 % TODO Concrete channels are not wrapped yet.
@@ -99,16 +100,16 @@
 rep.addToReport(source.getOutput('column').getChannel('c1'));
 rep.updInput('inputs').connect(source.getOutput('column').getChannel('c2'), ...
                                'second_col');
-
+model.finalizeConnections()
 
 % Inputs
 % ======
 
 % Access (and iterate through) the AbstractInputs, using names.
 names = rep.getInputNames();
 expectedAliases = {'', 'target', '', 'second_col'};
-expectedLabels  = {'/leg/jointset/pin/pin_coord_0|value', 'target', ...
-                   '/leg/source|column:c1', 'second_col'};
+expectedLabels  = {'/jointset/pin/pin_coord_0|value', 'target', ...
+                   '/source|column:c1', 'second_col'};
 for i = 0:(names.size() - 1)
     % Actually, there is only one Input, named 'inputs'.
     % We connected it to 4 channels.

Bindings/Java/OpenSimJNI/OpenSimContext.cpp

@@ -434,7 +434,7 @@ void OpenSimContext::restoreStateFromCachedModel()
     this->realizePosition();
 }
 
-void OpenSimContext::setSocketConnecteeName(AbstractSocket& socket,
+void OpenSimContext::setSocketConnecteePath(AbstractSocket& socket,
                                    const std::string& componentPathName) {
     // Since some socket changes can form an invalid system
     // we will make the change in a more conservative manner, by:
@@ -448,7 +448,7 @@ void OpenSimContext::setSocketConnecteeName(AbstractSocket& socket,
     const Component& comp = socket.getOwner();
     Component& componentInClone = clonedModel->updComponent(comp.getAbsolutePath());
     auto& clonesocket = componentInClone.updSocket(socket.getName());
-    clonesocket.setConnecteeName(componentPathName);
+    clonesocket.setConnecteePath(componentPathName);
     // The following line either succeeds or throws, if the latter happens then
     // neither model or socket are changed and the message will be caught by GUI
     try {
@@ -462,7 +462,8 @@ void OpenSimContext::setSocketConnecteeName(AbstractSocket& socket,
         throw OpenSim::Exception(message);
     }
     // if we made it to this line then the change is safe, redo in actual model/comp/socket
-    socket.setConnecteeName(componentPathName);
+    socket.disconnect();
+    socket.setConnecteePath(componentPathName);
     restoreStateFromCachedModel();
 }
 } // namespace

Bindings/Java/OpenSimJNI/OpenSimContext.h

@@ -221,7 +221,8 @@ OpenSim_DECLARE_CONCRETE_OBJECT(OpenSimContext, Object);
 
     void cacheModelAndState();
     void restoreStateFromCachedModel()  SWIG_DECLARE_EXCEPTION;
-    void setSocketConnecteeName(AbstractSocket& socket, const std::string& newValue )   SWIG_DECLARE_EXCEPTION;
+    void setSocketConnecteePath(AbstractSocket& socket,
+            const std::string& newValue)   SWIG_DECLARE_EXCEPTION;
 //=============================================================================
 // DATA
 //=============================================================================

Bindings/Java/OpenSimJNI/Test/testContext.cpp

@@ -231,7 +231,7 @@ int main()
     try {
         // create an invalid model where joint connects two frames on ground,
         // the test will verify the connectee has not been changed 
-        context->setSocketConnecteeName(socket, "ground");
+        context->setSocketConnecteePath(socket, "ground");
     }
     catch (const std::exception& e) {
         // Expect meaningful error message explaining why initsystem failed
@@ -243,7 +243,7 @@ int main()
     try {
         // Try to create an invalid model again, this call should leave the 
         // model untouched since change invalidates psocket
-        context->setSocketConnecteeName(psocket, "r_ulna_radius_hand");
+        context->setSocketConnecteePath(psocket, "r_ulna_radius_hand");
 
     }
     catch (const std::exception& e) {

Bindings/Java/tests/TestEditMarkers.java

@@ -18,7 +18,7 @@ public static void main(String[] args) {
         Marker newMarker = new Marker();
         newMarker.setName(newMarkerName);
         newMarker.set_location(offset);
-        newMarker.setParentFrameName(body.getName());
+        newMarker.setParentFrame(body);
         context.cacheModelAndState();
         model.addMarker(newMarker);
         try {

Bindings/Java/tests/TestReporter.java

@@ -45,9 +45,9 @@ public static void test_TableReporter_1() throws java.io.IOException {
 
         assert table.getColumnLabels().size()          == 2;
         assert table.getColumnLabel(0).
-                                      equals("/model/table_source|column:col1");
+                                      equals("/table_source|column:col1");
         assert table.getColumnLabel(1).
-                                      equals("/model/table_source|column:col2");
+                                      equals("/table_source|column:col2");
         assert table.getNumRows()                      == 3;
         assert table.getNumColumns()                   == 2;
         assert table.getRowAtIndex(0).get(0)           == 1;
@@ -66,17 +66,17 @@ public static void test_TableReporter_1() throws java.io.IOException {
             assert table.getNumColumns()               == 0;
             assert table.getColumnLabels().size()      == 2;
             assert table.getColumnLabel(0).
-                                      equals("/model/table_source|column:col1");
+                                      equals("/table_source|column:col1");
             assert table.getColumnLabel(1).
-                                      equals("/model/table_source|column:col2");
+                                      equals("/table_source|column:col2");
             // Make sure the table reference is still valid.
             assert table.getNumRows()                  == 0;
             assert table.getNumColumns()               == 0;
             assert table.getColumnLabels().size()      == 2;
             assert table.getColumnLabel(0).
-                                      equals("/model/table_source|column:col1");
+                                      equals("/table_source|column:col1");
             assert table.getColumnLabel(1).
-                                      equals("/model/table_source|column:col2");
+                                      equals("/table_source|column:col2");
 
