diff options
| -rw-r--r-- | LocomotorPrimitives.cpp | 30 |
1 files changed, 19 insertions, 11 deletions
diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp index e5ff7f6..868726c 100644 --- a/LocomotorPrimitives.cpp +++ b/LocomotorPrimitives.cpp @@ -55,7 +55,8 @@ static void constructModel(OpenSim::Model &model, OpenSim::Storage actData) logger.log("Finished constructing model\n"); } -void simulateModel(OpenSim::Model &model, const double initialTime, const double finalTime) +void simulateModel(OpenSim::Model &model, const double initial_time, + const double final_time, double fixed_step_size) { if (NO_SIM) { logger.log("Skipping simulation as per NO_SIM=%d\n", NO_SIM); @@ -71,17 +72,19 @@ void simulateModel(OpenSim::Model &model, const double initialTime, const double // model.printDetailedInfo(si, std::cout); // std::cout << "=== END MODEL SUMMARY ===" << std::endl << std::endl; - logger.log("+ Creating integrator (RungeKuttaMerson) with accuracy %e\n", INTEGRATOR_ACCURACY); + logger.log("+ Creating integrator (RungeKuttaMerson) with accuracy %e and step size %f (0.0 means dynamic)\n", INTEGRATOR_ACCURACY, fixed_step_size); // Create the integrator and manager for the simulation SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem()); + if (fixed_step_size > 0) + integrator.setFixedStepSize(fixed_step_size); integrator.setAccuracy(INTEGRATOR_ACCURACY); logger.log("+ Creating simulation manager\n"); LocomotorPrimitivesManager manager(model, integrator); // Integrate from initial time to final time - manager.setInitialTime(initialTime); - manager.setFinalTime(finalTime); - logger.log("+ Integrating from time %f to %f\n", initialTime, finalTime); + manager.setInitialTime(initial_time); + manager.setFinalTime(final_time); + logger.log("+ Integrating from time %f to %f\n", initial_time, final_time); manager.integrate(si); // Save the model states from forward integration @@ -102,12 +105,14 @@ static void usage() std::cout << "usage: " << MODEL_NAME << " [OPTION...]" << std::endl << std::endl << " -d FILE specify .sto datafile to use for muscle activation data" << std::endl << " -m FILE specify .osim to use as model" << std::endl + << " -s N set fixed step size for integrator to N (default: dynamic)" << std::endl << " -h show this help and exit" << std::endl; } int main(int argc, char **argv) { clock_t ts_start = clock(); + double fixed_step_size = 0.0; /* set default values (to work on windows) */ std::string modelFile = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim"; @@ -121,6 +126,9 @@ int main(int argc, char **argv) case 'm': modelFile = argv[++i]; break; + case 's': + fixed_step_size = strtod(argv[++i], NULL); + break; case 'h': usage(); exit(0); @@ -132,15 +140,15 @@ int main(int argc, char **argv) } OpenSim::Storage actData(dataFile); - const double initialTime = actData.getFirstTime(); - const double finalTime = actData.getLastTime(); + const double initial_time = actData.getFirstTime(); + const double final_time = actData.getLastTime(); - if (initialTime < 0 || finalTime < 0 || finalTime <= initialTime) { - logger.err("invalid time range in data file: %f - %f\n", initialTime, finalTime); + if (initial_time < 0 || final_time < 0 || final_time <= initial_time) { + logger.err("invalid time range in data file: %f - %f\n", initial_time, final_time); exit(-1); } - logger.log("Starting simulation %s with model file %s, actuation data file %s\n", MODEL_NAME.c_str(), modelFile.c_str(), dataFile.c_str()); + logger.log("Starting simulation %s with model file %s, actuation data file %s\n, fixed step size: %f", MODEL_NAME.c_str(), modelFile.c_str(), dataFile.c_str(), fixed_step_size); try { // Create an OpenSim model and set its name @@ -150,7 +158,7 @@ int main(int argc, char **argv) osimModel.setUseVisualizer(false); constructModel(osimModel, actData); - simulateModel(osimModel, initialTime, finalTime); + simulateModel(osimModel, initial_time, final_time, fixed_step_size); } catch (OpenSim::Exception ex) { logger.err("Exception: %s. Press ENTER to quit", ex.getMessage()); std::cin.get(); |