From af6b09829ca942ead8ea6757308d431a6d8ccde9 Mon Sep 17 00:00:00 2001 From: Tobias Klauser Date: Tue, 22 Jan 2013 18:42:29 +0100 Subject: LocomotorPrimitives: Tinkering to make simulation faster No success yet... :-( --- LocomotorPrimitives.cpp | 37 +++++++++++++++++++++++++------------ LocomotorPrimitivesController.cpp | 13 ++++++++----- LocomotorPrimitivesManager.cpp | 4 ++-- 3 files changed, 35 insertions(+), 19 deletions(-) diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp index cfad6f6..6b6f5f5 100644 --- a/LocomotorPrimitives.cpp +++ b/LocomotorPrimitives.cpp @@ -13,17 +13,15 @@ #define FIXED_IN_SPACE 1 #define NO_SIM 0 +clock_t ts_start; + static const std::string MODEL_NAME = "LocomotorPrimitives"; -// Define the initial and final simulation time -static const double initialTime = 0.0; -static const double finalTime = 2.0; -static void constructModel(OpenSim::Model &model, std::string actDataFile) +static void constructModel(OpenSim::Model &model, OpenSim::Storage actData) { std::cout << "Constructing " << MODEL_NAME << " model" << std::endl; // Define controller for the model - OpenSim::Storage actData(actDataFile); LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01); control->setActuators(model.updActuators()); model.addController(control); @@ -49,7 +47,7 @@ static void constructModel(OpenSim::Model &model, std::string actDataFile) std::cout << "Finished constructing model" << std::endl; } -void simulateModel(OpenSim::Model &model) +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; @@ -63,7 +61,7 @@ void simulateModel(OpenSim::Model &model) std::cout << " + Creating integrator" << std::endl; // Create the integrator and manager for the simulation SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem()); - integrator.setAccuracy(1.0e-4); + integrator.setAccuracy(1.0e-3); std::cout << " + Creating simulation manager" << std::endl; LocomotorPrimitivesManager manager(model, integrator); @@ -71,6 +69,10 @@ void simulateModel(OpenSim::Model &model) // 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; manager.integrate(si); @@ -93,7 +95,7 @@ static void usage() int main(int argc, char **argv) { - clock_t ts_start = clock(); + ts_start = clock(); /* set default values (to work on windows) */ std::string modelFile = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim"; @@ -117,16 +119,27 @@ int main(int argc, char **argv) } } - std::cout << "Starting simulation " + MODEL_NAME << " with (" << modelFile << ", " << dataFile << ")" << std::endl; + OpenSim::Storage actData(dataFile); + const double initialTime = actData.getFirstTime(); + const double finalTime = actData.getLastTime(); + + if (initialTime < 0 || finalTime < 0 || finalTime <= initialTime) { + std::cerr << "invalid time range in data file: " << initialTime << " - " << finalTime << std::endl; + exit(-1); + } + + std::cout << "Starting simulation " + MODEL_NAME << " with (" << modelFile << ", " << dataFile << ") from time " + << initialTime << " to " << finalTime << std::endl; try { // Create an OpenSim model and set its name OpenSim::Model osimModel(modelFile); - osimModel.setName(MODEL_NAME); - constructModel(osimModel, dataFile); + osimModel.setName(MODEL_NAME); osimModel.setUseVisualizer(false); - simulateModel(osimModel); + + constructModel(osimModel, actData); + simulateModel(osimModel, initialTime, finalTime); } catch (OpenSim::Exception ex) { std::cout << ex.getMessage() << std::endl; std::cin.get(); diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp index 14fa764..0c13336 100644 --- a/LocomotorPrimitivesController.cpp +++ b/LocomotorPrimitivesController.cpp @@ -4,6 +4,9 @@ #define VERBOSE 1 +// XXX +extern clock_t ts_start; + static const double TIME_DAMP = 0.1; static const unsigned int N_PRINT = 1000; @@ -17,8 +20,10 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK int act_set_siz = getActuatorSet().getSize(); int nc = _act.getSmallestNumberOfStates(); - // Get the first nc states at a specified time (_NOT_ the state at nc as - // with getData()). + /* + * Get the first nc states at a specified time (_NOT_ the state at nc as + * with getData()). + */ _act.getDataAtTime(t, nc, _muscle_act); for (int i = 0; i < act_set_siz; i++) { @@ -28,7 +33,7 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK if (indices.getSize() != 0) { int idx = indices.get(0) - 1; if (n % N_PRINT == 0) - std::cout << t << " (" << idx << ") actuation data for '" << muscle->getName() << "' found: " << _muscle_act[idx] << std::endl; + std::cout << "[" << (1.e3 * clock() - ts_start) / CLOCKS_PER_SEC << "ms] " << t << " (" << idx << ") actuation data for '" << muscle->getName() << "' found: " << _muscle_act[idx] << std::endl; if (_muscle_act[idx] > 1.0) { std::cerr << "Error: muscle actuation larger than 1.0 (" << _muscle_act[idx] << "), truncating" << std::endl; @@ -41,8 +46,6 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' at time " << t << " found" << std::endl; continue; } - - //std::cout << " " << p.getName() << "(" << p.getIdx() << "/" << p.getCapacity() << ")" << std::endl; } n++; diff --git a/LocomotorPrimitivesManager.cpp b/LocomotorPrimitivesManager.cpp index 71df313..d1925db 100644 --- a/LocomotorPrimitivesManager.cpp +++ b/LocomotorPrimitivesManager.cpp @@ -4,6 +4,6 @@ bool LocomotorPrimitivesManager::doIntegration(SimTK::State &s, int step, double dtFirst) { - // TODO possiblly additional calculations + // TODO possibly additional calculations return OpenSim::Manager::doIntegration(s, step, dtFirst); -} \ No newline at end of file +} -- cgit v1.2.3-54-g00ecf onal compatibility string will be queued for 4.7 through NAND/MTD. * tag 'at91-fixes' of git://git.kernel.org/pub/scm/linux/kernel/git/nferre/linux-at91: ARM: dts: at91: sama5d2: use "atmel,sama5d3-nfc" compatible for nfc
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