blob: 0de339ff8667e6ee9745d9295d7ea558fe92e14f (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
|
/**
* Simulation for the Locomotor Primitives (Dominici et. al 2012) in a Human
* Leg model with 14 Muscles.
*
* Author: Tobias Klauser <tobias.klauser@uzh.ch>
*/
#include <OpenSim/OpenSim.h>
#include "LocomotorPrimitivesManager.h"
#include "LocomotorPrimitivesController.h"
#define FIXED_IN_SPACE 1
#define NO_SIM 0
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::cout << "Constructing " << MODEL_NAME << " model" << std::endl;
// Define controller for the model
OpenSim::Storage actData("../../data/adults.sto");
LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01);
control->setActuators(model.updActuators());
model.addController(control);
// Set default activation and fiber length on all muscles of the model
const OpenSim::Set<OpenSim::Actuator> &actSet = model.getActuators();
int sz = actSet.getSize();
std::cout << " + Defining initial muscle states for " << sz << " actuators:" << std::endl;
// Set default activation and fiber length of all muscles
for (int i = 0; i < sz; i++) {
OpenSim::ActivationFiberLengthMuscle *m = dynamic_cast<OpenSim::ActivationFiberLengthMuscle *>(&actSet.get(i));
std::cout << " " << m->getName() << std::endl;
// m->setDefaultActivation(0.5);
// m->setDefaultFiberLength(0.1);
}
// Create the force reporter for obtaining the forces applied to the model
// during a forward simulation
OpenSim::ForceReporter *reporter = new OpenSim::ForceReporter(&model);
model.addAnalysis(reporter);
std::cout << "Finished constructing model" << std::endl;
}
void simulateModel(OpenSim::Model &model)
{
if (NO_SIM) {
std::cout << "Skipping simulation as per NO_SIM=" << NO_SIM << std::endl;
return;
}
std::cout << "Simulating model " << MODEL_NAME << std::endl;
std::cout << " + Initializing system" << std::endl;
SimTK::State &si = model.initSystem();
std::cout << " + Creating integrator" << std::endl;
// Create the integrator and manager for the simulation
SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
integrator.setAccuracy(1.0e-4);
std::cout << " + Creating simulation manager" << std::endl;
LocomotorPrimitivesManager manager(model, integrator);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout << " + Integrating from " << std::fixed << initialTime << " to " << std::fixed << finalTime << std::endl;
manager.integrate(si);
// Save the model states from forward integration
OpenSim::Storage statesDegrees(manager.getStateStorage());
statesDegrees.print(MODEL_NAME + "_states.sto");
// Save the forces
OpenSim::Analysis &reporter = model.getAnalysisSet()[0];
((OpenSim::ForceReporter &)reporter).getForceStorage().print(MODEL_NAME + "_forces.mot");
}
int main(void)
{
clock_t ts_start = clock();
try {
// Create an OpenSim model and set its name
std::string modelName = FIXED_IN_SPACE ? "locomotor-primitives-fixed.osim" : "locomotor-primitives.osim";
OpenSim::Model osimModel("../../" + modelName);
osimModel.setName(MODEL_NAME);
constructModel(osimModel);
osimModel.setUseVisualizer(false);
simulateModel(osimModel);
} catch (OpenSim::Exception ex) {
std::cout << ex.getMessage() << std::endl;
std::cin.get();
return 1;
} catch (std::exception ex) {
std::cout << ex.what() << std::endl;
std::cin.get();
return 1;
} catch (...) {
std::cout << "UNRECOGNIZED EXCEPTION" << std::endl;
std::cin.get();
return 1;
}
std::cout << "main() routine time = " << 1.e3*(clock()-ts_start)/CLOCKS_PER_SEC << "ms" << std::endl;
std::cout << "Simulation " + MODEL_NAME << " completed successfully." << std::endl;
std::cin.get();
return 0;
}
|
