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ControlEvaluationAnalysis.cpp
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ControlEvaluationAnalysis.cpp
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#include "ControlEvaluationAnalysis.h"
#include <OpenSim/Simulation/Model/PathActuator.h>
#include <OpenSim/Actuators/CoordinateActuator.h>
namespace OpenSim {
ControlEvaluationAnalysis ::ControlEvaluationAnalysis(Model *aModel):
Analysis(aModel), _analysisStorage(1000)
{
setName("ControlAnalysis");
_momentArmSolver = NULL;
setupStorage();
}
ControlEvaluationAnalysis::~ControlEvaluationAnalysis()
{
if(_momentArmSolver!=NULL)
delete _momentArmSolver;
}
void ControlEvaluationAnalysis::initMomentArmSolver()
{
if(_momentArmSolver!=NULL)
delete _momentArmSolver;
_momentArmSolver = new MomentArmSolver(*_model);
const SimTK::State& s = _model->getWorkingState();
const SimTK::SimbodyMatterSubsystem& smss = _model->getMatterSubsystem();
const SimTK::MultibodySystem& mbs = _model->getMultibodySystem();
mbs.realize(s,SimTK::Stage::Velocity);
const Set<Actuator>& actuatorSet = _model->getActuators();
int numMuscles = 0;
for(int i=0;i<actuatorSet.getSize();i++)
{
Actuator& act = actuatorSet.get(i);
PathActuator* m = dynamic_cast<PathActuator*>(&act);
if(m!=NULL)
{
numMuscles++;
}
}
_momentArmMask.resize(numMuscles);
int n_u = _model->getNumCoordinates();
int idx_musc = 0;
for(int i=0;i<actuatorSet.getSize();i++)
{
Actuator& act = actuatorSet.get(i);
PathActuator* m = dynamic_cast<PathActuator*>(&act);
if(m!=NULL)
{
_momentArmMask[idx_musc].resize(n_u);
for(int j=0;j<n_u;j++)
{
Coordinate& coord = _model->getCoordinateSet().get(j);
if(!coord.isDependent(s))
{
if(_momentArmSolver->solve(s,coord,m->getGeometryPath()) != 0)
_momentArmMask[idx_musc][j] = true;
else
_momentArmMask[idx_musc][j] = false;
}
else
_momentArmMask[idx_musc][j] = false;
}
idx_musc++;
}
}
}
void ControlEvaluationAnalysis::setupStorage()
{
_storageList.append(&_analysisStorage);
_storageList.setMemoryOwner(false);
}
void ControlEvaluationAnalysis::constructColumnLabels()
{
if(_model)
{
Array<std::string> labels;
labels.append("time");
int num_coords = _model->getNumCoordinates();
for(int i=0;i<num_coords;i++)
{
Coordinate& coord = _model->getCoordinateSet().get(i);
labels.append(coord.getName()+"_muscleContribution");
}
for(int i=0;i<num_coords;i++)
{
Coordinate& coord = _model->getCoordinateSet().get(i);
labels.append(coord.getName()+"_resContribution");
}
_analysisStorage.setColumnLabels(labels);
}
}
int ControlEvaluationAnalysis::begin(SimTK::State& s)
{
if(!proceed()) return(0);
constructColumnLabels();
_analysisStorage.reset(s.getTime());
int status = 0;
if(_analysisStorage.getSize()<=0)
status = record(s);
return (status);
}
int ControlEvaluationAnalysis::step(const SimTK::State& s, int stepNumber)
{
if(!proceed(stepNumber)) return(0);
record(s);
return(0);
}
int ControlEvaluationAnalysis::end(SimTK::State& s)
{
if(!proceed()) return 0;
record(s);
return(0);
}
int ControlEvaluationAnalysis::
record(const SimTK::State& s)
{
if(_model == NULL) return (-1);
int n_u = _model->getNumCoordinates();
SimTK::Vector result(n_u*2);
result.setToZero();
const SimTK::SimbodyMatterSubsystem& smss = _model->getMatterSubsystem();
const SimTK::MultibodySystem& mbs = _model->getMultibodySystem();
mbs.realize(s,SimTK::Stage::Dynamics);
const Set<Actuator>& actuatorSet = _model->getActuators();
int idx_musc = 0;
for(int i=0;i<actuatorSet.getSize();i++)
{
//Actuator& act = actuatorSet.get(i);
//double actForce = act.getForce(s);
ScalarActuator& act = (ScalarActuator&)actuatorSet.get(i);
double actForce = act.getActuation(s);
PathActuator* m = dynamic_cast<PathActuator*>(&act);
if(m!=NULL)
{
for(int j=0;j<n_u;j++)
{
Coordinate& coord = _model->getCoordinateSet().get(j);
if(!coord.isDependent(s) && _momentArmMask[idx_musc][j])
{
result[j] += _momentArmSolver->solve(s,coord,m->getGeometryPath())*actForce;
}
}
idx_musc++;
}
else
{
CoordinateActuator* coordAct = dynamic_cast<CoordinateActuator*>(&act);
if(coordAct != NULL)
{
int coord_idx = _model->getCoordinateSet().getIndex(coordAct->getCoordinate(),0);
result[n_u+coord_idx] = actForce;
}
}
}
_analysisStorage.append(s.getTime(),result);
return(0);
}
int ControlEvaluationAnalysis::
printResults(const std::string &aBaseName,const std::string &aDir,
double aDT,const std::string &aExtension)
{
if(!getOn())
{
printf("ControlEvaluationAnalysis.printResults: Off - not printing.\n");
return(0);
}
std::string prefix = aBaseName + "_"+getName()+"_";
Storage::printResult(&_analysisStorage,prefix+"Result",aDir,aDT,aExtension);
return(0);
}
}