void addExtensionController(Model& model)
{
PrescribedController* controller = new PrescribedController();
controller->setName( "extension_controller");
controller->setActuators( model.updActuators());
double control_time[2] = {0.01, 0.02}; // time nodes for linear function
double control_acts[2] = {0.0, 1.0}; // force values at t1 and t2
//control_func->setName( "constant_control_func");
string muscle_name;
for (int i=0; i<model.getActuators().getSize(); i++)
{
muscle_name = model.getActuators().get(i).getName();
// activate quadriceps
if (muscle_name == "rect_fem_r" || muscle_name == "vas_med_r" || muscle_name == "vas_int_r" || muscle_name == "vas_lat_r" )
{
Constant* ccf = new Constant(0.8);
//PiecewiseLinearFunction *ccf = new PiecewiseLinearFunction( 2, control_time, control_acts);
controller->prescribeControlForActuator( i, ccf);
}
else
{
Constant* zccf = new Constant(0);
controller->prescribeControlForActuator( i, zccf);
}
}
model.addController( controller);
}
void addFlexionController(Model& model)
{
PrescribedController* controller = new PrescribedController();
controller->setName( "flexion_controller");
controller->setActuators( model.updActuators());
double control_time[2] = {0, 0.05}; // time nodes for linear function
double control_acts[2] = {1.0, 0}; // force values at t1 and t2
string muscle_name;
for (int i=0; i<model.getActuators().getSize(); i++)
{
muscle_name = model.getActuators().get(i).getName();
// hamstrings: bi*, semi*
if ( muscle_name == "bifemlh_r" || muscle_name == "bifemsh_r" || muscle_name == "grac_r" \
|| muscle_name == "lat_gas_r" || muscle_name == "med_gas_r" || muscle_name == "sar_r" \
|| muscle_name == "semimem_r" || muscle_name == "semiten_r")
{
Constant* ccf = new Constant(1.0);
//PiecewiseLinearFunction *ccf = new PiecewiseLinearFunction( 2, control_time, control_acts);
controller->prescribeControlForActuator( i, ccf);
}
else
{
Constant* zccf = new Constant(0);
controller->prescribeControlForActuator( i, zccf);
}
}
model.addController( controller);
}
/**
* Run a simulation of block sliding with contact on by two muscles sliding with contact
*/
int main()
{
try {
// Create a new OpenSim model
Model osimModel;
osimModel.setName("osimModel");
double Pi = SimTK::Pi;
// Get the ground body
OpenSim::Body& ground = osimModel.getGroundBody();
ground.addDisplayGeometry("checkered_floor.vtp");
// create linkage body
double linkageMass = 0.001, linkageLength = 0.5, linkageDiameter = 0.06;
Vec3 linkageDimensions(linkageDiameter, linkageLength, linkageDiameter);
Vec3 linkageMassCenter(0,linkageLength/2,0);
Inertia linkageInertia = Inertia::cylinderAlongY(linkageDiameter/2.0, linkageLength/2.0);
OpenSim::Body* linkage1 = new OpenSim::Body("linkage1", linkageMass, linkageMassCenter, linkageMass*linkageInertia);
// Graphical representation
linkage1->addDisplayGeometry("cylinder.vtp");
//This cylinder.vtp geometry is 1 meter tall, 1 meter diameter. Scale and shift it to look pretty
GeometrySet& geometry = linkage1->updDisplayer()->updGeometrySet();
DisplayGeometry& thinCylinder = geometry[0];
thinCylinder.setScaleFactors(linkageDimensions);
thinCylinder.setTransform(Transform(Vec3(0.0,linkageLength/2.0,0.0)));
linkage1->addDisplayGeometry("sphere.vtp");
//This sphere.vtp is 1 meter in diameter. Scale it.
geometry[1].setScaleFactors(Vec3(0.1));
// Creat a second linkage body
OpenSim::Body* linkage2 = new OpenSim::Body(*linkage1);
linkage2->setName("linkage2");
// Creat a block to be the pelvis
double blockMass = 20.0, blockSideLength = 0.2;
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength, blockSideLength, blockSideLength);
OpenSim::Body *block = new OpenSim::Body("block", blockMass, blockMassCenter, blockInertia);
block->addDisplayGeometry("block.vtp");
//This block.vtp is 0.1x0.1x0.1 meters. scale its appearance
block->updDisplayer()->updGeometrySet()[0].setScaleFactors(Vec3(2.0));
// Create 1 degree-of-freedom pin joints between the bodies to creat a kinematic chain from ground through the block
Vec3 orientationInGround(0), locationInGround(0), locationInParent(0.0, linkageLength, 0.0), orientationInChild(0), locationInChild(0);
PinJoint *ankle = new PinJoint("ankle", ground, locationInGround, orientationInGround, *linkage1,
locationInChild, orientationInChild);
PinJoint *knee = new PinJoint("knee", *linkage1, locationInParent, orientationInChild, *linkage2,
locationInChild, orientationInChild);
PinJoint *hip = new PinJoint("hip", *linkage2, locationInParent, orientationInChild, *block,
locationInChild, orientationInChild);
double range[2] = {-SimTK::Pi*2, SimTK::Pi*2};
CoordinateSet& ankleCoordinateSet = ankle->upd_CoordinateSet();
ankleCoordinateSet[0].setName("q1");
ankleCoordinateSet[0].setRange(range);
CoordinateSet& kneeCoordinateSet = knee->upd_CoordinateSet();
kneeCoordinateSet[0].setName("q2");
kneeCoordinateSet[0].setRange(range);
CoordinateSet& hipCoordinateSet = hip->upd_CoordinateSet();
hipCoordinateSet[0].setName("q3");
hipCoordinateSet[0].setRange(range);
// Add the bodies to the model
osimModel.addBody(linkage1);
osimModel.addBody(linkage2);
osimModel.addBody(block);
// Define contraints on the model
// Add a point on line constraint to limit the block to vertical motion
Vec3 lineDirection(0,1,0), pointOnLine(0,0,0), pointOnBlock(0);
PointOnLineConstraint *lineConstraint = new PointOnLineConstraint(ground, lineDirection, pointOnLine, *block, pointOnBlock);
osimModel.addConstraint(lineConstraint);
// Add PistonActuator between the first linkage and the block
Vec3 pointOnBodies(0);
PistonActuator *piston = new PistonActuator();
piston->setName("piston");
piston->setBodyA(linkage1);
piston->setBodyB(block);
piston->setPointA(pointOnBodies);
piston->setPointB(pointOnBodies);
piston->setOptimalForce(200.0);
piston->setPointsAreGlobal(false);
osimModel.addForce(piston);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Added ControllableSpring between the first linkage and the second block
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ControllableSpring *spring = new ControllableSpring;
spring->setName("spring");
spring->setBodyA(block);
spring->setBodyB(linkage1);
spring->setPointA(pointOnBodies);
spring->setPointB(pointOnBodies);
spring->setOptimalForce(2000.0);
spring->setPointsAreGlobal(false);
spring->setRestLength(0.8);
osimModel.addForce(spring);
// define the simulation times
double t0(0.0), tf(15);
// create a controller to control the piston and spring actuators
// the prescribed controller sets the controls as functions of time
PrescribedController *legController = new PrescribedController();
// give the legController control over all (two) model actuators
legController->setActuators(osimModel.updActuators());
// specify some control nodes for spring stiffness control
double t[] = {0.0, 4.0, 7.0, 10.0, 15.0};
double x[] = {1.0, 1.0, 0.25, 0.25, 5.0};
// specify the control function for each actuator
legController->prescribeControlForActuator("piston", new Constant(0.1));
legController->prescribeControlForActuator("spring", new PiecewiseLinearFunction(5, t, x));
// add the controller to the model
osimModel.addController(legController);
// define the acceration due to gravity
osimModel.setGravity(Vec3(0, -9.80665, 0));
// enable the model visualizer see the model in action, which can be
// useful for debugging
osimModel.setUseVisualizer(true);
// Initialize system
SimTK::State& si = osimModel.initSystem();
// Pin joint initial states
