From 6ffc7871c090ab126353c918adcd5c4ef33dc261 Mon Sep 17 00:00:00 2001
From: Tobias Klauser <tklauser@distanz.ch>
Date: Fri, 25 Jan 2013 13:02:19 +0100
Subject: LocomotorPrimitives: Check availability of control data before
 running

---
 LocomotorPrimitivesController.cpp | 32 +++++++++++++++++++++++++-------
 1 file changed, 25 insertions(+), 7 deletions(-)

(limited to 'LocomotorPrimitivesController.cpp')

diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
index 0c13336..2708162 100644
--- a/LocomotorPrimitivesController.cpp
+++ b/LocomotorPrimitivesController.cpp
@@ -10,6 +10,26 @@ extern clock_t ts_start;
 static const double TIME_DAMP = 0.1;
 static const unsigned int N_PRINT = 1000;
 
+int LocomotorPrimitivesController::checkControls()
+{
+	const int act_set_siz = getActuatorSet().getSize();
+	int ret = 0;
+
+	/* Iterate over all controls in the model and check whether they're
+	 * available in the loaded storage */
+	for (int i = 0; i < act_set_siz; i++) {
+		const OpenSim::Muscle *muscle = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get(i));
+		const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(muscle->getName());
+
+		if (indices.getSize() == 0) {
+			std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' found" << std::endl;
+			ret--;
+		}
+	}
+
+	return ret;
+}
+
 void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK::Vector &controls) const
 {
 	double t = s.getTime();
@@ -17,13 +37,11 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK
 	static unsigned int n = 0;
 
 	/* Extract muscle activation for each of the muscles */
-	int act_set_siz = getActuatorSet().getSize();
-	int nc = _act.getSmallestNumberOfStates();
+	const int act_set_siz = getActuatorSet().getSize();
+	const 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++) {
@@ -43,7 +61,7 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK
 			SimTK::Vector ctrl(1, _muscle_act[idx]);
 			muscle->addInControls(ctrl, controls);
 		} else {
-			std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' at time " << t << " found" << std::endl;
+			// std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' at time " << t << " found" << std::endl;
 			continue;
 		}
 	}
-- 
cgit v1.2.3-54-g00ecf

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