diff options
Diffstat (limited to 'LocomotorPrimitivesController.h')
-rw-r--r-- | LocomotorPrimitivesController.h | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/LocomotorPrimitivesController.h b/LocomotorPrimitivesController.h index c0f75be..702a3a5 100644 --- a/LocomotorPrimitivesController.h +++ b/LocomotorPrimitivesController.h @@ -7,12 +7,21 @@ class LocomotorPrimitivesController : public OpenSim::Controller { OpenSim_DECLARE_CONCRETE_OBJECT(LocomotorPrimitivesController, OpenSim::Controller); public: - LocomotorPrimitivesController(OpenSim::Storage act, double alpha) : OpenSim::Controller(), _act(act), _alpha(alpha) { } + LocomotorPrimitivesController(OpenSim::Storage act, double alpha) + : OpenSim::Controller(), _act(act), _alpha(alpha) + { + _muscle_act = new double[act.getSmallestNumberOfStates()]; + } + + ~LocomotorPrimitivesController() + { + delete[] _muscle_act; + } - int loadCsvData(const std::string &muscleName, const std::string &file); void computeControls(const SimTK::State &s, SimTK::Vector &controls) const; private: double _alpha; + double *_muscle_act; OpenSim::Storage _act; }; |