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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>
*
* Copyright (C) 2013 Tobias Klauser <tobias.klauser@uzh.ch>
*/
#include <OpenSim/OpenSim.h>
#include <OpenSim/Common/IO.h>
#include "LocomotorPrimitivesManager.h"
#include "LocomotorPrimitivesController.h"
#include "Logger.h"
#define FIXED_IN_SPACE 1
#define NO_SIM 0
static const std::string MODEL_NAME = "LocomotorPrimitives";
static const double INTEGRATOR_ACCURACY = 1.0e-3;
static Logger &logger = Logger::getInstance();
static void constructModel(OpenSim::Model &model, OpenSim::Storage actData)
{
logger.log("Constructing model %s\n", MODEL_NAME.c_str());
// Define controller for the model
LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01);
control->setActuators(model.updActuators());
if (control->checkControls() != 0) {
logger.err("Control data for some muscles in the model is missing. Press ENTER to continue, ^-C to quit.");
std::cin.get();
}
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();
logger.log("+ Defining initial muscle states for %d actuators:\n", sz);
// 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));
logger.log(" => %s\n", m->getName().c_str());
// 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);
logger.log("Finished constructing model\n");
}
void simulateModel(OpenSim::Model &model, const double initial_time,
const double final_time, double fixed_step_size,
std::string output_dir)
{
if (NO_SIM) {
logger.log("Skipping simulation as per NO_SIM=%d\n", NO_SIM);
return;
}
std::string cwd = OpenSim::IO::getCwd();
if (OpenSim::IO::chDir(output_dir) != 0) {
logger.err("Failed to change to ouput directory %s", output_dir.c_str());
return;
}
logger.log("Simulating model %s\n", MODEL_NAME.c_str());
logger.log("+ Initializing system\n");
SimTK::State &si = model.initSystem();
// std::cout << "=== MODEL SUMMARY ===" << std::endl;
// model.printDetailedInfo(si, std::cout);
// std::cout << "=== END MODEL SUMMARY ===" << std::endl << std::endl;
logger.log("+ Creating integrator (RungeKuttaMerson) with accuracy %e and step size %f (0.0 means dynamic)\n", INTEGRATOR_ACCURACY, fixed_step_size);
// Create the integrator and manager for the simulation
SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
if (fixed_step_size > 0)
integrator.setFixedStepSize(fixed_step_size);
integrator.setAccuracy(INTEGRATOR_ACCURACY);
logger.log("+ Creating simulation manager\n");
LocomotorPrimitivesManager manager(model, integrator);
// Integrate from initial time to final time
manager.setInitialTime(initial_time);
manager.setFinalTime(final_time);
logger.log("+ Integrating from time %f to %f\n", initial_time, final_time);
manager.integrate(si);
// Save the model states from forward integration
logger.log("+ Writing states to %s_states.sto\n", MODEL_NAME.c_str());
OpenSim::Storage statesDegrees(manager.getStateStorage());
statesDegrees.print(MODEL_NAME + "_states.sto");
// Save the forces
logger.log("+ Writing forces to %s_forces.mot\n", MODEL_NAME.c_str());
OpenSim::Analysis &reporter = model.getAnalysisSet()[0];
((OpenSim::ForceReporter &)reporter).getForceStorage().print(MODEL_NAME + "_forces.mot");
logger.log("Finished simulating model\n");
}
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
<< " -o DIR set output directory to DIR (default: current directory)" << std::endl
<< " -s N set fixed step size for integrator to N (default: dynamic)" << std::endl
<< " -h show this help and exit" << std::endl;
}
int main(int argc, char **argv)
{
clock_t ts_start = clock();
double fixed_step_size = 0.0;
/* set default values (to work on windows) */
std::string model_file = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim";
std::string data_file = "../../data/adults.sto";
std::string output_dir = ".";
for (int i = 1; (i < argc) && (argv[i][0] == '-'); i++) {
switch (argv[i][1]) {
case 'd':
data_file = argv[++i];
break;
case 'm':
model_file = argv[++i];
break;
case 'o':
output_dir = argv[++i];
break;
case 's':
fixed_step_size = strtod(argv[++i], NULL);
break;
case 'h':
usage();
exit(0);
default:
std::cerr << "unknown option: -" << argv[i][1] << std::endl;
usage();
exit(-1);
}
}
OpenSim::Storage actData(data_file);
const double initial_time = actData.getFirstTime();
const double final_time = actData.getLastTime();
if (initial_time < 0 || final_time < 0 || final_time <= initial_time) {
logger.err("invalid time range in data file: %f - %f\n", initial_time, final_time);
exit(-1);
}
logger.log("Starting simulation %s with model file %s, actuation data file %s\n, fixed step size: %f", MODEL_NAME.c_str(), model_file.c_str(), data_file.c_str(), fixed_step_size);
try {
// Create an OpenSim model and set its name
OpenSim::Model osimModel(model_file);
osimModel.setName(MODEL_NAME);
osimModel.setUseVisualizer(false);
constructModel(osimModel, actData);
simulateModel(osimModel, initial_time, final_time, fixed_step_size, output_dir);
} catch (OpenSim::Exception ex) {
logger.err("Exception: %s. Press ENTER to quit", ex.getMessage());
std::cin.get();
return 1;
} catch (std::exception ex) {
logger.err("Exception: %s. Press ENTER to quit", ex.what());
std::cin.get();
return 1;
} catch (...) {
logger.err("Unrecognized Exception. Press ENTER to quit");
std::cin.get();
return 1;
}
logger.log("Total runtime = %fms\n", 1.e3 * (clock() - ts_start) / CLOCKS_PER_SEC);
logger.log("Simulation %s completed successfully. Press ENTER to quit", MODEL_NAME.c_str());
std::cin.get();
return 0;
}
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