             state = model.initSystem();
             state.setTime(0.1);
@@ -88,9 +88,9 @@ public static void test_TableReporter_1() throws java.io.IOException {
 
             assert table.getColumnLabels().size()      == 2;
             assert table.getColumnLabel(0).
-                                      equals("/model/table_source|column:col1");
+                                      equals("/table_source|column:col1");
             assert table.getColumnLabel(1).
-                                      equals("/model/table_source|column:col2");
+                                      equals("/table_source|column:col2");
             assert table.getNumRows()                  == 3;
             assert table.getNumColumns()               == 2;
             assert table.getRowAtIndex(0).get(0)       == 1;

Bindings/Python/examples/wiring_inputs_and_outputs_with_TableReporter.py

@@ -59,10 +59,12 @@ def print_model():
     # one-body system. The (optional) second argument is an alias for the name
     # of the output; it is used as the column label in the table.
     reporter.addToReport(model.getOutput('com_position'), 'com_pos')
+
+    model.addComponent(reporter)
+    model.finalizeConnections()
+
     # Display what input-output connections look like in XML (in .osim files).
     print("Reporter input-output connections in XML:\n" + reporter.dump())
-
-    model.addComponent(reporter)
 
     model.printToXML(model_filename)
 
@@ -79,7 +81,7 @@ def print_model():
 # We can access the names of the outputs that the reporter is connected to.
 print('Outputs connected to the reporter:')
 for i in range(reporter.getInput('inputs').getNumConnectees()):
-    print(reporter.getInput('inputs').getConnecteeName(i))
+    print(reporter.getInput('inputs').getConnecteePath(i))
 
 # Simulate the model.
 manager = osim.Manager(deserialized_model)
@@ -104,5 +106,3 @@ def print_model():
 
 
 
-
-

Bindings/Python/tests/test_sockets_inputs_outputs.py

@@ -134,7 +134,7 @@ def test_output_values(self):
         # AbstractChannel.
         coord = model.getCoordinateSet().get(0)
         self.assertEquals(coord.getOutput('speed').getChannel('').getPathName(),
-                '/arm26/jointset/r_shoulder/r_shoulder_elev|speed')
+                '/jointset/r_shoulder/r_shoulder_elev|speed')
 
         # Access the value of a concrete Channel.
         # TODO Concrete channels are not wrapped yet.
@@ -211,8 +211,8 @@ def test_connecting_and_iterate_inputs(self):
         s = m.initSystem()
 
         # Access and iterate through AbstractInputs, using names.
-        expectedLabels = ['/model/jointset/pin/pin_coord_0|value', 'spd',
-                          '/model/source|column:col1', 'second_col']
+        expectedLabels = ['/jointset/pin/pin_coord_0|value', 'spd',
+                          '/source|column:col1', 'second_col']
         i = 0
         for name in rep.getInputNames():
             # Actually, there is only one input, which we connected to 4
@@ -255,16 +255,19 @@ def print_model():
             reporter = osim.TableReporterVec3()
             reporter.setName('reporter')
             reporter.set_report_time_interval(0.1)
+
             reporter.addToReport(model.getOutput('com_position'))
+
+            model.addComponent(reporter)
+            model.finalizeConnections()
+
             reporter.getInput('inputs').setAlias(0, 'com_pos')
 
             # Display what input-output connections look like in XML
             # (in .osim files).
             print("Reporter input-output connections in XML:\n" + \
                   reporter.dump())
 
-            model.addComponent(reporter)
-
             model.printToXML(model_filename)
 
         # Create and print the model file.

OpenSim/Actuators/BodyActuator.cpp

@@ -76,12 +76,12 @@ void BodyActuator::constructProperties()
 
 void BodyActuator::setBodyName(const std::string& name)
 {
-    updSocket<Body>("body").setConnecteeName(name);
+    updSocket<Body>("body").setConnecteePath(name);
 }
 
 const std::string& BodyActuator::getBodyName() const
 {
-    return getSocket<Body>("body").getConnecteeName();
+    return getSocket<Body>("body").getConnecteePath();
 }
 
 //=============================================================================

OpenSim/Actuators/Test/testActuators.cpp

@@ -209,6 +209,7 @@ void testTorqueActuator()
 
     //model->addProbe(powerProbe);
 
+    model->finalizeConnections();
     model->print("TestTorqueActuatorModel.osim");
     model->setUseVisualizer(false);
 
@@ -355,6 +356,7 @@ void testClutchedPathSpring()
     controller->prescribeControlForActuator("clutch_spring", controlfunc);
     model->addController(controller);
 
+    model->finalizeConnections();
     model->print("ClutchedPathSpringModel.osim");
 
     //Test deserialization