Merge branch 'master' of ssh+git://git.distanz.ch/home/tklauser/scm/locomotor-primitives

1 files changed, 36 insertions, 2 deletions

diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
index ccf45e5..8a85e4f 100644
--- a/LocomotorPrimitivesController.cpp
+++ b/LocomotorPrimitivesController.cpp
@@ -22,8 +22,42 @@ int LocomotorPrimitivesController::checkControls()
 	 * available in the loaded storage */
 	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());
+		std::string muscle_name = muscle->getName();
+
+		/* If it is one of the 'special' combined muscles, check the
+		 * combination instead. See comment in computeControls() for
+		 * details. */
+		if (muscle_name.compare("bifemlh_r") == 0) {
+			muscle_name = "hs_r";
+		} else if (muscle_name.compare("bifemlh_l") == 0) {
+			muscle_name = "hs_l";
+		} else if (muscle_name.compare("bifemsh_r") == 0) {
+			muscle_name = "hs_r";
+		} else if (muscle_name.compare("bifemsh_l") == 0) {
+			muscle_name = "hs_l";
+		} else if (muscle_name.compare("semimem_r") == 0) {
+			muscle_name = "hs_r";
+		} else if (muscle_name.compare("semimem_l") == 0) {
+			muscle_name = "hs_l";
+		} else if (muscle_name.compare("semiten_r") == 0) {
+			muscle_name = "hs_r";
+		} else if (muscle_name.compare("semiten_l") == 0) {
+			muscle_name = "hs_l";
+		} else if (muscle_name.compare("glut_max1_r") == 0) {
+			muscle_name = "gm_r";
+		} else if (muscle_name.compare("glut_max1_l") == 0) {
+			muscle_name = "gm_l";
+		} else if (muscle_name.compare("glut_max2_r") == 0) {
+			muscle_name = "gm_r";
+		} else if (muscle_name.compare("glut_max2_l") == 0) {
+			muscle_name = "gm_l";
+		} else if (muscle_name.compare("glut_max3_r") == 0) {
+			muscle_name = "gm_r";
+		} else if (muscle_name.compare("glut_max3_l") == 0) {
+			muscle_name = "gm_l";
+		}
 
+		const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(muscle_name);
 		if (indices.getSize() == 0) {
 			logger.err("no actuation data for muscle '%s' found\n", muscle->getName().c_str());
 			ret--;
@@ -136,7 +170,7 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s,
 			}
 
 			if (n % N_PRINT == 0)
-				logger.log("timestep %f: actuation data for"
+				logger.log("timestep %f: actuation data for "
 					   "muscle '%s': %f\n",
 					   t, muscle_name.c_str(), mact);