/**
* Compute all constraints given x.
*/
void ActuatorForceTargetFast::
computeConstraintVector(SimTK::State& s, const Vector &x,Vector &c) const
{
CMC_TaskSet& taskSet = _controller->updTaskSet();
const Set<Actuator>& fSet = _controller->getActuatorSet();
int nf = fSet.getSize();
// Now override the actuator forces with computed active force
// (from static optimization) but also include the passive force
// contribution of muscles when applying forces to the model
for(int i=0;i<nf;i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
act->overrideActuation(s, true);
act->setOverrideActuation(s, x[i]);
}
_controller->getModel().getMultibodySystem().realize(s, SimTK::Stage::Acceleration );
taskSet.computeAccelerations(s);
Array<double> &w = taskSet.getWeights();
Array<double> &aDes = taskSet.getDesiredAccelerations();
Array<double> &a = taskSet.getAccelerations();
// CONSTRAINTS
for(int i=0; i<getNumConstraints(); i++)
c[i]=w[i]*(aDes[i]-a[i]);
// reset the actuator control
for(int i=0;i<fSet.getSize();i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&fSet[i]);
act->overrideActuation(s, false);
}
_controller->getModel().getMultibodySystem().realizeModel(s);
}
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);
}
}
/**
* 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;
}
/**
* This method is called at the beginning of an analysis so that any
* necessary initializations may be performed.
*
* This method is meant to be called at the beginning of an integration
*
* @param s Current state .
*
* @return -1 on error, 0 otherwise.
*/
int StaticOptimization::
begin(SimTK::State& s )
{
if(!proceed()) return(0);
// Make a working copy of the model
delete _modelWorkingCopy;
_modelWorkingCopy = _model->clone();
_modelWorkingCopy->initSystem();
// Replace model force set with only generalized forces
if(_model) {
SimTK::State& sWorkingCopyTemp = _modelWorkingCopy->updWorkingState();
// 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();
_ownsForceSet = false;
} 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);
_ownsForceSet = false;
_modelWorkingCopy->setAllControllersEnabled(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());
}
}
SimTK::State& sWorkingCopy = _modelWorkingCopy->initSystem();
// Set modeling options for Actuators to be overriden
for(int i=0; i<_forceSet->getSize(); i++) {
ScalarActuator* act = dynamic_cast<ScalarActuator*>(&_forceSet->get(i));
if( act ) {
act->overrideActuation(sWorkingCopy, true);
}
}
sWorkingCopy.setTime(s.getTime());
sWorkingCopy.setQ(s.getQ());
sWorkingCopy.setU(s.getU());
sWorkingCopy.setZ(s.getZ());
_modelWorkingCopy->getMultibodySystem().realize(s,SimTK::Stage::Velocity);
_modelWorkingCopy->equilibrateMuscles(sWorkingCopy);
// Gather indices into speed set corresponding to the unconstrained degrees of freedom
// (for which we will set acceleration constraints)
_accelerationIndices.setSize(0);
const CoordinateSet& coordSet = _model->getCoordinateSet();
for(int i=0; i<coordSet.getSize(); i++) {
const Coordinate& coord = coordSet.get(i);
if(!coord.isConstrained(sWorkingCopy)) {
Array<int> inds = _statesStore->
getColumnIndicesForIdentifier(coord.getName()) ;
_accelerationIndices.append(inds[0]);
}
}
int na = _forceSet->getSize();
int nacc = _accelerationIndices.getSize();
if(na < nacc)
throw(Exception("StaticOptimization: ERROR- over-constrained "
"system -- need at least as many forces as there are degrees of freedom.\n") );
_forceReporter.reset(new ForceReporter(_modelWorkingCopy));
_forceReporter->begin(sWorkingCopy);
_forceReporter->updForceStorage().reset();
_parameters.resize(_modelWorkingCopy->getNumControls());
_parameters = 0;
}
_statesSplineSet=GCVSplineSet(5,_statesStore);
// DESCRIPTION AND LABELS
constructDescription();
constructColumnLabels();
deleteStorage();
allocateStorage();
// RESET STORAGE
_activationStorage->reset(s.getTime());
_forceReporter->updForceStorage().reset(s.getTime());
// RECORD
int status = 0;
if(_activationStorage->getSize()<=0) {
status = record(s);
const Set<Actuator>& fs = _modelWorkingCopy->getActuators();
for(int k=0;k<fs.getSize();k++) {
ScalarActuator* act = dynamic_cast<ScalarActuator *>(&fs[k]);
if (act){
cout << "Bounds for " << act->getName() << ": "
<< act->getMinControl() << " to "
<< act->getMaxControl() << endl;
}
else{
std::string msg = getConcreteClassName();
msg += "::can only process scalar Actuator types.";
throw Exception(msg);
}
}
}
return(status);
}
/* Solve for the induced accelerations (udot_f) for a Force in the model
identified by its name. */
const SimTK::Vector& InducedAccelerationsSolver::solve(const SimTK::State& s,
const string& forceName,
bool computeActuatorPotentialOnly,
SimTK::Vector_<SimTK::SpatialVec>* constraintReactions)
{
int nu = _modelCopy.getNumSpeeds();
double aT = s.getTime();
SimTK::State& s_solver = _modelCopy.updWorkingState();
//_modelCopy.initStateWithoutRecreatingSystem(s_solver);
// Just need to set current time and kinematics to determine state of constraints
s_solver.setTime(aT);
s_solver.updQ()=s.getQ();
s_solver.updU()=s.getU();
// Check the external forces and determine if contact constraints should be applied at this time
// and turn constraint on if it should be.
