/**
* Filter the controls. This method was introduced as a means of attempting
* to reduce the sizes of residuals. Unfortunately, the approach was
* generally unsuccessful because the desired accelerations were not
* achieved.
*
* @param aControlSet Set of controls computed by CMC.
* @param aDT Current time window.
* @param rControls Array of filtered controls.
*/
void CMC::
FilterControls(const SimTK::State& s, const ControlSet &aControlSet,double aDT,
OpenSim::Array<double> &rControls,bool aVerbosePrinting)
{
if(aDT <= SimTK::Zero) {
if(aVerbosePrinting) cout<<"\nCMC.filterControls: aDT is practically 0.0, skipping!\n\n";
return;
}
if(aVerbosePrinting) cout<<"\n\nFiltering controls to limit curvature...\n";
int i;
int size = rControls.getSize();
Array<double> x0(0.0,size),x1(0.0,size),x2(0.0,size);
// SET TIMES
double t0,t1/*,t2*/;
// t2 = s.getTime();
t1 = s.getTime() - aDT;
t0 = t1 - aDT;
// SET CONTROL VALUES
x2 = rControls;
aControlSet.getControlValues(t1,x1);
aControlSet.getControlValues(t0,x0);
// LOOP OVER CONTROLS
double m1,m2;
double curvature;
double thresholdCurvature = 2.0 * 0.05 / (aDT * aDT);
//double thresholdSlopeDiff = 0.2 / aDT;
for(i=0;i<size;i++) {
m2 = (x2[i]-x1[i]) / aDT;
m1 = (x1[i]-x0[i]) / aDT;
curvature = (m2 - m1) / aDT;
curvature = fabs(curvature);
if(curvature<=thresholdCurvature) continue;
// diff = fabs(m2) - fabs(m1);
// cout<<"thresholdSlopeDiff="<<thresholdSlopeDiff<<" slopeDiff="<<diff<<endl;
// if(diff>thresholdSlopeDiff) continue;
// ALTER CONTROL VALUE
rControls[i] = (3.0*x2[i] + 2.0*x1[i] + x0[i]) / 6.0;
// PRINT
if(aVerbosePrinting) cout<<aControlSet[i].getName()<<": old="<<x2[i]<<" new="<<rControls[i]<<endl;
}
if(aVerbosePrinting) cout<<endl<<endl;
}
/**
* Compute the initial states for a simulation.
*
* The caller should send in an initial guess. The Qs and Us are set
* based on the desired trajectories. The actuator states are set by
* solving for a desired set of actuator forces, and then letting the states
* come to equilibrium for those forces.
*
* @param rTI Initial time in normalized time. Note this is changed to
* the time corresponding to the new initial states on return.
* @param s Initial states.
*/
void CMC::
computeInitialStates(SimTK::State& s, double &rTI)
{
int i,j;
int N = _predictor->getNX();
SimTK::State initialState = s;
Array<double> xmin(0.01,N),forces(0.0,N);
double tiReal = rTI;
if( _verbose ) {
cout<<"\n\n=============================================\n";
cout<<"enter CMC.computeInitialStates: ti="<< rTI << " q's=" << s.getQ() <<endl;
cout<<"\nenter CMC.computeInitialStates: ti="<< rTI << " u's=" << s.getU() <<endl;
cout<<"\nenter CMC.computeInitialStates: ti="<< rTI << " z's=" << s.getZ() <<endl;
cout<<"=============================================\n";
}
// TURN ANALYSES OFF
_model->updAnalysisSet().setOn(false);
// CONSTRUCT CONTROL SET
ControlSet xiSet;
for(i=0;i< getNumControls();i++) {
ControlConstant *x = new ControlConstant();
x->setName(_controlSet.get(i).getName());
x->setIsModelControl(true);
// This is not a very good way to set the bounds on the controls because ConrtolConstant only supports constant
// min/max bounds but we may have time-dependent min/max curves specified in the controls constraints file
//
Control& xPredictor = _controlSet.get(i);
x->setDefaultParameterMin(xPredictor.getDefaultParameterMin());
x->setDefaultParameterMax(xPredictor.getDefaultParameterMax());
double xmin = xPredictor.getControlValueMin(tiReal);
if(!SimTK::isNaN(xmin)) x->setControlValueMin(tiReal,xmin);
double xmax = xPredictor.getControlValueMax(tiReal);
if(!SimTK::isNaN(xmax)) x->setControlValueMax(tiReal,xmax);
xiSet.adoptAndAppend(x);
}
// ACTUATOR EQUILIBRIUM
// 1
//
// perform integration but reset the coords and speeds so only actuator
// states at changed
obtainActuatorEquilibrium(s,tiReal,0.200,xmin,true);
if( _verbose ) {
cout<<"\n\n=============================================\n";
cout<<"#1 act Equ. CMC.computeInitialStates: ti="<< rTI << " q's=" << s.getQ() <<endl;
cout<<"\n#1 act Equ. CMC.computeInitialStates: ti="<< rTI << " u's=" << s.getU() <<endl;
cout<<"\n#1 act Equ. CMC.computeInitialStates: ti="<< rTI << " z's=" << s.getZ() <<endl;
cout<<"=============================================\n";
}
restoreConfiguration( s, initialState ); // set internal coord,speeds to initial vals.
// 2
obtainActuatorEquilibrium(s,tiReal,0.200,xmin,true);
if( _verbose ) {
cout<<"\n\n=============================================\n";
cout<<"#2 act Equ. CMC.computeInitialStates: ti="<< rTI << " q's=" << s.getQ() <<endl;
cout<<"\n#2 act Equ. CMC.computeInitialStates: ti="<< rTI << " u's=" << s.getU() <<endl;
cout<<"\n#2 act Equ. CMC.computeInitialStates: ti="<< rTI << " z's=" << s.getZ() <<endl;
cout<<"=============================================\n";
}
restoreConfiguration( s, initialState );
// CHANGE THE TARGET DT ON THE CONTROLLER TEMPORARILY
double oldTargetDT = getTargetDT();
double newTargetDT = 0.030;
setTargetDT(newTargetDT);
// REPEATEDLY CONTROL OVER THE FIRST TIME STEP
Array<double> xi(0.0, getNumControls());
for(i=0;i<2;i++) {
// CLEAR ANY PREVIOUS CONTROL NODES
for(j=0;j<_controlSet.getSize();j++) {
ControlLinear& control = (ControlLinear&)_controlSet.get(j);
control.clearControlNodes();
}
// COMPUTE CONTROLS
s.updTime() = rTI;
computeControls( s, xiSet);
_model->updAnalysisSet().setOn(false);
// GET CONTROLS
xiSet.getControlValues(rTI,xi);
// OBTAIN EQUILIBRIUM
if(i<1) {
obtainActuatorEquilibrium(s,tiReal,0.200,xi,true);
restoreConfiguration(s, initialState );
}
}
// GET NEW STATES
_predictor->evaluate(s, &xi[0], &forces[0]);
rTI += newTargetDT;
// CLEANUP
setTargetDT(oldTargetDT);
_model->updAnalysisSet().setOn(true);
if( _verbose ) {
cout<<"\n\n=============================================\n";
cout<<"finish CMC.computeInitialStates: ti="<< rTI << " q's=" << s.getQ() <<endl;
cout<<"\nfinish CMC.computeInitialStates: ti="<< rTI << " u's=" << s.getU() <<endl;
cout<<"\nfinish CMC.computeInitialStates: ti="<< rTI << " z's=" << s.getZ() <<endl;
cout<<"=============================================\n";
}
}