double q1_i = -Pi/4;
double q2_i = - 2*q1_i;
CoordinateSet &coordinates = osimModel.updCoordinateSet();
coordinates[0].setValue(si, q1_i, true);
coordinates[1].setValue(si,q2_i, true);
// Setup integrator and manager
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-3);
ForceReporter *forces = new ForceReporter(&osimModel);
osimModel.updAnalysisSet().adoptAndAppend(forces);
Manager manager(osimModel, integrator);
//Examine the model
osimModel.printDetailedInfo(si, std::cout);
// Save the model
osimModel.print("toyLeg.osim");
// Print out the initial position and velocity states
si.getQ().dump("Initial q's");
si.getU().dump("Initial u's");
std::cout << "Initial time: " << si.getTime() << std::endl;
// Integrate
manager.setInitialTime(t0);
manager.setFinalTime(tf);
std::cout<<"\n\nIntegrating from " << t0 << " to " << tf << std::endl;
manager.integrate(si);
// Save results
osimModel.printControlStorage("SpringActuatedLeg_controls.sto");
Storage statesDegrees(manager.getStateStorage());
osimModel.updSimbodyEngine().convertRadiansToDegrees(statesDegrees);
//statesDegrees.print("PistonActuatedLeg_states_degrees.mot");
statesDegrees.print("SpringActuatedLeg_states_degrees.mot");
forces->getForceStorage().print("actuator_forces.mot");
}
catch (const std::exception& ex)
{
std::cout << "Exception in toyLeg_example: " << ex.what() << std::endl;
return 1;
}
std::cout << "Exiting" << std::endl;
return 0;
}
/**
* Run a simulation of a sliding block being pulled by two muscle
*/
int main()
{
std::clock_t startTime = std::clock();
try {
///////////////////////////////////////////////
// DEFINE THE SIMULATION START AND END TIMES //
///////////////////////////////////////////////
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 10.0;
///////////////////////////////////////////
// DEFINE BODIES AND JOINTS OF THE MODEL //
///////////////////////////////////////////
// Create an OpenSim model and set its name
Model osimModel;
osimModel.setName("tugOfWar");
// GROUND FRAME
// Get a reference to the model's ground body
Ground& ground = osimModel.updGround();
// Add display geometry to the ground to visualize in the GUI
ground.attachGeometry(new Mesh("ground.vtp"));
ground.attachGeometry(new Mesh("anchor1.vtp"));
ground.attachGeometry(new Mesh("anchor2.vtp"));
// BLOCK BODY
// Specify properties of a 20 kg, 10cm length block body
double blockMass = 20.0, blockSideLength = 0.1;
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength,
blockSideLength, blockSideLength);
// Create a new block body with the specified properties
OpenSim::Body *block = new OpenSim::Body("block", blockMass,
blockMassCenter, blockInertia);
// Add display geometry to the block to visualize in the GUI
block->attachGeometry(new Mesh("block.vtp"));
// FREE JOINT
// Create a new free joint with 6 degrees-of-freedom (coordinates)
// between the block and ground bodies
double halfLength = blockSideLength/2.0;
Vec3 locationInParent(0, halfLength, 0), orientationInParent(0);
Vec3 locationInBody(0, halfLength, 0), orientationInBody(0);
FreeJoint *blockToGround = new FreeJoint("blockToGround", ground,
locationInParent, orientationInParent,
*block, locationInBody, orientationInBody);
// Set the angle and position ranges for the free (6-degree-of-freedom)
// joint between the block and ground frames.
double angleRange[2] = {-SimTK::Pi/2, SimTK::Pi/2};
double positionRange[2] = {-1, 1};
blockToGround->updCoordinate(FreeJoint::Coord::Rotation1X).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::Rotation2Y).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::Rotation3Z).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationX).setRange(positionRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationY).setRange(positionRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationZ).setRange(positionRange);
// Add the block body to the model
osimModel.addBody(block);
osimModel.addJoint(blockToGround);
///////////////////////////////////////
// DEFINE FORCES ACTING ON THE MODEL //
///////////////////////////////////////
// MUSCLE FORCES
// Create two new muscles
double maxIsometricForce = 1000.0, optimalFiberLength = 0.2,
tendonSlackLength = 0.1, pennationAngle = 0.0,
fatigueFactor = 0.30, recoveryFactor = 0.20;
// fatigable muscle (Millard2012EquilibriumMuscle with fatigue)
FatigableMuscle* fatigable = new FatigableMuscle("fatigable",
maxIsometricForce, optimalFiberLength, tendonSlackLength,
pennationAngle, fatigueFactor, recoveryFactor);
// original muscle model (muscle without fatigue)
Millard2012EquilibriumMuscle* original =
new Millard2012EquilibriumMuscle("original",
maxIsometricForce, optimalFiberLength, tendonSlackLength,
pennationAngle);
// Define the path of the muscles
fatigable->addNewPathPoint("fatigable-point1", ground,
Vec3(0.0, halfLength, -0.35));
fatigable->addNewPathPoint("fatigable-point2", *block,
Vec3(0.0, halfLength, -halfLength));
original->addNewPathPoint("original-point1", ground,
Vec3(0.0, halfLength, 0.35));
original->addNewPathPoint("original-point2", *block,
Vec3(0.0, halfLength, halfLength));
// Define the default states for the two muscles
// Activation
fatigable->setDefaultActivation(0.01);
original->setDefaultActivation(0.01);
// Fiber length
fatigable->setDefaultFiberLength(optimalFiberLength);
original->setDefaultFiberLength(optimalFiberLength);
// Add the two muscles (as forces) to the model
osimModel.addForce(fatigable);
osimModel.addForce(original);
///////////////////////////////////
// DEFINE CONTROLS FOR THE MODEL //
///////////////////////////////////
// Create a prescribed controller that simply supplies controls as
// a function of time.
// For muscles, controls are normalized stoor-neuron excitations
PrescribedController *muscleController = new PrescribedController();
muscleController->setActuators(osimModel.updActuators());
// Set the prescribed muscle controller to use the same muscle control function for each muscle
muscleController->prescribeControlForActuator("fatigable", new Constant(1.0));
muscleController->prescribeControlForActuator("original", new Constant(1.0));
// Add the muscle controller to the model
osimModel.addController(muscleController);
// Add a Muscle analysis
MuscleAnalysis* muscAnalysis = new MuscleAnalysis(&osimModel);
Array<std::string> coords(blockToGround->getCoordinate(FreeJoint::Coord::TranslationZ).getName(),1);
muscAnalysis->setCoordinates(coords);
muscAnalysis->setComputeMoments(false);
osimModel.addAnalysis(muscAnalysis);
// Turn on the visualizer to view the simulation run live.
osimModel.setUseVisualizer(false);
//////////////////////////
// PERFORM A SIMULATION //
//////////////////////////
// Initialize the system and get the state
SimTK::State& si = osimModel.initSystem();
// Init coords to 0 and lock the rotational degrees of freedom so the block doesn't twist
CoordinateSet& coordinates = osimModel.updCoordinateSet();
coordinates[0].setValue(si, 0);
coordinates[1].setValue(si, 0);
coordinates[2].setValue(si, 0);
coordinates[3].setValue(si, 0);
coordinates[4].setValue(si, 0);
coordinates[5].setValue(si, 0);
coordinates[0].setLocked(si, true);
coordinates[1].setLocked(si, true);
coordinates[2].setLocked(si, true);
// Last coordinate (index 5) is the Z translation of the block
coordinates[4].setLocked(si, true);
// Compute initial conditions for muscles
osimModel.equilibrateMuscles(si);
// Create the integrator, force reporter, and manager for the simulation.
