#' Run inverse kinematics to compute joint angles
#'
#' Run inverse kinematics to compute joint angles
#' @param opensim_path string containing path to opensim bin. Default is "C:/OpenSim 3.3/bin".
#' @param setup_file string containing path to xml setup file.
#' @return Output files will be prduced as identified in setup file.
#' @export
IK = function(opensim_path = "C:/OpenSim 3.3/bin",
setup_file){
#Rewrite command to fix
ik_path = paste0(opensim_path, "/ik")
opensim_path = paste0('"', ik_path, '"')
setup_file = paste0('"', setup_file, '"')
#setup command
CMD = paste0(opensim_path, ' -S ', setup_file)
#run command through system
cat(system(CMD, intern = FALSE, wait=TRUE, show.output.on.console = FALSE))
}
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