/**
* Integrate the equations of motion for the specified model.
*
* This method starts the integration at the initial default states of
* the model.
*/
bool Manager::
integrate( SimTK::State& s, double dtFirst )
{
int step = 0;
s.setTime( _ti );
// INTEGRATE
return(doIntegration(s, step, dtFirst));
}
/**
* Record the inverse dynamics forces.
*/
int InverseDynamics::
record(const SimTK::State& s)
{
if(!_modelWorkingCopy) return -1;
//cout << "\nInverse Dynamics record() : \n" << endl;
// Set model Q's and U's
SimTK::State sWorkingCopy = _modelWorkingCopy->getWorkingState();
// Set modeling options for Actuators to be overridden
for(int i=0; i<_forceSet->getSize(); i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&_forceSet->get(i));
if( act ) {
act->overrideActuation(sWorkingCopy, true);
}
}
// Having updated the model, at least re-realize Model stage!
_modelWorkingCopy->getMultibodySystem().realize(sWorkingCopy, SimTK::Stage::Model);
sWorkingCopy.setTime(s.getTime());
sWorkingCopy.setQ(s.getQ());
sWorkingCopy.setU(s.getU());
// Having updated the states, at least realize to velocity!
_modelWorkingCopy->getMultibodySystem().realize(sWorkingCopy, SimTK::Stage::Velocity);
int nf = _numCoordinateActuators;
int nacc = _accelerationIndices.getSize();
// int nq = _modelWorkingCopy->getNumCoordinates();
//cout << "\nQ= " << s.getQ() << endl;
//cout << "\nU= " << s.getU() << endl;
// Build linear constraint matrix and constant constraint vector
SimTK::Vector f(nf), c(nacc);
f = 0;
computeAcceleration(sWorkingCopy, &f[0], &_constraintVector[0]);
for(int j=0; j<nf; j++) {
f[j] = 1;
computeAcceleration(sWorkingCopy, &f[0], &c[0]);
for(int i=0; i<nacc; i++) _constraintMatrix(i,j) = (c[i] - _constraintVector[i]);
f[j] = 0;
}
auto coordinates = _modelWorkingCopy->getCoordinatesInMultibodyTreeOrder();
for(int i=0; i<nacc; i++) {
const Coordinate& coord = *coordinates[_accelerationIndices[i]];
int ind = _statesStore->getStateIndex(coord.getSpeedName(), 0);
if (ind < 0){
// get the full coordinate speed state variable path name
string fullname = coord.getStateVariableNames()[1];
ind = _statesStore->getStateIndex(fullname, 0);
if (ind < 0){
string msg = "InverseDynamics::record(): \n";
msg += "target motion for coordinate '";
msg += coord.getName() + "' not found.";
throw Exception(msg);
}
}
Function& targetFunc = _statesSplineSet.get(ind);
std::vector<int> firstDerivComponents(1);
firstDerivComponents[0]=0;
double targetAcceleration = targetFunc.calcDerivative(firstDerivComponents, SimTK::Vector(1, sWorkingCopy.getTime()));
//cout << coord.getName() << " t=" << sWorkingCopy.getTime() << " acc=" << targetAcceleration << " index=" << _accelerationIndices[i] << endl;
_constraintVector[i] = targetAcceleration - _constraintVector[i];
}
//cout << "NEW Constraint Vector Adjusted = " << endl;
//_constraintVector.dump(&t);
// LAPACK SOLVER
// NOTE: It destroys the matrices/vectors we pass to it, so we need to pass it copies of performanceMatrix and performanceVector (don't bother making
// copies of _constraintMatrix/Vector since those are reinitialized each time anyway)
int info;
SimTK::Matrix performanceMatrixCopy = _performanceMatrix;
SimTK::Vector performanceVectorCopy = _performanceVector;
//cout << "performanceMatrixCopy : " << performanceMatrixCopy << endl;
//cout << "performanceVectorCopy : " << performanceVectorCopy << endl;
//cout << "_constraintMatrix : " << _constraintMatrix << endl;
//cout << "_constraintVector : " << _constraintVector << endl;
//cout << "nf=" << nf << " nacc=" << nacc << endl;
dgglse_(nf, nf, nacc, &performanceMatrixCopy(0,0), nf, &_constraintMatrix(0,0), nacc, &performanceVectorCopy[0], &_constraintVector[0], &f[0], &_lapackWork[0], _lapackWork.size(), info);
// Record inverse dynamics forces
_storage->append(sWorkingCopy.getTime(),nf,&f[0]);
//cout << "\n ** f : " << f << endl << endl;
return 0;
}