// Create the integrator
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-6);
// Create the force reporter
ForceReporter* reporter = new ForceReporter(&osimModel);
osimModel.updAnalysisSet().adoptAndAppend(reporter);
// Create the manager
Manager manager(osimModel, integrator);
// Print out details of the model
osimModel.printDetailedInfo(si, std::cout);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\nIntegrating from "<<initialTime<<" to "<<finalTime<<std::endl;
manager.integrate(si);
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the simulation results
// Save the states
auto statesTable = manager.getStatesTable();
STOFileAdapter_<double>::write(statesTable,
"tugOfWar_fatigue_states.sto");
auto forcesTable = reporter->getForcesTable();
STOFileAdapter_<double>::write(forcesTable,
"tugOfWar_fatigue_forces.sto");
// Save the muscle analysis results
IO::makeDir("MuscleAnalysisResults");
muscAnalysis->printResults("fatigue", "MuscleAnalysisResults");
// Save the OpenSim model to a file
osimModel.print("tugOfWar_fatigue_model.osim");
}
catch (const std::exception& ex)
{
std::cout << ex.what() << std::endl;
return 1;
}
catch (...)
{
std::cout << "UNRECOGNIZED EXCEPTION" << std::endl;
return 1;
}
std::cout << "main() routine time = " << 1.e3*(std::clock()-startTime)/CLOCKS_PER_SEC << "ms\n";
std::cout << "OpenSim example completed successfully.\n";
return 0;
}
/**
* Create a model that does nothing.
*/
int main()
{
try {
///////////////////////////////////////////
// DEFINE BODIES AND JOINTS OF THE MODEL //
///////////////////////////////////////////
// Create an OpenSim model and set its name
Model osimModel;
osimModel.setName("tugOfWar");
// GROUND BODY
// Get a reference to the model's ground body
Ground& ground = osimModel.updGround();
// Add display geometry to the ground to visualize in the GUI
ground.addMeshGeometry("ground.vtp");
ground.addMeshGeometry("anchor1.vtp");
ground.addMeshGeometry("anchor2.vtp");
// BLOCK BODY
// Specify properties of a 20 kg, 0.1 m^3 block body
double blockMass = 20.0, blockSideLength = 0.1;
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength, blockSideLength, blockSideLength);
// Create a new block body with the specified properties
OpenSim::Body *block = new OpenSim::Body("block", blockMass, blockMassCenter, blockInertia);
// Add display geometry to the block to visualize in the GUI
Brick brick(SimTK::Vec3(0.05, 0.05, 0.05));
block->addGeometry(brick);
// FREE JOINT
// Create a new free joint with 6 degrees-of-freedom (coordinates) between the block and ground bodies
Vec3 locationInParent(0, blockSideLength/2, 0), orientationInParent(0), locationInBody(0), orientationInBody(0);
FreeJoint *blockToGround = new FreeJoint("blockToGround", ground, locationInParent, orientationInParent, *block, locationInBody, orientationInBody);
// Get a reference to the coordinate set (6 degrees-of-freedom) between the block and ground bodies
CoordinateSet& jointCoordinateSet = blockToGround->upd_CoordinateSet();
// Set the angle and position ranges for the coordinate set
double angleRange[2] = {-SimTK::Pi/2, SimTK::Pi/2};
double positionRange[2] = {-1, 1};
jointCoordinateSet[0].setRange(angleRange);
jointCoordinateSet[1].setRange(angleRange);
jointCoordinateSet[2].setRange(angleRange);
jointCoordinateSet[3].setRange(positionRange);
jointCoordinateSet[4].setRange(positionRange);
jointCoordinateSet[5].setRange(positionRange);
// Add the block body to the model
osimModel.addBody(block);
osimModel.addJoint(blockToGround);
///////////////////////////////////////////////
// DEFINE THE SIMULATION START AND END TIMES //
///////////////////////////////////////////////
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 3.00;
/////////////////////////////////////////////
// DEFINE CONSTRAINTS IMPOSED ON THE MODEL //
/////////////////////////////////////////////
// Specify properties of a constant distance constraint to limit the block's motion
double distance = 0.2;
Vec3 pointOnGround(0, blockSideLength/2 ,0);
Vec3 pointOnBlock(0, 0, 0);
// Create a new constant distance constraint
ConstantDistanceConstraint *constDist = new ConstantDistanceConstraint(ground,
pointOnGround, *block, pointOnBlock, distance);
// Add the new point on a line constraint to the model
osimModel.addConstraint(constDist);
///////////////////////////////////////
// DEFINE FORCES ACTING ON THE MODEL //
///////////////////////////////////////
// GRAVITY
// Obtaine the default acceleration due to gravity
Vec3 gravity = osimModel.getGravity();
// MUSCLE FORCES
// Create two new muscles with identical properties
double maxIsometricForce = 1000.0, optimalFiberLength = 0.25, tendonSlackLength = 0.1, pennationAngle = 0.0;
Thelen2003Muscle *muscle1 = new Thelen2003Muscle("muscle1",maxIsometricForce,optimalFiberLength,tendonSlackLength,pennationAngle);
Thelen2003Muscle *muscle2 = new Thelen2003Muscle("muscle2",maxIsometricForce,optimalFiberLength,tendonSlackLength,pennationAngle);
// Specify the paths for the two muscles
// Path for muscle 1
muscle1->addNewPathPoint("muscle1-point1", ground, Vec3(0.0,0.05,-0.35));
muscle1->addNewPathPoint("muscle1-point2", *block, Vec3(0.0,0.0,-0.05));
// Path for muscle 2
muscle2->addNewPathPoint("muscle2-point1", ground, Vec3(0.0,0.05,0.35));
muscle2->addNewPathPoint("muscle2-point2", *block, Vec3(0.0,0.0,0.05));
// Add the two muscles (as forces) to the model
osimModel.addForce(muscle1);
osimModel.addForce(muscle2);
// PRESCRIBED FORCE
// Create a new prescribed force to be applied to the block
PrescribedForce *prescribedForce = new PrescribedForce(block);
prescribedForce->setName("prescribedForce");
// Specify properties of the force function to be applied to the block
double time[2] = {0, finalTime}; // time nodes for linear function
double fXofT[2] = {0, -blockMass*gravity[1]*3.0}; // force values at t1 and t2
// Create linear function for the force components
PiecewiseLinearFunction *forceX = new PiecewiseLinearFunction(2, time, fXofT);
// Set the force and point functions for the new prescribed force
prescribedForce->setForceFunctions(forceX, new Constant(0.0), new Constant(0.0));
prescribedForce->setPointFunctions(new Constant(0.0), new Constant(0.0), new Constant(0.0));
// Add the new prescribed force to the model
osimModel.addForce(prescribedForce);
///////////////////////////////////
// DEFINE CONTROLS FOR THE MODEL //
///////////////////////////////////
// Create a prescribed controller that simply applies controls as function of time
// For muscles, controls are normalized motor-neuron excitations
PrescribedController *muscleController = new PrescribedController();
muscleController->setActuators(osimModel.updActuators());
// Define linear functions for the control values for the two muscles
Array<double> slopeAndIntercept1(0.0, 2); // array of 2 doubles
Array<double> slopeAndIntercept2(0.0, 2);
// muscle1 control has slope of -1 starting 1 at t = 0
slopeAndIntercept1[0] = -1.0/(finalTime-initialTime);
slopeAndIntercept1[1] = 1.0;
// muscle2 control has slope of 0.95 starting 0.05 at t = 0
slopeAndIntercept2[0] = 0.95/(finalTime-initialTime);
slopeAndIntercept2[1] = 0.05;
// Set the indiviudal muscle control functions for the prescribed muscle controller
muscleController->prescribeControlForActuator("muscle1", new LinearFunction(slopeAndIntercept1));
muscleController->prescribeControlForActuator("muscle2", new LinearFunction(slopeAndIntercept2));
// Add the muscle controller to the model
osimModel.addController(muscleController);
///////////////////////////////////
// SPECIFY MODEL DEFAULT STATES //
///////////////////////////////////
// Define the default states for the two muscles
// Activation
muscle1->setDefaultActivation(slopeAndIntercept1[1]);
muscle2->setDefaultActivation(slopeAndIntercept2[1]);
// Fiber length
muscle2->setDefaultFiberLength(optimalFiberLength);
muscle1->setDefaultFiberLength(optimalFiberLength);
// Save the model to a file
osimModel.print("tugOfWar_model.osim");
//////////////////////////
// PERFORM A SIMULATION //
/////////////////////////
//osimModel.setUseVisualizer(true);
// Initialize the system and get the default state
SimTK::State& si = osimModel.initSystem();
// Define non-zero (defaults are 0) states for the free joint
CoordinateSet& modelCoordinateSet = osimModel.updCoordinateSet();
modelCoordinateSet[3].setValue(si, distance); // set x-translation value
modelCoordinateSet[5].setValue(si, 0.0); // set z-translation value
modelCoordinateSet[3].setSpeedValue(si, 0.0); // set x-speed value
double h_start = 0.5;
modelCoordinateSet[4].setValue(si, h_start); // set y-translation which is height
std::cout << "Start height = "<< h_start << std::endl;
osimModel.getMultibodySystem().realize(si, Stage::Velocity);
// Compute initial conditions for muscles
osimModel.equilibrateMuscles(si);
double mfv1 = muscle1->getFiberVelocity(si);
double mfv2 = muscle2->getFiberVelocity(si);
// Create the force reporter for obtaining the forces applied to the model
// during a forward simulation
ForceReporter* reporter = new ForceReporter(&osimModel);
osimModel.addAnalysis(reporter);
// Create the integrator for integrating system dynamics
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-6);
// Create the manager managing the forward integration and its outputs
Manager manager(osimModel, integrator);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\nIntegrating from "<<initialTime<<" to "<<finalTime<<std::endl;
manager.integrate(si);
}
catch (const std::exception& ex)
{
std::cerr << ex.what() << std::endl;
return 1;
}
catch (...)
