// for adding any components to the model
void CMC::extendAddToSystem( SimTK::MultibodySystem& system) const
{
Super::extendAddToSystem(system);
// add event handler for updating controls for next window
CMC* mutableThis = const_cast<CMC *>(this);
ComputeControlsEventHandler* computeControlsHandler =
new ComputeControlsEventHandler(mutableThis);
system.updDefaultSubsystem().addEventHandler(computeControlsHandler );
const Set<Actuator>& fSet = getActuatorSet();
int nActs = fSet.getSize();
mutableThis->_controlSetIndices.setSize(nActs);
// Create the control set that will hold the controls computed by CMC
mutableThis->_controlSet.setName(_model->getName());
mutableThis->_controlSet.setSize(0);
// Define the control set used to specify control bounds and to hold
// the computed control values from the CMC algorithm
double xmin =0, xmax=0;
std::string actName = "";
for(int i=0; i < nActs; ++i ) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
//Actuator& act = getActuatorSet().get(i);
ControlLinear *control = new ControlLinear();
control->setName(act->getName() + ".excitation" );
xmin = act->getMinControl();
if (xmin ==-SimTK::Infinity)
xmin =-MAX_CONTROLS_FOR_RRA;
xmax = act->getMaxControl();
if (xmax ==SimTK::Infinity)
xmax =MAX_CONTROLS_FOR_RRA;
Muscle *musc = dynamic_cast<Muscle *>(act);
// if controlling muscles, CMC requires that the control be constant (i.e. piecewise constant or use steps)
// since it uses this assumption to rootsolve for the required controls over the CMC time-window.
if(musc){
control->setUseSteps(true);
if(xmin < MIN_CMC_CONTROL_VALUE){
cout << "CMC::Warning: CMC cannot compute controls for muscles with muscle controls < " << MIN_CMC_CONTROL_VALUE <<".\n" <<
"The minimum control limit for muscle '" << musc->getName() << "' has been reset to " << MIN_CMC_CONTROL_VALUE <<"." <<endl;
xmin = MIN_CMC_CONTROL_VALUE;
}
if(xmax < MAX_CMC_CONTROL_VALUE){
cout << "CMC::Warning: CMC cannot compute controls for muscles with muscle controls > " << MAX_CMC_CONTROL_VALUE <<".\n" <<
"The maximum control limit for muscle '" << musc->getName() << "' has been reset to " << MAX_CMC_CONTROL_VALUE << "." << endl;
xmax = MAX_CMC_CONTROL_VALUE;
}
}
control->setDefaultParameterMin(xmin);
control->setDefaultParameterMax(xmax);
mutableThis->_controlSet.adoptAndAppend(control);
mutableThis->_controlSetIndices.set(i, i);
}
mutableThis->setNumControls(_controlSet.getSize());
}
