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-rw-r--r--LocomotorPrimitivesController.cpp113
-rw-r--r--LocomotorPrimitivesController.h2
2 files changed, 98 insertions, 17 deletions
diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
index 63d1c26..ccf45e5 100644
--- a/LocomotorPrimitivesController.cpp
+++ b/LocomotorPrimitivesController.cpp
@@ -1,3 +1,9 @@
+/*
+ * Author: Tobias Klauser <tobias.klauser@uzh.ch>
+ *
+ * Copyright (C) 2013 Tobias Klauser <tobias.klauser@uzh.ch>
+ */
+
#include <OpenSim/OpenSim.h>
#include "LocomotorPrimitivesController.h"
@@ -27,7 +33,28 @@ int LocomotorPrimitivesController::checkControls()
return ret;
}
-void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK::Vector &controls) const
+double LocomotorPrimitivesController::getMuscleActivation(const std::string &muscle_name) const
+{
+ double mact;
+ const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(muscle_name);
+
+ if (indices.getSize() != 0) {
+ int idx = indices.get(0) - 1;
+ if (_muscle_act[idx] > 1.0) {
+ logger.err("%s (%d): muscle actuation larger than 1.0 (%f), truncating to 1.0\n", muscle_name.c_str(), idx, _muscle_act[idx]);
+ _muscle_act[idx] = 1.0;
+ }
+
+ mact = _muscle_act[idx];
+ } else {
+ mact = 0.0;
+ }
+
+ return mact;
+}
+
+void LocomotorPrimitivesController::computeControls(const SimTK::State &s,
+ SimTK::Vector &controls) const
{
double t = s.getTime();
static double last_twitch = t;
@@ -43,25 +70,77 @@ 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;
+ std::string muscle_name = muscle->getName();
+ double mact = getMuscleActivation(muscle_name);
+
+ if (mact == 0.0) {
+ /* Special case: In the paper some muscles were measured
+ * in combination but they're present as individual
+ * muscles in the model (see list below). Thus we
+ * linearly distribute the activation value among the
+ * individual muscles of the combination.
+ *
+ * TODO: Introduce scale factor for each muscle.
+ *
+ * measurement muscle model
+ * -----------------------------------------------------
+ * HS (hamstring) bifemlh bifemsh semimem semiten
+ * GM (gluteus maximus) glut_max1 glut_max2 glut_max3
+ */
+ if (muscle_name.compare("bifemlh_r") == 0) {
+ mact = getMuscleActivation("hs_r");
+ mact /= 4.0;
+ } else if (muscle_name.compare("bifemlh_l") == 0) {
+ mact = getMuscleActivation("hs_l");
+ mact /= 4.0;
+ } else if (muscle_name.compare("bifemsh_r") == 0) {
+ mact = getMuscleActivation("hs_r");
+ mact /= 4.0;
+ } else if (muscle_name.compare("bifemsh_l") == 0) {
+ mact = getMuscleActivation("hs_l");
+ mact /= 4.0;
+ } else if (muscle_name.compare("semimem_r") == 0) {
+ mact = getMuscleActivation("hs_r");
+ mact /= 4.0;
+ } else if (muscle_name.compare("semimem_l") == 0) {
+ mact = getMuscleActivation("hs_l");
+ mact /= 4.0;
+ } else if (muscle_name.compare("semiten_r") == 0) {
+ mact = getMuscleActivation("hs_r");
+ mact /= 4.0;
+ } else if (muscle_name.compare("semiten_l") == 0) {
+ mact = getMuscleActivation("hs_l");
+ mact /= 4.0;
+ } else if (muscle_name.compare("glut_max1_r") == 0) {
+ mact = getMuscleActivation("gm_r");
+ mact /= 3.0;
+ } else if (muscle_name.compare("glut_max1_l") == 0) {
+ mact = getMuscleActivation("gm_l");
+ mact /= 3.0;
+ } else if (muscle_name.compare("glut_max2_r") == 0) {
+ mact = getMuscleActivation("gm_r");
+ mact /= 3.0;
+ } else if (muscle_name.compare("glut_max2_l") == 0) {
+ mact = getMuscleActivation("gm_l");
+ mact /= 3.0;
+ } else if (muscle_name.compare("glut_max3_r") == 0) {
+ mact = getMuscleActivation("gm_r");
+ mact /= 3.0;
+ } else if (muscle_name.compare("glut_max3_l") == 0) {
+ mact = getMuscleActivation("gm_l");
+ mact /= 3.0;
+ } else {
+ // there's really no actuation data for muscle
+ // at that time, so set it to 0.0
+ mact = 0.0;
+ }
- if (indices.getSize() != 0) {
- int idx = indices.get(0) - 1;
if (n % N_PRINT == 0)
- logger.log("timestep %f: actuation data for muscle '%s' (%d) found: %f\n",
- t, muscle->getName().c_str(), idx, _muscle_act[idx]);
+ logger.log("timestep %f: actuation data for"
+ "muscle '%s': %f\n",
+ t, muscle_name.c_str(), mact);
- if (_muscle_act[idx] > 1.0) {
- logger.err("muscle actuation larger than 1.0 (%f), truncating to 1.0\n", _muscle_act[idx]);
- _muscle_act[idx] = 1.0;
- }
-
- mact = _muscle_act[idx];
- } else {
- // 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);
diff --git a/LocomotorPrimitivesController.h b/LocomotorPrimitivesController.h
index 578a659..68bf1af 100644
--- a/LocomotorPrimitivesController.h
+++ b/LocomotorPrimitivesController.h
@@ -34,6 +34,8 @@ private:
double *_muscle_act;
OpenSim::Storage _act;
+
+ double getMuscleActivation(const std::string &muscle_name) const;
};
#endif /* LOCOMOTORPRIMITIVES_CONTROLLER_H_ */