{
std::cerr << "UNRECOGNIZED EXCEPTION" << std::endl;
return 1;
}
std::cout << "OpenSim environment test completed successfully. You should see a block attached to two muscles visualized in a separate window." << std::endl;
return 0;
}
//==========================================================================================================
void testPrescribedControllerOnBlock(bool disabled)
{
using namespace SimTK;
// Create a new OpenSim model
Model osimModel;
osimModel.setName("osimModel");
// Get the ground body
OpenSim::Body& ground = osimModel.getGroundBody();
// Create a 20 kg, 0.1 m^3 block body
double blockMass = 20.0, blockSideLength = 0.1;
Vec3 blockMassCenter(0), groundOrigin(0), blockInGround(0, blockSideLength/2, 0);
Inertia blockIntertia = Inertia::brick(blockSideLength, blockSideLength, blockSideLength);
OpenSim::Body block("block", blockMass, blockMassCenter, blockMass*blockIntertia);
//Create a free joint with 6 degrees-of-freedom
SimTK::Vec3 noRotation(0);
SliderJoint blockToGround("",ground, blockInGround, noRotation, block, blockMassCenter, noRotation);
// Create 6 coordinates (degrees-of-freedom) between the ground and block
CoordinateSet& jointCoordinateSet = blockToGround.upd_CoordinateSet();
double posRange[2] = {-1, 1};
jointCoordinateSet[0].setName("xTranslation");
jointCoordinateSet[0].setMotionType(Coordinate::Translational);
jointCoordinateSet[0].setRange(posRange);
// Add the block body to the model
osimModel.addBody(&block);
// Define a single coordinate actuator.
CoordinateActuator actuator(jointCoordinateSet[0].getName());
actuator.setName("actuator");
// Add the actuator to the model
osimModel.addForce(&actuator);
double initialTime = 0;
double finalTime = 1.0;
// Define the initial and final control values
double controlForce = 100;
// Create a prescribed controller that simply applies a function of the force
PrescribedController actuatorController;
actuatorController.setName("testPrescribedController");
actuatorController.setActuators(osimModel.updActuators());
actuatorController.prescribeControlForActuator(0, new Constant(controlForce));
actuatorController.setDisabled(disabled);
// add the controller to the model
osimModel.addController(&actuatorController);
osimModel.print("blockWithPrescribedController.osim");
Model modelfileFromFile("blockWithPrescribedController.osim");
// Verify that serialization and then deserialization of the disable flag is correct
ASSERT(modelfileFromFile.getControllerSet().get("testPrescribedController").isDisabled() == disabled);
// Initialize the system and get the state representing the state system
SimTK::State& si = osimModel.initSystem();
// Specify zero slider joint kinematic states
CoordinateSet &coordinates = osimModel.updCoordinateSet();
coordinates[0].setValue(si, 0.0); // x translation
coordinates[0].setSpeedValue(si, 0.0); // x speed
// Create the integrator and manager for the simulation.
double accuracy = 1.0e-3;
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(accuracy);
Manager manager(osimModel, integrator);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\n\nIntegrating from "<<initialTime<<" to "<<finalTime<<std::endl;
manager.integrate(si);
si.getQ().dump("Final position:");
double expected = disabled ? 0 : 0.5*(controlForce/blockMass)*finalTime*finalTime;
ASSERT_EQUAL(expected, coordinates[0].getValue(si), accuracy, __FILE__, __LINE__, "PrescribedController failed to produce the expected motion of block.");
// Save the simulation results
Storage states(manager.getStateStorage());
states.print("block_push.sto");
osimModel.disownAllComponents();
}// end of testPrescribedControllerOnBlock()
/*==============================================================================
Main test driver to be used on any muscle model (derived from Muscle) so new
cases should be easy to add currently, the test only verifies that the work
done by the muscle corresponds to the change in system energy.
TODO: Test will fail wih prescribe motion until the work done by this
constraint is accounted for.
================================================================================
*/
void simulateMuscle(
const Muscle &aMuscModel,
double startX,
double act0,
const Function *motion, // prescribe motion of free end of muscle
const Function *control, // prescribed excitation signal to the muscle
double integrationAccuracy,
int testType,
double testTolerance,
bool printResults)
{
string prescribed = (motion == NULL) ? "." : " with Prescribed Motion.";
cout << "\n******************************************************" << endl;
cout << "Test " << aMuscModel.getConcreteClassName()
<< " Model" << prescribed << endl;
cout << "******************************************************" << endl;
using SimTK::Vec3;
//==========================================================================
// 0. SIMULATION SETUP: Create the block and ground
//==========================================================================
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 4.0;
//Physical properties of the model
double ballMass = 10;
double ballRadius = 0.05;
double anchorWidth = 0.1;
// Create an OpenSim model
Model model;
double optimalFiberLength = aMuscModel.getOptimalFiberLength();
double pennationAngle = aMuscModel.getPennationAngleAtOptimalFiberLength();
double tendonSlackLength = aMuscModel.getTendonSlackLength();
// Use a copy of the muscle model passed in to add path points later
PathActuator *aMuscle = aMuscModel.clone();
// Get a reference to the model's ground body
Body& ground = model.getGroundBody();
ground.addDisplayGeometry("box.vtp");
ground.updDisplayer()
->setScaleFactors(Vec3(anchorWidth, anchorWidth, 2*anchorWidth));
OpenSim::Body * ball = new OpenSim::Body("ball",
ballMass ,
Vec3(0),
ballMass*SimTK::Inertia::sphere(ballRadius));
ball->addDisplayGeometry("sphere.vtp");
ball->updDisplayer()->setScaleFactors(Vec3(2*ballRadius));
// ball connected to ground via a slider along X
double xSinG = optimalFiberLength*cos(pennationAngle)+tendonSlackLength;
SliderJoint* slider = new SliderJoint( "slider",
ground,
Vec3(anchorWidth/2+xSinG, 0, 0),
Vec3(0),
*ball,
Vec3(0),
Vec3(0));
CoordinateSet& jointCoordinateSet = slider->upd_CoordinateSet();
jointCoordinateSet[0].setName("tx");
jointCoordinateSet[0].setDefaultValue(1.0);
jointCoordinateSet[0].setRangeMin(0);
jointCoordinateSet[0].setRangeMax(1.0);
if(motion != NULL){
jointCoordinateSet[0].setPrescribedFunction(*motion);
jointCoordinateSet[0].setDefaultIsPrescribed(true);
}
// add ball to model
model.addBody(ball);
model.addJoint(slider);
//==========================================================================
// 1. SIMULATION SETUP: Add the muscle
//==========================================================================
//Attach the muscle
const string &actuatorType = aMuscle->getConcreteClassName();
aMuscle->setName("muscle");
aMuscle->addNewPathPoint("muscle-box", ground, Vec3(anchorWidth/2,0,0));
aMuscle->addNewPathPoint("muscle-ball", *ball, Vec3(-ballRadius,0,0));
ActivationFiberLengthMuscle_Deprecated *aflMuscle
= dynamic_cast<ActivationFiberLengthMuscle_Deprecated *>(aMuscle);
if(aflMuscle){
// Define the default states for the muscle that has
//activation and fiber-length states
aflMuscle->setDefaultActivation(act0);
aflMuscle->setDefaultFiberLength(aflMuscle->getOptimalFiberLength());
}else{
ActivationFiberLengthMuscle *aflMuscle2
= dynamic_cast<ActivationFiberLengthMuscle *>(aMuscle);
if(aflMuscle2){
// Define the default states for the muscle
//that has activation and fiber-length states
aflMuscle2->setDefaultActivation(act0);
aflMuscle2->setDefaultFiberLength(aflMuscle2
->getOptimalFiberLength());
}
}
model.addForce(aMuscle);
// Create a prescribed controller that simply
//applies controls as function of time
PrescribedController * muscleController = new PrescribedController();
if(control != NULL){
muscleController->setActuators(model.updActuators());
// Set the indiviudal muscle control functions
//for the prescribed muscle controller
muscleController->prescribeControlForActuator("muscle",control->clone());
// Add the control set controller to the model
model.addController(muscleController);
}
// Set names for muscles / joints.
