diff options
Diffstat (limited to 'LocomotorPrimitives.cpp')
| -rw-r--r-- | LocomotorPrimitives.cpp | 62 |
1 files changed, 33 insertions, 29 deletions
diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp index 3bb8d97..e5ff7f6 100644 --- a/LocomotorPrimitives.cpp +++ b/LocomotorPrimitives.cpp @@ -11,23 +11,25 @@ #include "LocomotorPrimitivesManager.h" #include "LocomotorPrimitivesController.h" +#include "Logger.h" #define FIXED_IN_SPACE 1 #define NO_SIM 0 -clock_t ts_start; - static const std::string MODEL_NAME = "LocomotorPrimitives"; +static const double INTEGRATOR_ACCURACY = 1.0e-3; + +static Logger &logger = Logger::getInstance(); static void constructModel(OpenSim::Model &model, OpenSim::Storage actData) { - std::cout << "Constructing " << MODEL_NAME << " model" << std::endl; + logger.log("Constructing model %s\n", MODEL_NAME.c_str()); // Define controller for the model LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01); control->setActuators(model.updActuators()); if (control->checkControls() != 0) { - std::cerr << "Control data for some muscles in the model is missing. ENTER to continue, ^-C to quit." << std::endl; + logger.err("Control data for some muscles in the model is missing. Press ENTER to continue, ^-C to quit."); std::cin.get(); } model.addController(control); @@ -35,12 +37,12 @@ static void constructModel(OpenSim::Model &model, OpenSim::Storage actData) // Set default activation and fiber length on all muscles of the model const OpenSim::Set<OpenSim::Actuator> &actSet = model.getActuators(); int sz = actSet.getSize(); - std::cout << " + Defining initial muscle states for " << sz << " actuators:" << std::endl; + logger.log("+ Defining initial muscle states for %d actuators:\n", sz); // Set default activation and fiber length of all muscles for (int i = 0; i < sz; i++) { OpenSim::ActivationFiberLengthMuscle *m = dynamic_cast<OpenSim::ActivationFiberLengthMuscle *>(&actSet.get(i)); - std::cout << " " << m->getName() << std::endl; + logger.log(" => %s\n", m->getName().c_str()); // m->setDefaultActivation(0.5); // m->setDefaultFiberLength(0.1); } @@ -50,45 +52,49 @@ static void constructModel(OpenSim::Model &model, OpenSim::Storage actData) OpenSim::ForceReporter *reporter = new OpenSim::ForceReporter(&model); model.addAnalysis(reporter); - std::cout << "Finished constructing model" << std::endl; + logger.log("Finished constructing model\n"); } void simulateModel(OpenSim::Model &model, const double initialTime, const double finalTime) { if (NO_SIM) { - std::cout << "Skipping simulation as per NO_SIM=" << NO_SIM << std::endl; + logger.log("Skipping simulation as per NO_SIM=%d\n", NO_SIM); return; } - std::cout << "Simulating model " << MODEL_NAME << std::endl; - std::cout << " + Initializing system" << std::endl; + logger.log("Simulating model %s\n", MODEL_NAME.c_str()); + + logger.log("+ Initializing system\n"); SimTK::State &si = model.initSystem(); - std::cout << " + Creating integrator" << std::endl; +// std::cout << "=== MODEL SUMMARY ===" << std::endl; +// 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); // Create the integrator and manager for the simulation SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem()); - integrator.setAccuracy(1.0e-3); - std::cout << " + Creating simulation manager" << std::endl; + 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); - - std::cout << "=== MODEL SUMMARY ===" << std::endl; - model.printDetailedInfo(si, std::cout); - std::cout << "=== END MODEL SUMMARY ===" << std::endl << std::endl; - std::cout << " + Integrating from " << std::fixed << initialTime << " to " << std::fixed << finalTime << std::endl; + logger.log("+ Integrating from time %f to %f\n", initialTime, finalTime); manager.integrate(si); // Save the model states from forward integration + logger.log("+ Writing states to %s_states.sto\n", MODEL_NAME.c_str()); OpenSim::Storage statesDegrees(manager.getStateStorage()); statesDegrees.print(MODEL_NAME + "_states.sto"); // Save the forces + logger.log("+ Writing forces to %s_forces.mot\n", MODEL_NAME.c_str()); OpenSim::Analysis &reporter = model.getAnalysisSet()[0]; ((OpenSim::ForceReporter &)reporter).getForceStorage().print(MODEL_NAME + "_forces.mot"); + + logger.log("Finished simulating model\n"); } static void usage() @@ -101,7 +107,7 @@ static void usage() int main(int argc, char **argv) { - ts_start = clock(); + clock_t ts_start = clock(); /* set default values (to work on windows) */ std::string modelFile = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim"; @@ -130,12 +136,11 @@ int main(int argc, char **argv) const double finalTime = actData.getLastTime(); if (initialTime < 0 || finalTime < 0 || finalTime <= initialTime) { - std::cerr << "invalid time range in data file: " << initialTime << " - " << finalTime << std::endl; + logger.err("invalid time range in data file: %f - %f\n", initialTime, finalTime); exit(-1); } - std::cout << "Starting simulation " + MODEL_NAME << " with (" << modelFile << ", " << dataFile << ") from time " - << initialTime << " to " << finalTime << std::endl; + logger.log("Starting simulation %s with model file %s, actuation data file %s\n", MODEL_NAME.c_str(), modelFile.c_str(), dataFile.c_str()); try { // Create an OpenSim model and set its name @@ -147,22 +152,21 @@ int main(int argc, char **argv) constructModel(osimModel, actData); simulateModel(osimModel, initialTime, finalTime); } catch (OpenSim::Exception ex) { - std::cout << ex.getMessage() << std::endl; + logger.err("Exception: %s. Press ENTER to quit", ex.getMessage()); std::cin.get(); return 1; } catch (std::exception ex) { - std::cout << ex.what() << std::endl; + logger.err("Exception: %s. Press ENTER to quit", ex.what()); std::cin.get(); return 1; } catch (...) { - std::cout << "UNRECOGNIZED EXCEPTION" << std::endl; + logger.err("Unrecognized Exception. Press ENTER to quit"); std::cin.get(); return 1; } - std::cout << "main() routine time = " << 1.e3*(clock()-ts_start)/CLOCKS_PER_SEC << "ms" << std::endl; - - std::cout << "Simulation " + MODEL_NAME << " completed successfully." << std::endl; + logger.log("Total runtime = %fms\n", 1.e3 * (clock() - ts_start) / CLOCKS_PER_SEC); + logger.log("Simulation %s completed successfully. Press ENTER to quit", MODEL_NAME.c_str()); std::cin.get(); return 0; } |