void StaticOptimizationTarget::
computeActuatorAreas(const SimTK::State& s )
{
// COMPUTE ACTUATOR AREAS
ForceSet& forceSet = _model->updForceSet();
for(int i=0, j=0;i<forceSet.getSize();i++) {
ScalarActuator *act = dynamic_cast<ScalarActuator*>(&forceSet.get(i));
if( act ) {
act->setActuation(s, 1.0);
_recipAreaSquared[j] = act->getStress(s);
_recipAreaSquared[j] *= _recipAreaSquared[j];
j++;
}
}
}
void ActuatorForceTarget::
computePerformanceVectors(SimTK::State& s, const Vector &aF, Vector &rAccelPerformanceVector, Vector &rForcePerformanceVector)
{
const Set<Actuator> &fSet = _controller->getActuatorSet();
for(int i=0;i<fSet.getSize();i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
act->setOverrideActuation(s, aF[i]);
act->overrideActuation(s, true);
}
_controller->getModel().getMultibodySystem().realize(s, SimTK::Stage::Acceleration );
CMC_TaskSet& taskSet = _controller->updTaskSet();
taskSet.computeAccelerations(s);
Array<double> &w = taskSet.getWeights();
Array<double> &aDes = taskSet.getDesiredAccelerations();
Array<double> &a = taskSet.getAccelerations();
// PERFORMANCE
double sqrtStressTermWeight = sqrt(_stressTermWeight);
for(int i=0;i<fSet.getSize();i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
rForcePerformanceVector[i] = sqrtStressTermWeight * act->getStress(s);
}
int nacc = aDes.getSize();
for(int i=0;i<nacc;i++) rAccelPerformanceVector[i] = sqrt(w[i]) * (a[i] - aDes[i]);
// reset the actuator control
for(int i=0;i<fSet.getSize();i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
act->overrideActuation(s, false);
}
}
/**
* This method is called at the beginning of an analysis so that any
* necessary initializations may be performed.
*
* This method should be overridden in the child class. It is
* included here so that the child class will not have to implement it if it
* is not necessary.
*
* @param s state of system
*
* @return -1 on error, 0 otherwise.
*/
int InverseDynamics::begin(const SimTK::State& s )
{
if(!proceed()) return(0);
SimTK::Matrix massMatrix;
_model->getMatterSubsystem().calcM(s, massMatrix);
//massMatrix.dump("mass matrix is:");
// Check that m is full rank
try {
SimTK::FactorLU lu(massMatrix);
} catch (const SimTK::Exception::Base&) {
throw Exception("InverseDynamics: ERROR- mass matrix is singular ",__FILE__,__LINE__);
}
// enable the line below when simmath is fixed
//bool singularMassMatrix = lu.isSingular();
//cout << "Mass matrix is " << (singularMassMatrix?"singular":"Non-singular");
// Make a working copy of the model
delete _modelWorkingCopy;
_modelWorkingCopy = _model->clone();
_modelWorkingCopy->updAnalysisSet().setSize(0);
// Replace model force set with only generalized forces
if(_model) {
SimTK::State& sWorkingCopyTemp = _modelWorkingCopy->initSystem();
// Update the _forceSet we'll be computing inverse dynamics for
if(_ownsForceSet) delete _forceSet;
if(_useModelForceSet) {
// Set pointer to model's internal force set
_forceSet = &_modelWorkingCopy->updForceSet();
_numCoordinateActuators = _modelWorkingCopy->getActuators().getSize();
} else {
ForceSet& as = _modelWorkingCopy->updForceSet();
// Keep a copy of forces that are not muscles to restore them back.
ForceSet* saveForces = as.clone();
// Generate an force set consisting of a coordinate actuator for every unconstrained degree of freedom
_forceSet = CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel(sWorkingCopyTemp,*_modelWorkingCopy,1,false);
_numCoordinateActuators = _forceSet->getSize();
// Copy whatever forces that are not muscles back into the model
for(int i=0; i<saveForces->getSize(); i++){
// const Force& f=saveForces->get(i);
if ((dynamic_cast<const Muscle*>(&saveForces->get(i)))==NULL)
as.append(saveForces->get(i).clone());
}
}
_modelWorkingCopy->setAllControllersEnabled(false);
_ownsForceSet = false;
SimTK::State& sWorkingCopy = _modelWorkingCopy->initSystem();
// Gather indices into speed set corresponding to the unconstrained degrees of freedom (for which we will set acceleration constraints)
_accelerationIndices.setSize(0);
auto coordinates = _modelWorkingCopy->getCoordinatesInMultibodyTreeOrder();
for(size_t i=0u; i<coordinates.size(); ++i) {
const Coordinate& coord = *coordinates[i];
if(!coord.isConstrained(sWorkingCopy)) {
_accelerationIndices.append(static_cast<int>(i));
}
}
_dydt.setSize(_modelWorkingCopy->getNumCoordinates() + _modelWorkingCopy->getNumSpeeds());
int nf = _numCoordinateActuators;
int nacc = _accelerationIndices.getSize();
if(nf < nacc)
throw(Exception("InverseDynamics: ERROR- over-constrained system -- need at least as many forces as there are degrees of freedom.\n"));
// Realize to velocity in case there are any velocity dependent forces
_modelWorkingCopy->getMultibodySystem().realize(sWorkingCopy, SimTK::Stage::Velocity);
_constraintMatrix.resize(nacc,nf);
_constraintVector.resize(nacc);
_performanceMatrix.resize(nf,nf);
_performanceMatrix = 0;
for(int i=0,j=0; i<nf; i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&_forceSet->get(i));
if( act ) {
act->setActuation(sWorkingCopy, 1);
_performanceMatrix(j,j) = act->getStress(sWorkingCopy);
j++;
}
}
_performanceVector.resize(nf);
_performanceVector = 0;
int lwork = nf + nf + nacc;
_lapackWork.resize(lwork);
}
_statesSplineSet=GCVSplineSet(5,_statesStore);
// DESCRIPTION AND LABELS
constructDescription();
constructColumnLabels();
deleteStorage();
allocateStorage();
// RESET STORAGE
_storage->reset(s.getTime());
// RECORD
int status = 0;
if(_storage->getSize()<=0) {
status = record(s);
}
return(status);
}