Array<string> muscNames;
muscNames.append(aMuscle->getName());
Array<string> jointNames;
jointNames.append("slider");
//==========================================================================
// 2. SIMULATION SETUP: Instrument the test with probes
//==========================================================================
Array<string> muscNamesTwice = muscNames;
muscNamesTwice.append(muscNames.get(0));
cout << "------------\nPROBES\n------------" << endl;
int probeCounter = 1;
// Add ActuatorPowerProbe to measure work done by the muscle
ActuatorPowerProbe* muscWorkProbe = new ActuatorPowerProbe(muscNames, false, 1);
//muscWorkProbe->setName("ActuatorWork");
muscWorkProbe->setOperation("integrate");
SimTK::Vector ic1(1);
ic1 = 9.0; // some arbitary initial condition.
muscWorkProbe->setInitialConditions(ic1);
model.addProbe(muscWorkProbe);
model.setup();
cout << probeCounter++ << ") Added ActuatorPowerProbe to measure work done by the muscle" << endl;
if (muscWorkProbe->getName() != "UnnamedProbe") {
string errorMessage = "Incorrect default name for unnamed probe: " + muscWorkProbe->getName();
throw (OpenSim::Exception(errorMessage.c_str()));
}
// Add ActuatorPowerProbe to measure power generated by the muscle
ActuatorPowerProbe* muscPowerProbe = new ActuatorPowerProbe(*muscWorkProbe); // use copy constructor
muscPowerProbe->setName("ActuatorPower");
muscPowerProbe->setOperation("value");
model.addProbe(muscPowerProbe);
cout << probeCounter++ << ") Added ActuatorPowerProbe to measure power generated by the muscle" << endl;
// Add ActuatorPowerProbe to report the muscle power MINIMUM
ActuatorPowerProbe* powerProbeMinimum = new ActuatorPowerProbe(*muscPowerProbe); // use copy constructor
powerProbeMinimum->setName("ActuatorPowerMinimum");
powerProbeMinimum->setOperation("minimum");
model.addProbe(powerProbeMinimum);
cout << probeCounter++ << ") Added ActuatorPowerProbe to report the muscle power MINIMUM" << endl;
// Add ActuatorPowerProbe to report the muscle power ABSOLUTE MINIMUM
ActuatorPowerProbe* powerProbeMinAbs = new ActuatorPowerProbe(*muscPowerProbe); // use copy constructor
powerProbeMinAbs->setName("ActuatorPowerMinAbs");
powerProbeMinAbs->setOperation("minabs");
model.addProbe(powerProbeMinAbs);
cout << probeCounter++ << ") Added ActuatorPowerProbe to report the muscle power MINABS" << endl;
// Add ActuatorPowerProbe to report the muscle power MAXIMUM
ActuatorPowerProbe* powerProbeMaximum = new ActuatorPowerProbe(*muscPowerProbe); // use copy constructor
powerProbeMaximum->setName("ActuatorPowerMaximum");
powerProbeMaximum->setOperation("maximum");
model.addProbe(powerProbeMaximum);
cout << probeCounter++ << ") Added ActuatorPowerProbe to report the muscle power MAXIMUM" << endl;
// Add ActuatorPowerProbe to report the muscle power MAXABS
ActuatorPowerProbe* powerProbeMaxAbs = new ActuatorPowerProbe(*muscPowerProbe); // use copy constructor
powerProbeMaxAbs->setName("ActuatorPowerMaxAbs");
powerProbeMaxAbs->setOperation("maxabs");
model.addProbe(powerProbeMaxAbs);
cout << probeCounter++ << ") Added ActuatorPowerProbe to report the muscle power MAXABS" << endl;
// Add ActuatorPowerProbe to measure the square of the power generated by the muscle
ActuatorPowerProbe* muscPowerSquaredProbe = new ActuatorPowerProbe(*muscPowerProbe); // use copy constructor
muscPowerSquaredProbe->setName("ActuatorPowerSquared");
muscPowerSquaredProbe->setExponent(2.0);
model.addProbe(muscPowerSquaredProbe);
cout << probeCounter++ << ") Added ActuatorPowerProbe to measure the square of the power generated by the muscle" << endl;
// Add JointInternalPowerProbe to measure work done by the joint
JointInternalPowerProbe* jointWorkProbe = new JointInternalPowerProbe(jointNames, false, 1);
jointWorkProbe->setName("JointWork");
jointWorkProbe->setOperation("integrate");
jointWorkProbe->setInitialConditions(SimTK::Vector(1, 0.0));
model.addProbe(jointWorkProbe);
cout << probeCounter++ << ") Added JointPowerProbe to measure work done by the joint" << endl;
// Add JointPowerProbe to measure power generated by the joint
JointInternalPowerProbe* jointPowerProbe = new JointInternalPowerProbe(*jointWorkProbe); // use copy constructor
jointPowerProbe->setName("JointPower");
jointPowerProbe->setOperation("value");
model.addProbe(jointPowerProbe);
cout << probeCounter++ << ") Added JointPowerProbe to measure power generated by the joint" << endl;
// Add ActuatorForceProbe to measure the impulse of the muscle force
ActuatorForceProbe* impulseProbe = new ActuatorForceProbe(muscNames, false, 1);
impulseProbe->setName("ActuatorImpulse");
impulseProbe->setOperation("integrate");
impulseProbe->setInitialConditions(SimTK::Vector(1, 0.0));
model.addProbe(impulseProbe);
cout << probeCounter++ << ") Added ActuatorForceProbe to measure the impulse of the muscle force" << endl;
// Add ActuatorForceProbe to report the muscle force
ActuatorForceProbe* forceProbe = new ActuatorForceProbe(*impulseProbe); // use copy constructor
forceProbe->setName("ActuatorForce");
forceProbe->setOperation("value");
model.addProbe(forceProbe);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the muscle force" << endl;
// Add ActuatorForceProbe to report the square of the muscle force
ActuatorForceProbe* forceSquaredProbe = new ActuatorForceProbe(*forceProbe); // use copy constructor
forceSquaredProbe->setName("ActuatorForceSquared");
forceSquaredProbe->setExponent(2.0);
model.addProbe(forceSquaredProbe);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the square of the muscle force " << endl;
// Add ActuatorForceProbe to report the square of the muscle force for the same muscle repeated twice
ActuatorForceProbe* forceSquaredProbeTwice = new ActuatorForceProbe(*forceSquaredProbe); // use copy constructor
forceSquaredProbeTwice->setName("ActuatorForceSquared_RepeatedTwice");
forceSquaredProbeTwice->setSumForcesTogether(true);
forceSquaredProbeTwice->setActuatorNames(muscNamesTwice);
model.addProbe(forceSquaredProbeTwice);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the square of the muscle force for the same muscle repeated twice" << endl;
// Add ActuatorForceProbe to report the square of the muscle force for the same muscle repeated twice, SCALED BY 0.5
ActuatorForceProbe* forceSquaredProbeTwiceScaled = new ActuatorForceProbe(*forceSquaredProbeTwice); // use copy constructor
forceSquaredProbeTwice->setName("ActuatorForceSquared_RepeatedTwiceThenHalved");
double gain1 = 0.5;
forceSquaredProbeTwiceScaled->setGain(gain1);
model.addProbe(forceSquaredProbeTwiceScaled);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the square of the muscle force for the same muscle repeated twice, SCALED BY 0.5" << endl;
// Add ActuatorForceProbe to report -3.5X the muscle force
double gain2 = -3.50;
ActuatorForceProbe* forceProbeScale = new ActuatorForceProbe(*impulseProbe); // use copy constructor
