diff options
| -rw-r--r-- | LocomotorPrimitives.cpp | 4 | ||||
| -rw-r--r-- | LocomotorPrimitivesController.cpp | 17 | ||||
| -rw-r--r-- | LocomotorPrimitivesController.h | 5 | ||||
| -rw-r--r-- | data/adults.sto | 40 |
4 files changed, 58 insertions, 8 deletions
diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp index af1983a..0de339f 100644 --- a/LocomotorPrimitives.cpp +++ b/LocomotorPrimitives.cpp @@ -23,8 +23,8 @@ static void constructModel(OpenSim::Model &model) std::cout << "Constructing " << MODEL_NAME << " model" << std::endl; // Define controller for the model - LocomotorPrimitivesController *control = new LocomotorPrimitivesController(0.01); - control->loadCsvData("es_r", "../../data/adults_es_r.csv"); + OpenSim::Storage actData("../../data/adults.sto"); + LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01); control->setActuators(model.updActuators()); model.addController(control); diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp index 84b6187..e4308bc 100644 --- a/LocomotorPrimitivesController.cpp +++ b/LocomotorPrimitivesController.cpp @@ -46,7 +46,7 @@ int LocomotorPrimitivesController::loadCsvData(const std::string &muscleName, co data.close(); - _act.push_back(p); + //_act.push_back(p); std::cout << ">>> loaded EMG profile for " << p.getName() << ", " << p.getIdx() << "/" << p.getCapacity() << std::endl; return 0; @@ -58,12 +58,22 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK static double last_twitch = t; /* Extract muscle activation for each of the muscles */ - for (std::vector<MuscleEMGProfile>::const_iterator it = _act.begin(); it != _act.end(); ++it) { - MuscleEMGProfile p = *it; + int act_set_siz = getActuatorSet().getSize(); + for (int i = 0; i < act_set_siz; i++) { + const OpenSim::Muscle *m = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get(i)); + const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(m->getName()); + + if (indices.getSize() != 0) { + double muscle_act = 0.0; + + _act.getDataAtTime(t, indices.get(0), &muscle_act); + std::cout << indices.get(0) << " actuation data for '" << m->getName() << "' found: " << muscle_act << std::endl; + } //std::cout << " " << p.getName() << "(" << p.getIdx() << "/" << p.getCapacity() << ")" << std::endl; } +#if 0 //const OpenSim::Muscle *rectfem = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("bifemlh_r")); const OpenSim::Muscle *rectfem = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("rect_fem_r")); const OpenSim::Muscle *ercspn_r = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("ercspn_r")); @@ -98,4 +108,5 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK ercspn_l->addInControls(ctrl_ercsp, controls); extobl_r->addInControls(ctrl_extobl, controls); extobl_l->addInControls(ctrl_extobl, controls); +#endif }
\ No newline at end of file diff --git a/LocomotorPrimitivesController.h b/LocomotorPrimitivesController.h index 0760459..6c52fda 100644 --- a/LocomotorPrimitivesController.h +++ b/LocomotorPrimitivesController.h @@ -1,7 +1,6 @@ #ifndef LOCOMOTORPRIMITIVES_CONTROLLER_H_ #define LOCOMOTORPRIMITIVES_CONTROLLER_H_ -#include <map> #include <OpenSim/OpenSim.h> #include "MuscleEMGProfile.h" @@ -9,14 +8,14 @@ class LocomotorPrimitivesController : public OpenSim::Controller { OpenSim_DECLARE_CONCRETE_OBJECT(LocomotorPrimitivesController, OpenSim::Controller); public: - LocomotorPrimitivesController(double alpha) : OpenSim::Controller(), _alpha(alpha) { } + LocomotorPrimitivesController(OpenSim::Storage act, double alpha) : OpenSim::Controller(), _act(act), _alpha(alpha) { } int loadCsvData(const std::string &muscleName, const std::string &file); void computeControls(const SimTK::State &s, SimTK::Vector &controls) const; private: double _alpha; - std::vector<MuscleEMGProfile> _act; + OpenSim::Storage _act; }; #endif /* LOCOMOTORPRIMITIVES_CONTROLLER_H_ */ diff --git a/data/adults.sto b/data/adults.sto new file mode 100644 index 0000000..66e2002 --- /dev/null +++ b/data/adults.sto @@ -0,0 +1,40 @@ +control +version=1 +nRows=35 +nColumns=2 +endheader +time ercspn_r +0.0 6.09756 +2.54237 7.31707 +4.23729 9.7561 +7.62712 9.7561 +11.0169 7.31707 +12.7119 7.31707 +14.4068 6.09756 +17.7966 6.09756 +19.4915 4.87805 +21.1864 4.87805 +22.8814 3.65854 +29.661 3.65854 +31.3559 2.43902 +35.5932 2.43902 +43.2203 2.43902 +47.4576 6.09756 +50.8475 10.9756 +55.0847 17.0732 +58.4746 17.0732 +60.1695 14.6341 +61.8644 13.4146 +65.2542 9.7561 +68.6441 8.53659 +72.0339 7.31707 +73.7288 6.09756 +77.1186 4.87805 +79.661 4.87805 +81.3559 3.65854 +85.5932 3.65854 +89.8305 3.65854 +91.5254 2.43902 +94.9153 3.65854 +98.3051 4.87805 +100 4.87805 |