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);
}
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 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()