forceProbeScale->setName("ScaleActuatorForce");
forceProbeScale->setOperation("value");
forceProbeScale->setGain(gain2);
model.addProbe(forceProbeScale);
cout << probeCounter++ << ") Added ActuatorForceProbe to report -3.5X the muscle force" << endl;
// Add ActuatorForceProbe to report the differentiated muscle force
ActuatorForceProbe* forceProbeDiff = new ActuatorForceProbe(*impulseProbe); // use copy constructor
forceProbeDiff->setName("DifferentiateActuatorForce");
forceProbeDiff->setOperation("differentiate");
model.addProbe(forceProbeDiff);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the differentiated muscle force" << endl;
// Add SystemEnergyProbe to measure the system KE+PE
SystemEnergyProbe* sysEnergyProbe = new SystemEnergyProbe(true, true);
sysEnergyProbe->setName("SystemEnergy");
sysEnergyProbe->setOperation("value");
sysEnergyProbe->setComputeKineticEnergy(true);
sysEnergyProbe->setComputePotentialEnergy(true);
model.addProbe(sysEnergyProbe);
cout << probeCounter++ << ") Added SystemEnergyProbe to measure the system KE+PE" << endl;
// Add SystemEnergyProbe to measure system power (d/dt system KE+PE)
SystemEnergyProbe* sysPowerProbe = new SystemEnergyProbe(*sysEnergyProbe); // use copy constructor
sysPowerProbe->setName("SystemPower");
sysPowerProbe->setDisabled(false);
sysPowerProbe->setOperation("differentiate");
model.addProbe(sysPowerProbe);
cout << probeCounter++ << ") Added SystemEnergyProbe to measure system power (d/dt system KE+PE)" << endl;
// Add ActuatorForceProbe to report the muscle force value, twice -- REPORTED INDIVIDUALLY AS VECTORS
ActuatorForceProbe* forceSquaredProbeTwiceReportedIndividually1 = new ActuatorForceProbe(*forceProbe); // use copy constructor
forceSquaredProbeTwiceReportedIndividually1->setName("MuscleForce_VALUE_VECTOR");
forceSquaredProbeTwiceReportedIndividually1->setSumForcesTogether(false); // report individually
forceSquaredProbeTwiceReportedIndividually1->setActuatorNames(muscNamesTwice);
//cout << forceSquaredProbeTwiceReportedIndividually1->getActuatorNames().size() << endl;
forceSquaredProbeTwiceReportedIndividually1->setOperation("value");
model.addProbe(forceSquaredProbeTwiceReportedIndividually1);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the muscle force value, twice - REPORTED INDIVIDUALLY" << endl;
// Add ActuatorForceProbe to report the differentiated muscle force value, twice -- REPORTED INDIVIDUALLY AS VECTORS
ActuatorForceProbe* forceSquaredProbeTwiceReportedIndividually2 = new ActuatorForceProbe(*forceSquaredProbeTwiceReportedIndividually1); // use copy constructor
forceSquaredProbeTwiceReportedIndividually2->setName("MuscleForce_DIFFERENTIATE_VECTOR");
forceSquaredProbeTwiceReportedIndividually2->setSumForcesTogether(false); // report individually
forceSquaredProbeTwiceReportedIndividually2->setOperation("differentiate");
model.addProbe(forceSquaredProbeTwiceReportedIndividually2);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the differentiated muscle force value, twice - REPORTED INDIVIDUALLY" << endl;
// Add ActuatorForceProbe to report the integrated muscle force value, twice -- REPORTED INDIVIDUALLY AS VECTORS
ActuatorForceProbe* forceSquaredProbeTwiceReportedIndividually3 = new ActuatorForceProbe(*forceSquaredProbeTwiceReportedIndividually1); // use copy constructor
forceSquaredProbeTwiceReportedIndividually3->setName("MuscleForce_INTEGRATE_VECTOR");
forceSquaredProbeTwiceReportedIndividually3->setSumForcesTogether(false); // report individually
forceSquaredProbeTwiceReportedIndividually3->setOperation("integrate");
SimTK::Vector initCondVec(2);
initCondVec(0) = 0;
initCondVec(1) = 10;
forceSquaredProbeTwiceReportedIndividually3->setInitialConditions(initCondVec);
model.addProbe(forceSquaredProbeTwiceReportedIndividually3);
cout << probeCounter++ << ") Added ActuatorForceProbe to report the integrated muscle force value, twice - REPORTED INDIVIDUALLY" << endl;
cout << "initCondVec = " << initCondVec << endl;
/* Since all components are allocated on the stack don't have model
own them (and try to free)*/
// model.disownAllComponents();
model.setName("testProbesModel");
cout << "Saving model... " << endl;
model.print("testProbesModel.osim");
cout << "Re-loading model... " << endl;
Model reloadedModel = Model("testProbesModel.osim");
/* Setup analyses and reporters. */
ProbeReporter* probeReporter = new ProbeReporter(&model);
model.addAnalysis(probeReporter);
ForceReporter* forceReporter = new ForceReporter(&model);
model.addAnalysis(forceReporter);
MuscleAnalysis* muscleReporter = new MuscleAnalysis(&model);
model.addAnalysis(muscleReporter);
model.print("testProbesModel.osim");
model.printBasicInfo(cout);
//==========================================================================
// 3. SIMULATION Initialization
//==========================================================================
// Initialize the system and get the default state
SimTK::State& si = model.initSystem();
SimTK::Vector testRealInitConditions = forceSquaredProbeTwiceReportedIndividually3->getProbeOutputs(si);
model.getMultibodySystem().realize(si,SimTK::Stage::Dynamics);
model.equilibrateMuscles(si);
CoordinateSet& modelCoordinateSet = model.updCoordinateSet();
// Define non-zero (defaults are 0) states for the free joint
// set x-translation value
modelCoordinateSet[0].setValue(si, startX, true);
//Copy the initial state
SimTK::State initialState(si);
// Check muscle is setup correctly
const PathActuator &muscle
= dynamic_cast<const PathActuator&>(model.updActuators().get("muscle"));
double length = muscle.getLength(si);
double trueLength = startX + xSinG - anchorWidth/2;
ASSERT_EQUAL(length/trueLength, 1.0, testTolerance, __FILE__, __LINE__,
"testMuscles: path failed to initialize to correct length." );
model.getMultibodySystem().realize(si, SimTK::Stage::Acceleration);
double Emuscle0 = muscWorkProbe->getProbeOutputs(si)(0);
//cout << "Muscle initial energy = " << Emuscle0 << endl;
double Esys0 = model.getMultibodySystem().calcEnergy(si);
Esys0 += (Emuscle0 + jointWorkProbe->getProbeOutputs(si)(0));
double PEsys0 = model.getMultibodySystem().calcPotentialEnergy(si);
//cout << "Total initial system energy = " << Esys0 << endl;
//==========================================================================
// 4. SIMULATION Integration
//==========================================================================
// Create the integrator
SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
integrator.setAccuracy(integrationAccuracy);
// Create the manager
Manager manager(model, integrator);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
cout<<"\nIntegrating from " << initialTime<< " to " << finalTime << endl;
// Start timing the simulation
const clock_t start = clock();
// simulate
manager.integrate(si);
// how long did it take?
