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#include <OpenSim/OpenSim.h>
#include "LocomotorPrimitivesController.h"
#define VERBOSE 1
// XXX
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();
static double last_twitch = t;
static unsigned int n = 0;
/* Extract muscle activation for each of the muscles */
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()). */
_act.getDataAtTime(t, nc, _muscle_act);
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) {
int idx = indices.get(0) - 1;
if (n % N_PRINT == 0)
std::cout << "[" << (1.e3 * clock() - ts_start) / CLOCKS_PER_SEC << "ms] " << t << " (" << idx << ") actuation data for '" << muscle->getName() << "' found: " << _muscle_act[idx] << std::endl;
if (_muscle_act[idx] > 1.0) {
std::cerr << "Error: muscle actuation larger than 1.0 (" << _muscle_act[idx] << "), truncating" << std::endl;
_muscle_act[idx] = 1.0;
}
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;
continue;
}
}
n++;
}
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