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#include <OpenSim/OpenSim.h>
#include "LocomotorPrimitivesController.h"
#define VERBOSE 1
static const double TIME_DAMP = 0.1;
void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK::Vector &controls) const
{
double t = s.getTime();
static double last_twitch = t;
/* Extract muscle activation for each of the muscles */
int act_set_siz = getActuatorSet().getSize();
for (int i = 0; i < act_set_siz; i++) {
const OpenSim::Muscle *m = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get(i));
const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(m->getName());
if (indices.getSize() != 0) {
double muscle_act = 0.0;
_act.getDataAtTime(t, indices.get(0), &muscle_act);
std::cout << indices.get(0) << " actuation data for '" << m->getName() << "' found: " << muscle_act << std::endl;
}
//std::cout << " " << p.getName() << "(" << p.getIdx() << "/" << p.getCapacity() << ")" << std::endl;
}
#if 0
//const OpenSim::Muscle *rectfem = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("bifemlh_r"));
const OpenSim::Muscle *rectfem = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("rect_fem_r"));
const OpenSim::Muscle *ercspn_r = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("ercspn_r"));
const OpenSim::Muscle *ercspn_l = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("ercspn_l"));
const OpenSim::Muscle *extobl_r = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("extobl_r"));
const OpenSim::Muscle *extobl_l = dynamic_cast<const OpenSim::Muscle *>(&getActuatorSet().get("extobl_l"));
double v = rectfem->getLengtheningSpeed(s);
double act = v * _alpha;
if (act < 0.0)
act = 0.0;
if (act > 1.0)
act = 1.0;
if (t - last_twitch < TIME_DAMP)
act = 0.0;
if (act > 0.0)
last_twitch = t;
//if (VERBOSE && act > 0.0)
// std::cout << "(" << std::fixed << t << ") " << "v=" << std::fixed << v << ", act=" << std::fixed << act << std::endl;
SimTK::Vector ctrl_rectfem(1, act);
SimTK::Vector ctrl_extobl(1, 0.79);
SimTK::Vector ctrl_ercsp(1, 0.375);
rectfem->addInControls(ctrl_rectfem, controls);
ercspn_r->addInControls(ctrl_ercsp, controls);
ercspn_l->addInControls(ctrl_ercsp, controls);
extobl_r->addInControls(ctrl_extobl, controls);
extobl_l->addInControls(ctrl_extobl, controls);
#endif
}
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