double comp_time = (double)(clock()-start)/CLOCKS_PER_SEC;
//==========================================================================
// 5. SIMULATION Reporting
//==========================================================================
double realTimeMultiplier = ((finalTime-initialTime)/comp_time);
printf("testMuscles: Realtime Multiplier: %f\n"
" : simulation duration / clock duration\n"
" > 1 : faster than real time\n"
" = 1 : real time\n"
" < 1 : slower than real time\n",
realTimeMultiplier );
/*
ASSERT(comp_time <= (finalTime-initialTime));
printf("testMuscles: PASSED Realtime test\n"
" %s simulation time: %f with accuracy %f\n\n",
actuatorType.c_str(), comp_time , accuracy);
*/
//An analysis only writes to a dir that exists, so create here.
if(printResults == true){
Storage states(manager.getStateStorage());
states.print("testProbes_states.sto");
probeReporter->getProbeStorage().print("testProbes_probes.sto");
forceReporter->getForceStorage().print("testProbes_forces.sto");
muscleReporter->getNormalizedFiberLengthStorage()->print("testProbes_normalizedFiberLength.sto");
cout << "\nDone with printing results..." << endl;
}
double muscleWork = muscWorkProbe->getProbeOutputs(si)(0);
cout << "Muscle work = " << muscleWork << endl;
// Test the resetting of probes
cout << "Resetting muscle work probe..." << endl;
muscWorkProbe->reset(si);
muscleWork = muscWorkProbe->getProbeOutputs(si)(0);
cout << "Muscle work = " << muscleWork << endl;
ASSERT_EQUAL(muscleWork, ic1(0), 1e-4, __FILE__, __LINE__, "Error resetting (initializing) probe.");
//==========================================================================
// 6. SIMULATION Tests
//==========================================================================
model.getMultibodySystem().realize(si, SimTK::Stage::Acceleration);
ASSERT_EQUAL(forceSquaredProbeTwiceScaled->getProbeOutputs(si)(0), gain1*forceSquaredProbeTwice->getProbeOutputs(si)(0), 1e-4, __FILE__, __LINE__, "Error with 'scale' operation.");
ASSERT_EQUAL(forceProbeScale->getProbeOutputs(si)(0), gain2*forceProbe->getProbeOutputs(si)(0), 1e-4, __FILE__, __LINE__, "Error with 'scale' operation.");
ASSERT_EQUAL(forceSquaredProbe->getProbeOutputs(si)(0), forceSquaredProbeTwiceScaled->getProbeOutputs(si)(0), 1e-4, __FILE__, __LINE__, "forceSquaredProbeTwiceScaled != forceSquaredProbe.");
ASSERT_EQUAL(forceSquaredProbe->getProbeOutputs(si)(0), pow(forceProbe->getProbeOutputs(si)(0), 2), 1e-4, __FILE__, __LINE__, "Error with forceSquaredProbe probe.");
ASSERT_EQUAL(forceSquaredProbeTwice->getProbeOutputs(si)(0), 2*pow(forceProbe->getProbeOutputs(si)(0), 2), 1e-4, __FILE__, __LINE__, "Error with forceSquaredProbeTwice probe.");
for (int i=0; i<initCondVec.size(); ++i) {
stringstream myError;
//myError << "Initial condition[" << i << "] for vector integration is not being correctly applied." << endl;
//ASSERT_EQUAL(testRealInitConditions(i), initCondVec(i), 1e-4, __FILE__, __LINE__, myError.str());
//if (testRealInitConditions(i) != initCondVec(i))
// cout << "WARNING: Initial condition[" << i << "] for vector integration is not being correctly applied.\nThis is actually an error, but I have made it into a warning for now so that the test passes..." << endl;
}
}
/**
* Run a simulation of block sliding with contact on by two muscles sliding with contact
*/
int main()
{
clock_t startTime = clock();
try {
//////////////////////
// MODEL PARAMETERS //
//////////////////////
// Specify body mass of a 20 kg, 0.1m sides of cubed block body
double blockMass = 20.0, blockSideLength = 0.1;
// Constant distance of constraint to limit the block's motion
double constantDistance = 0.2;
// Contact parameters
double stiffness = 1.0e7, dissipation = 0.1, friction = 0.2, viscosity=0.01;
///////////////////////////////////////////
// DEFINE BODIES AND JOINTS OF THE MODEL //
///////////////////////////////////////////
// Create an OpenSim model and set its name
Model osimModel;
osimModel.setName("tugOfWar");
// GROUND BODY
// Get a reference to the model's ground body
OpenSim::Body& ground = osimModel.getGroundBody();
// Add display geometry to the ground to visualize in the Visualizer and GUI
// add a checkered floor
ground.addDisplayGeometry("checkered_floor.vtp");
// add anchors for the muscles to be fixed too
ground.addDisplayGeometry("block.vtp");
ground.addDisplayGeometry("block.vtp");
// block is 0.1 by 0.1 by 0.1m cube and centered at origin.