Array<bool> constraintOn = applyContactConstraintAccordingToExternalForces(s_solver);
// Hang on to a state that has the right flags for contact constraints turned on/off
_modelCopy.setPropertiesFromState(s_solver);
// Use this state for the remainder of this step (record)
s_solver = _modelCopy.getMultibodySystem().realizeTopology();
// DO NOT recreate the system, will lose location of constraint
_modelCopy.initStateWithoutRecreatingSystem(s_solver);
//cout << "Solving for contributor: " << _contributors[c] << endl;
// Need to be at the dynamics stage to disable a force
s_solver.setTime(aT);
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Dynamics);
if(forceName == "total"){
// Set gravity ON
_modelCopy.getGravityForce().enable(s_solver);
//Use same conditions on constraints
s_solver.updU() = s.getU();
s_solver.updU() = s.getZ();
//Make sure all the actuators are on!
for(int f=0; f<_modelCopy.getActuators().getSize(); f++){
_modelCopy.updActuators().get(f).setDisabled(s_solver, false);
}
// Get to the point where we can evaluate unilateral constraint conditions
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Acceleration);
/* *********************************** ERROR CHECKING *******************************
SimTK::Vec3 pcom =_modelCopy.getMultibodySystem().getMatterSubsystem().calcSystemMassCenterLocationInGround(s_solver);
SimTK::Vec3 vcom =_modelCopy.getMultibodySystem().getMatterSubsystem().calcSystemMassCenterVelocityInGround(s_solver);
SimTK::Vec3 acom =_modelCopy.getMultibodySystem().getMatterSubsystem().calcSystemMassCenterAccelerationInGround(s_solver);
SimTK::Matrix M;
_modelCopy.getMultibodySystem().getMatterSubsystem().calcM(s_solver, M);
cout << "mass matrix: " << M << endl;
SimTK::Inertia sysInertia = _modelCopy.getMultibodySystem().getMatterSubsystem().calcSystemCentralInertiaInGround(s_solver);
cout << "system inertia: " << sysInertia << endl;
SimTK::SpatialVec sysMomentum =_modelCopy.getMultibodySystem().getMatterSubsystem().calcSystemMomentumAboutGroundOrigin(s_solver);
cout << "system momentum: " << sysMomentum << endl;
const SimTK::Vector &appliedMobilityForces = _modelCopy.getMultibodySystem().getMobilityForces(s_solver, SimTK::Stage::Dynamics);
appliedMobilityForces.dump("All Applied Mobility Forces");
// Get all applied body forces like those from contact
const SimTK::Vector_<SimTK::SpatialVec>& appliedBodyForces = _modelCopy.getMultibodySystem().getRigidBodyForces(s_solver, SimTK::Stage::Dynamics);
appliedBodyForces.dump("All Applied Body Forces");
SimTK::Vector ucUdot;
SimTK::Vector_<SimTK::SpatialVec> ucA_GB;
_modelCopy.getMultibodySystem().getMatterSubsystem().calcAccelerationIgnoringConstraints(s_solver, appliedMobilityForces, appliedBodyForces, ucUdot, ucA_GB) ;
ucUdot.dump("Udots Ignoring Constraints");
ucA_GB.dump("Body Accelerations");
SimTK::Vector_<SimTK::SpatialVec> constraintBodyForces(_constraintSet.getSize(), SimTK::SpatialVec(SimTK::Vec3(0)));
SimTK::Vector constraintMobilityForces(0);
int nc = _modelCopy.getMultibodySystem().getMatterSubsystem().getNumConstraints();
for (SimTK::ConstraintIndex cx(0); cx < nc; ++cx) {
if (!_modelCopy.getMultibodySystem().getMatterSubsystem().isConstraintDisabled(s_solver, cx)){
cout << "Constraint " << cx << " enabled!" << endl;
}
}
//int nMults = _modelCopy.getMultibodySystem().getMatterSubsystem().getTotalMultAlloc();
for(int i=0; i<constraintOn.getSize(); i++) {
if(constraintOn[i])
_constraintSet[i].calcConstraintForces(s_solver, constraintBodyForces, constraintMobilityForces);
}
constraintBodyForces.dump("Constraint Body Forces");
constraintMobilityForces.dump("Constraint Mobility Forces");
