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/**
* 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::string actDataFile)
{
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);
// 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");
}
static void usage()
{
std::cout << "usage: " << MODEL_NAME << " [OPTION...]" << std::endl << std::endl
<< " -d FILE specify .sto datafile to use for muscle activation data" << std::endl
<< " -m FILE specify .osim to use as model" << std::endl
<< " -h show this help and exit" << std::endl;
}
int main(int argc, char **argv)
{
clock_t ts_start = clock();
/* set default values (to work on windows) */
std::string modelFile = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim";
std::string dataFile = "../../data/adults.sto";
for (int i = 1; (i < argc) && (argv[i][0] == '-'); i++) {
switch (argv[i][1]) {
case 'd':
dataFile = argv[++i];
break;
case 'm':
modelFile = argv[++i];
break;
case 'h':
usage();
exit(0);
default:
std::cerr << "unknown option: -" << argv[i][1] << std::endl;
usage();
exit(-1);
}
}
std::cout << "Starting simulation " + MODEL_NAME << " with (" << modelFile << ", " << dataFile << ")" << std::endl;
try {
// Create an OpenSim model and set its name
OpenSim::Model osimModel(modelFile);
osimModel.setName(MODEL_NAME);
constructModel(osimModel, dataFile);
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;
}
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