void ExploreCoactivation(Model* model, State& initial_state, double ti, double tf, double slope, double activation, string dir = "")
{
Coordinate& rx = model->updCoordinateSet().get("platform_rx");
rx.set_locked(false);
rx.setDefaultValue(Pi*slope / 180.0);
rx.set_locked(true);
ControllerSet& controllers = model->updControllerSet();
// set all invertor excitations to the predetermined value
// invertors are stronger than evertors, so must scale down invertor activity to produce co-activation with no net moment
double invertorActivation = activation*invertorScaleFactor;
PrescribedController* invControls = dynamic_cast<PrescribedController*> (&model->updControllerSet().get("inverter_controls_r"));
invControls->set_isDisabled(false);
for (int i = 0; i<invControls->getActuatorSet().getSize(); i++)
{
OpenSim::Constant currentAct(invertorActivation);
invControls->prescribeControlForActuator(i, currentAct.clone());
OpenSim::ActivationFiberLengthMuscle* muscle = dynamic_cast<OpenSim::ActivationFiberLengthMuscle*> (&invControls->updActuators().get(i));
if (muscle)
{
muscle->setDefaultActivation(invertorActivation);
}
}
// set all evertor excitations to the predetermined value
PrescribedController* evControls = dynamic_cast<PrescribedController*> (&model->updControllerSet().get("everter_controls_r"));
evControls->set_isDisabled(false);
for (int i = 0; i<evControls->getActuatorSet().getSize(); i++)
{
OpenSim::Constant currentAct(activation);
evControls->prescribeControlForActuator(i, currentAct.clone());
OpenSim::ActivationFiberLengthMuscle* muscle = dynamic_cast<OpenSim::ActivationFiberLengthMuscle*> (&evControls->updActuators().get(i));
if (muscle)
{
muscle->setDefaultActivation(activation);
}
}
// turn off other everter and inverter controllers
//model->updControllerSet().get("AnkleEverterDelayedReflexes").set_isDisabled(true);
//model->updControllerSet().get("AnkleInverterDelayedReflexes").set_isDisabled(true);
// Create a force reporter
ForceReporter* reporter = new ForceReporter(model);
model->addAnalysis(reporter);
SimTK::State& osim_state = model->initSystem();
osim_state.setQ(initial_state.getQ());
osim_state.setU(initial_state.getU());
rx.set_locked(false);
rx.setValue(osim_state, Pi*slope / 180.0);
rx.set_locked(true);
model->equilibrateMuscles(osim_state);
// Create the integrator for integrating system dynamics
SimTK::RungeKuttaMersonIntegrator integrator(model->getMultibodySystem());
integrator.setAccuracy(integratorTolerance);
integrator.setMaximumStepSize(1);
integrator.setMinimumStepSize(1e-8);
// Create the manager managing the forward integration and its outputs
Manager manager(*model, integrator);
// Integrate from initial time to final time
manager.setInitialTime(ti);
manager.setFinalTime(tf);
cout << "\nIntegrating from " << ti << " to " << tf << endl;
manager.integrate(osim_state);
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the model states from forward integration
Storage statesDegrees(manager.getStateStorage());
char trial_name[100];
sprintf(trial_name, "%sincline_%.1f_activation_%.1f", dir, slope, activation);
statesDegrees.print(string(trial_name) + string("_states.sto"));
// Save the forces
reporter->getForceStorage().print(string(trial_name) + string("_forces.sto"));
// Save the controls
model->printControlStorage(trial_name + string("_controls.sto"));
// save the model
model->print(string(trial_name) + string("_model.osim"));
}
void simulateDropHeightAndCocontraction(Model* model, double height, double slope, double activation, string dir = "")
{
// get the component of gravity in the y direction
double g = model->getGravity()[1];
// use gravity and height to compute the velocity after falling a distance equal to the input height.
double landingVelocity = g*sqrt(-2 * height / g);
Coordinate& ty = model->updCoordinateSet().get("pelvis_ty");
ty.set_locked(false);
ty.setDefaultSpeedValue(landingVelocity);
/*ty.set_locked(false);
ty.setDefaultValue(-1*height);
ty.set_locked(true);*/
Coordinate& rx = model->updCoordinateSet().get("platform_rx");
rx.set_locked(false);
rx.setDefaultValue(Pi*slope / 180.0);
rx.set_locked(true);
// set all invertor excitations to the predetermined value
PrescribedController* invControls = dynamic_cast<PrescribedController*> (&model->updControllerSet().get("inverter_controls_r"));
invControls->set_isDisabled(false);
for (int i = 0; i<invControls->getActuatorSet().getSize(); i++)
{
OpenSim::Constant currentAct(activation);
invControls->prescribeControlForActuator(i, currentAct.clone());
OpenSim::ActivationFiberLengthMuscle* muscle = dynamic_cast<OpenSim::ActivationFiberLengthMuscle*> (&invControls->updActuators().get(i));
if (muscle)
{
muscle->setDefaultActivation(activation);
}
}
// set all evertor excitations to the predetermined value
PrescribedController* evControls = dynamic_cast<PrescribedController*> (&model->updControllerSet().get("everter_controls_r"));
evControls->set_isDisabled(false);
for (int i = 0; i<evControls->getActuatorSet().getSize(); i++)
{
OpenSim::Constant currentAct(activation);
evControls->prescribeControlForActuator(i, currentAct.clone());
OpenSim::ActivationFiberLengthMuscle* muscle = dynamic_cast<OpenSim::ActivationFiberLengthMuscle*> (&evControls->updActuators().get(i));
if (muscle)
{
muscle->setDefaultActivation(activation);
}
}
// turn off other everter and inverter controllers
model->updControllerSet().get("AnkleEverterReflexes").set_isDisabled(true);
model->updControllerSet().get("AnkleInverterReflexes").set_isDisabled(true);
model->updControllerSet().get("AnkleEverterDelayedReflexes").set_isDisabled(true);
model->updControllerSet().get("AnkleInverterDelayedReflexes").set_isDisabled(true);
// Create a force reporter
ForceReporter* reporter = new ForceReporter(model);
model->addAnalysis(reporter);
SimTK::State& osim_state = model->initSystem();
//ty.setValue(osim_state, -1*height);
ty.setSpeedValue(osim_state, landingVelocity);
model->getMultibodySystem().realize(osim_state, Stage::Velocity);
model->equilibrateMuscles(osim_state);
// Create the integrator for integrating system dynamics
SimTK::RungeKuttaMersonIntegrator integrator(model->getMultibodySystem());
integrator.setAccuracy(1.0e-6);
integrator.setMaximumStepSize(1);
integrator.setMinimumStepSize(1e-8);
// Create the manager managing the forward integration and its outputs
Manager manager(*model, integrator);
// Integrate from initial time to final time
double ti = 0;
double tf = 0.3; //300 ms after landing
manager.setInitialTime(ti);
manager.setFinalTime(tf);
cout << "\nIntegrating from " << ti << " to " << tf << endl;
manager.integrate(osim_state);
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the model states from forward integration
Storage statesDegrees(manager.getStateStorage());
char trial_name[100];
sprintf(trial_name, "%sheight_%.1f_incline_%.1f_activation_%.1f", dir, height, slope, activation);
statesDegrees.print(string(trial_name) + string("_states.sto"));
// Save the forces
reporter->getForceStorage().print(string(trial_name) + string("_forces.sto"));
// Save the controls
model->printControlStorage(trial_name + string("_controls.sto"));
// save the model
model->print(string(trial_name) + string("_model.osim"));
}
