From af6b09829ca942ead8ea6757308d431a6d8ccde9 Mon Sep 17 00:00:00 2001
From: Tobias Klauser <tklauser@distanz.ch>
Date: Tue, 22 Jan 2013 18:42:29 +0100
Subject: LocomotorPrimitives: Tinkering to make simulation faster

No success yet... :-(
---
 LocomotorPrimitives.cpp | 37 +++++++++++++++++++++++++------------
 1 file changed, 25 insertions(+), 12 deletions(-)

(limited to 'LocomotorPrimitives.cpp')

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();
-- 
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