// ******************************* end ERROR CHECKING *******************************/
for(int i=0; i<constraintOn.getSize(); i++) {
_replacementConstraints[i].setDisabled(s_solver, !constraintOn[i]);
// Make sure we stay at Dynamics so each constraint can evaluate its conditions
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Acceleration);
}
// This should also push changes to defaults for unilateral conditions
_modelCopy.setPropertiesFromState(s_solver);
}
else if(forceName == "gravity"){
// Set gravity ON
_modelCopy.updForceSubsystem().setForceIsDisabled(s_solver, _modelCopy.getGravityForce().getForceIndex(), false);
// zero velocity
s_solver.setU(SimTK::Vector(nu,0.0));
// disable other forces
for(int f=0; f<_modelCopy.getForceSet().getSize(); f++){
_modelCopy.updForceSet()[f].setDisabled(s_solver, true);
}
}
else if(forceName == "velocity"){
// Set gravity off
_modelCopy.updForceSubsystem().setForceIsDisabled(s_solver, _modelCopy.getGravityForce().getForceIndex(), true);
// non-zero velocity
s_solver.updU() = s.getU();
// zero actuator forces
for(int f=0; f<_modelCopy.getActuators().getSize(); f++){
_modelCopy.updActuators().get(f).setDisabled(s_solver, true);
}
// Set the configuration (gen. coords and speeds) of the model.
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Velocity);
}
else{ //The rest are actuators
// Set gravity OFF
_modelCopy.updForceSubsystem().setForceIsDisabled(s_solver, _modelCopy.getGravityForce().getForceIndex(), true);
// zero actuator forces
for(int f=0; f<_modelCopy.getActuators().getSize(); f++){
_modelCopy.updActuators().get(f).setDisabled(s_solver, true);
}
// zero velocity
SimTK::Vector U(nu,0.0);
s_solver.setU(U);
s_solver.updZ() = s.getZ();
// light up the one Force who's contribution we are looking for
int ai = _modelCopy.getForceSet().getIndex(forceName);
if(ai<0){
cout << "Force '"<< forceName << "' not found in model '" <<
_modelCopy.getName() << "'." << endl;
}
Force &force = _modelCopy.getForceSet().get(ai);
force.setDisabled(s_solver, false);
ScalarActuator *actuator = dynamic_cast<ScalarActuator*>(&force);
if(actuator){
if(computeActuatorPotentialOnly){
actuator->overrideActuation(s_solver, true);
actuator->setOverrideActuation(s_solver, 1.0);
}
}
// Set the configuration (gen. coords and speeds) of the model.
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Model);
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Velocity);
}// End of if to select contributor
// cout << "Constraint 0 is of "<< _constraintSet[0].getConcreteClassName() << " and should be " << constraintOn[0] << " and is actually " << (_constraintSet[0].isDisabled(s_solver) ? "off" : "on") << endl;
// cout << "Constraint 1 is of "<< _constraintSet[1].getConcreteClassName() << " and should be " << constraintOn[1] << " and is actually " << (_constraintSet[1].isDisabled(s_solver) ? "off" : "on") << endl;
// After setting the state of the model and applying forces
// Compute the derivative of the multibody system (speeds and accelerations)
_modelCopy.getMultibodySystem().realize(s_solver, SimTK::Stage::Acceleration);
// Sanity check that constraints hasn't totally changed the configuration of the model
// double error = (s.getQ()-s_solver.getQ()).norm();
// Report reaction forces for debugging
/*
SimTK::Vector_<SimTK::SpatialVec> constraintBodyForces(_constraintSet.getSize());
SimTK::Vector mobilityForces(0);
for(int i=0; i<constraintOn.getSize(); i++) {
if(constraintOn[i])
_constraintSet.get(i).calcConstraintForces(s_solver, constraintBodyForces, mobilityForces);
}*/
return s_solver.getUDot();
}
