Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and goverened by differential equaitions (as so have delays in force production). More...

#include <CMC.h>

Inheritance diagram for OpenSim::CMC:

Public Member Functions
	CMC ()
	CMC (Model aModel, CMC_TaskSet aTaskSet)
	CMC (const CMC &aCmc)
	CMC (const std::string &aFileName, bool aUpdateFromXMLNode=true)
virtual	~CMC ()
void	setNull ()
	This method sets all member variables to default (e.g., NULL) values.
CMC &	operator= (const CMC &aCmc)
void	copyData (const CMC &aCmc)
Array< int > *	getParameterList ()
SimTK::Optimizer *	getOptimizer () const
OptimizationTarget *	setOptimizationTarget (OptimizationTarget aTarget, SimTK::Optimizer aOptimizer)
OptimizationTarget *	getOptimizationTarget () const
void	setDT (double aDT)
double	getDT () const
void	setTargetTime (double aTime)
double	getTargetTime () const
void	setTargetDT (double aDT)
double	getTargetDT () const
void	setCheckTargetTime (bool aTrueFalse)
bool	getCheckTargetTime () const
void	setActuatorForcePredictor (VectorFunctionForActuators *aPredictor)
VectorFunctionForActuators *	getActuatorForcePredictor ()
Storage *	getPositionErrorStorage () const
Storage *	getVelocityErrorStorage () const
Storage *	getStressTermWeightStorage () const
bool	getUseReflexes () const
void	setUseVerbosePrinting (bool aTrueFalse)
bool	getUseVerbosePrinting () const
void	setUseCurvatureFilter (bool aTrueFalse)
bool	getUseCurvatureFilter () const
const CMC_TaskSet &	getTaskSet () const
CMC_TaskSet &	updTaskSet () const
ControlSet &	updControlSet ()
void	restoreConfiguration (SimTK::State &s, const SimTK::State &initialState)
void	obtainActuatorEquilibrium (SimTK::State &s, double tiReal, double dtReal, const Array< double > &x, bool hold)
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const
	Controller interface.
virtual void	computeInitialStates (SimTK::State &s, double &rTI)
virtual void	computeControls (SimTK::State &s, ControlSet &rX)
	CMC algroithm.
virtual void	setActuators (const Set< Actuator > &actuators)
	replace the current set of actuators with the provided set
virtual void	setupProperties ()
	Connect properties to local pointers.
Public Member Functions inherited from OpenSim::TrackingController
	TrackingController ()
	Default constructor.
	TrackingController (const TrackingController &TrackingController)
	Copy constructor.
virtual	~TrackingController ()
	Destructor.
TrackingController &	operator= (const TrackingController &TrackingController)
	Assignment operator.
virtual void	setDesiredStatesStorage (const Storage *aYDesStore)
	Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method.
virtual const Storage &	getDesiredStatesStorage () const
Public Member Functions inherited from OpenSim::Controller
	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag (true or false) indicating whether or not the controller is disabled.")
	OpenSim_DECLARE_LIST_PROPERTY (actuator_list, std::string,"The list of model actuators that this controller will control.""The keyword ALL indicates the controller will controll all the acuators in the model")
	Controller ()
	Default constructor.
bool	isDisabled () const
	Get whether or not this controller is disabled.
void	setDisabled (bool disableFlag)
	Disable this controller.
void	addActuator (const Actuator &actuator)
	add to the current set of actuators
const Set< Actuator > &	getActuatorSet () const
	get a const reference to the current set of actuators
Set< Actuator > &	updActuators ()
	get a writable reference to the set of actuators for this controller
int	getNumControls () const

Static Public Member Functions
static void	FilterControls (const SimTK::State &s, const ControlSet &aControlSet, double aDT, OpenSim::Array< double > &rControls, bool aVerbosePrinting)

Protected Member Functions
void	connectToModel (Model &model) override
	Model component interface that permits the controller to be "wired" up to its actuators.
void	addToSystem (SimTK::MultibodySystem &system) const override
	Model component interface that creates underlying computational components in the SimTK::MultibodySystem.
Protected Member Functions inherited from OpenSim::TrackingController
void	copyData (const TrackingController &aController)
	Copy the member variables of the specified controller.
Protected Member Functions inherited from OpenSim::Controller
void	setNumControls (int numControls)
	Only a Controller can set its number of controls based on its actuators.

