1 files changed, 37 insertions, 0 deletions
diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
new file mode 100644
index 0000000..4b7bc1b
--- /dev/null
+++ b/LocomotorPrimitivesController.cpp
@@ -0,0 +1,37 @@
+#include <OpenSim/OpenSim.h>
+
+#include "LocomotorPrimitivesController.h"
+
+#define VERBOSE 1
+
+static const double TIME_DAMP = 0.1;
+
+void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK::Vector &controls) const
+{
+	double t = s.getTime();
+	static double last_twitch = t;
+
+	//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"));
+
+	double v = rectfem->getLengtheningSpeed(s);
+	double act = v * _alpha;
+
+	if (act < 0.0)
+		act = 0.0;
+	if (act > 1.0)
+		act = 1.0;
+
+	if (t - last_twitch < TIME_DAMP)
+		act = 0.0;
+
+	if (act > 0.0)
+		last_twitch = t;
+	
+	if (VERBOSE && act > 0.0)
+		std::cout << "(" << std::fixed << t << ") " << "v=" << std::fixed << v << ", act=" << std::fixed << act << std::endl;
+
+	SimTK::Vector ctrl_rectfem(1, act);
+
+	rectfem->addInControls(ctrl_rectfem, controls);
+}
+\ No newline at end of file