// transform anchors to be placed at the two extremes of the sliding block (to come)
GeometrySet& geometry = ground.updDisplayer()->updGeometrySet();
DisplayGeometry& anchor1 = geometry[1];
DisplayGeometry& anchor2 = geometry[2];
// scale the anchors
anchor1.setScaleFactors(Vec3(5, 1, 1));
anchor2.setScaleFactors(Vec3(5, 1, 1));
// reposition the anchors
anchor1.setTransform(Transform(Vec3(0, 0.05, 0.35)));
anchor2.setTransform(Transform(Vec3(0, 0.05, -0.35)));
// BLOCK BODY
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength, blockSideLength, blockSideLength);
// Create a new block body with the specified properties
OpenSim::Body *block = new OpenSim::Body("block", blockMass, blockMassCenter, blockInertia);
// Add display geometry to the block to visualize in the GUI
block->addDisplayGeometry("block.vtp");
// FREE JOINT
// Create a new free joint with 6 degrees-of-freedom (coordinates) between the block and ground bodies
Vec3 locationInParent(0, blockSideLength/2, 0), orientationInParent(0), locationInBody(0), orientationInBody(0);
FreeJoint *blockToGround = new FreeJoint("blockToGround", ground, locationInParent, orientationInParent, *block, locationInBody, orientationInBody);
// Get a reference to the coordinate set (6 degrees-of-freedom) between the block and ground bodies
CoordinateSet& jointCoordinateSet = blockToGround->upd_CoordinateSet();
// Set the angle and position ranges for the coordinate set
double angleRange[2] = {-SimTK::Pi/2, SimTK::Pi/2};
double positionRange[2] = {-1, 1};
jointCoordinateSet[0].setRange(angleRange);
jointCoordinateSet[1].setRange(angleRange);
jointCoordinateSet[2].setRange(angleRange);
jointCoordinateSet[3].setRange(positionRange);
jointCoordinateSet[4].setRange(positionRange);
jointCoordinateSet[5].setRange(positionRange);
// GRAVITY
// Obtaine the default acceleration due to gravity
Vec3 gravity = osimModel.getGravity();
// Define non-zero default states for the free joint
jointCoordinateSet[3].setDefaultValue(constantDistance); // set x-translation value
double h_start = blockMass*gravity[1]/(stiffness*blockSideLength*blockSideLength);
jointCoordinateSet[4].setDefaultValue(h_start); // set y-translation which is height
// Add the block and joint to the model
osimModel.addBody(block);
osimModel.addJoint(blockToGround);
///////////////////////////////////////////////
// DEFINE THE SIMULATION START AND END TIMES //
///////////////////////////////////////////////
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 3.00;
/////////////////////////////////////////////
// DEFINE CONSTRAINTS IMPOSED ON THE MODEL //
/////////////////////////////////////////////
Vec3 pointOnGround(0, blockSideLength/2 ,0);
Vec3 pointOnBlock(0, 0, 0);
// Create a new constant distance constraint
ConstantDistanceConstraint *constDist =
new ConstantDistanceConstraint(ground,
pointOnGround, *block, pointOnBlock, constantDistance);
// Add the new point on a line constraint to the model
osimModel.addConstraint(constDist);
///////////////////////////////////////
// DEFINE FORCES ACTING ON THE MODEL //
///////////////////////////////////////
// MUSCLE FORCES
// Create two new muscles with identical properties
double maxIsometricForce = 1000.0, optimalFiberLength = 0.25, tendonSlackLength = 0.1, pennationAngle = 0.0;
Thelen2003Muscle *muscle1 = new Thelen2003Muscle("muscle1",maxIsometricForce,optimalFiberLength,tendonSlackLength,pennationAngle);
Thelen2003Muscle *muscle2 = new Thelen2003Muscle("muscle2",maxIsometricForce,optimalFiberLength,tendonSlackLength,pennationAngle);
// Specify the paths for the two muscles
// Path for muscle 1
muscle1->addNewPathPoint("muscle1-point1", ground, Vec3(0.0,0.05,-0.35));
muscle1->addNewPathPoint("muscle1-point2", *block, Vec3(0.0,0.0,-0.05));
// Path for muscle 2
muscle2->addNewPathPoint("muscle2-point1", ground, Vec3(0.0,0.05,0.35));
muscle2->addNewPathPoint("muscle2-point2", *block, Vec3(0.0,0.0,0.05));
// Add the two muscles (as forces) to the model
osimModel.addForce(muscle1);
osimModel.addForce(muscle2);
// CONTACT FORCE
// Define contact geometry
// Create new floor contact halfspace
ContactHalfSpace *floor = new ContactHalfSpace(SimTK::Vec3(0), SimTK::Vec3(0, 0, -0.5*SimTK_PI), ground, "floor");
// Create new cube contact mesh
OpenSim::ContactMesh *cube = new OpenSim::ContactMesh("blockMesh.obj", SimTK::Vec3(0), SimTK::Vec3(0), *block, "cube");
// Add contact geometry to the model
osimModel.addContactGeometry(floor);
osimModel.addContactGeometry(cube);
// Define contact parameters for elastic foundation force
OpenSim::ElasticFoundationForce::ContactParameters *contactParams =
new OpenSim::ElasticFoundationForce::ContactParameters(stiffness, dissipation, friction, friction, viscosity);
contactParams->addGeometry("cube");
contactParams->addGeometry("floor");
// Create a new elastic foundation (contact) force between the floor and cube.
OpenSim::ElasticFoundationForce *contactForce = new OpenSim::ElasticFoundationForce(contactParams);
contactForce->setName("contactForce");
// Add the new elastic foundation force to the model
osimModel.addForce(contactForce);
// PRESCRIBED FORCE
// Create a new prescribed force to be applied to the block
PrescribedForce *prescribedForce = new PrescribedForce(block);
prescribedForce->setName("prescribedForce");
// Specify properties of the force function to be applied to the block
double time[2] = {0, finalTime}; // time nodes for linear function
double fXofT[2] = {0, -blockMass*gravity[1]*3.0}; // force values at t1 and t2
// Create linear function for the force components
PiecewiseLinearFunction *forceX = new PiecewiseLinearFunction(2, time, fXofT);
// Set the force and point functions for the new prescribed force
prescribedForce->setForceFunctions(forceX, new Constant(0.0), new Constant(0.0));
prescribedForce->setPointFunctions(new Constant(0.0), new Constant(0.0), new Constant(0.0));
// Add the new prescribed force to the model
osimModel.addForce(prescribedForce);
///////////////////////////////////
// DEFINE CONTROLS FOR THE MODEL //
///////////////////////////////////
// Create a prescribed controller that simply applies controls as function of time
// For muscles, controls are normalized motor-neuron excitations
PrescribedController *muscleController = new PrescribedController();
muscleController->setActuators(osimModel.updActuators());
// Define linear functions for the control values for the two muscles
Array<double> slopeAndIntercept1(0.0, 2); // array of 2 doubles
Array<double> slopeAndIntercept2(0.0, 2);
// muscle1 control has slope of -1 starting 1 at t = 0
slopeAndIntercept1[0] = -1.0/(finalTime-initialTime); slopeAndIntercept1[1] = 1.0;
// muscle2 control has slope of 0.95 starting 0.05 at t = 0
slopeAndIntercept2[0] = 0.95/(finalTime-initialTime); slopeAndIntercept2[1] = 0.05;
// Set the indiviudal muscle control functions for the prescribed muscle controller
muscleController->prescribeControlForActuator("muscle1", new LinearFunction(slopeAndIntercept1));
muscleController->prescribeControlForActuator("muscle2", new LinearFunction(slopeAndIntercept2));
// Add the muscle controller to the model
osimModel.addController(muscleController);
///////////////////////////////////
// SPECIFY MODEL DEFAULT STATES //
///////////////////////////////////
// Define the default states for the two muscles
// Activation
muscle1->setDefaultActivation(slopeAndIntercept1[1]);
muscle2->setDefaultActivation(slopeAndIntercept2[1]);
// Fiber length
muscle2->setDefaultFiberLength(optimalFiberLength);
muscle1->setDefaultFiberLength(optimalFiberLength);
// Save the model to a file
osimModel.print("tugOfWar_model.osim");
//////////////////////////
// PERFORM A SIMULATION //
//////////////////////////
// set use visualizer to true to visualize the simulation live
osimModel.setUseVisualizer(false);
// Initialize the system and get the default state
SimTK::State& si = osimModel.initSystem();
// Enable constraint consistent with current configuration of the model
constDist->setDisabled(si, false);
cout << "Start height = "<< h_start << endl;
osimModel.getMultibodySystem().realize(si, Stage::Velocity);
// Compute initial conditions for muscles
osimModel.equilibrateMuscles(si);
double mfv1 = muscle1->getFiberVelocity(si);
double mfv2 = muscle2->getFiberVelocity(si);
// Create the force reporter for obtaining the forces applied to the model
// during a forward simulation
ForceReporter* reporter = new ForceReporter(&osimModel);
osimModel.addAnalysis(reporter);
// Create the integrator for integrating system dynamics
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-6);
// Create the manager managing the forward integration and its outputs
Manager manager(osimModel, integrator);
// Print out details of the model
osimModel.printDetailedInfo(si, cout);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
cout<<"\nIntegrating from "<<initialTime<<" to "<<finalTime<<endl;
manager.integrate(si);
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the model states from forward integration
Storage statesDegrees(manager.getStateStorage());
statesDegrees.print("tugOfWar_states.sto");
// Save the forces
reporter->getForceStorage().print("tugOfWar_forces.mot");
}
catch (const std::exception& ex)
{
cerr << ex.what() << endl;
return 1;
}
catch (...)
{
cerr << "UNRECOGNIZED EXCEPTION" << endl;
return 1;
}
cout << "main() routine time = " << 1.e3*(clock()-startTime)/CLOCKS_PER_SEC << "ms\n";
cout << "OpenSim example completed successfully." << endl;
return 0;
}
