LocomotorPrimitivesController: set actuation to 0 for muscles without data

1 files changed, 7 insertions, 4 deletions

diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
index 2708162..27ac205 100644
--- a/LocomotorPrimitivesController.cpp
+++ b/LocomotorPrimitivesController.cpp
@@ -47,6 +47,7 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK
 	for (int i = 0; i < act_set_siz; i++) {
 		const OpenSim::Muscle *muscle = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get(i));
 		const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(muscle->getName());
+		double mact;
 
 		if (indices.getSize() != 0) {
 			int idx = indices.get(0) - 1;
@@ -58,12 +59,14 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK
 				_muscle_act[idx] = 1.0;
 			}
 
-			SimTK::Vector ctrl(1, _muscle_act[idx]);
-			muscle->addInControls(ctrl, controls);
+			mact = _muscle_act[idx];
 		} else {
-			// std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' at time " << t << " found" << std::endl;
-			continue;
+			// no actuation data for muscle at that time, so set it to 0.0
+			mact = 0.0;
 		}
+
+		SimTK::Vector ctrl(1, mact);
+		muscle->addInControls(ctrl, controls);
 	}
 
 	n++;