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#ifndef LOCOMOTORPRIMITIVES_CONTROLLER_H_
#define LOCOMOTORPRIMITIVES_CONTROLLER_H_
#include <OpenSim/OpenSim.h>
#include "Logger.h"
class LocomotorPrimitivesController : public OpenSim::Controller {
OpenSim_DECLARE_CONCRETE_OBJECT(LocomotorPrimitivesController, OpenSim::Controller);
public:
LocomotorPrimitivesController(OpenSim::Storage act, double alpha)
: OpenSim::Controller(), _act(act), _alpha(alpha)
{
_muscle_act = new double[act.getSmallestNumberOfStates()];
}
~LocomotorPrimitivesController()
{
delete[] _muscle_act;
}
/**
* Check availability of control data for all controls in the model.
*
* @return 0 if control data is available for all controls, negative
* number of missing control data vectors on error
*/
int checkControls();
void computeControls(const SimTK::State &s, SimTK::Vector &controls) const;
private:
double _alpha;
/* used to store actuation data in compute controls */
double *_muscle_act;
OpenSim::Storage _act;
int getAndInitActuationData(const double t) const;
double getMuscleActivation(const std::string &muscle_name) const;
};
#endif /* LOCOMOTORPRIMITIVES_CONTROLLER_H_ */
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