Protected Attributes
SimTK::Optimizer *	_optimizer
	Optimizer.
OptimizationTarget *	_target
	Optimization target for computing the controls.
double	_dt
	Next integration step size that is to be taken by the integrator.
double	_lastDT
	Last integration step size that was taken before a new integration step size was set in order to step exactly to the target time.
bool	_restoreDT
	Flag indicating when the last integration step size should be restored.
double	_tf
	The target time is the time in the future (in normalized units) for which the controls have been calculated.
double	_targetDT
	The step size used to generate a new target time, once the old target time has been reached.
bool	_checkTargetTime
	Whether or not to check the target time.
Storage *	_pErrStore
	Storage object for the position errors.
Storage *	_vErrStore
	Storage object for the velocity errors.
Storage *	_stressTermWeightStore
	Storage object for the stress term weight.
ControlSet	_controlSet
Array< int >	_paramList
	List of parameters in the control set that are serving as the controls in the optimization problem.
bool	_verbose
	Flag to indicate whether to use verbose printing.
bool	_useCurvatureFilter
CMC_TaskSet *	_taskSet
VectorFunctionForActuators *	_predictor
	Vector function for estimating actuator forces over a specified time interval.
Array< double >	_f
	Array of actuator forces for achieving the desired accelerations.
Protected Attributes inherited from OpenSim::TrackingController
const Storage *	_desiredStatesStorage
	storage object containing the desired trajectory
Array< double > *	_trackingTasks

Additional Inherited Members
Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Friends inherited from OpenSim::Controller
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Detailed Description

Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and goverened by differential equaitions (as so have delays in force production).

The cannonical example of such a dynamic system is the musculoskeletal system (human or animal), hence the name Computed Muscle Control.

For a complete description of the CMC algorithm consult the following references:

Anderson FC (2004). Method and system for dynamically filtering the motion of articulated bodies. Realistic Dynamics, Inc., US Patent No. 6,750,866 (Issue date: June 15, 2004).

Thelen DG, Anderson FC (2006). Using computed muscle control to generate forward dynamic simulations of human walking from experimental data. J Biomech 39: 1107-15.

Thelen DG, Anderson FC, Delp SL (2003). Generating forward dynamic simulations of movement using computed muscle control. J Biomech 36: 321-8.

Author: Frank C. Anderson

Version: 1.0

Constructor & Destructor Documentation

OpenSim::CMC::CMC ( )

OpenSim::CMC::CMC	(	Model *	aModel,
		CMC_TaskSet *	aTaskSet
	)

OpenSim::CMC::CMC ( const CMC & aCmc )

OpenSim::CMC::CMC	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

virtual OpenSim::CMC::~CMC ( )

virtual

Member Function Documentation

void OpenSim::CMC::addToSystem ( SimTK::MultibodySystem & system ) const

overrideprotectedvirtual

Model component interface that creates underlying computational components in the SimTK::MultibodySystem.

This includes adding states, creating measures, etc... required by the controller.

Reimplemented from OpenSim::Controller.

virtual void OpenSim::CMC::computeControls	(	const SimTK::State &	s,
		SimTK::Vector &	controls
	)		const

virtual

Controller interface.

Implements OpenSim::TrackingController.

virtual void OpenSim::CMC::computeControls	(	SimTK::State &	s,
		ControlSet &	rX
	)

virtual

CMC algroithm.

virtual void OpenSim::CMC::computeInitialStates	(	SimTK::State &	s,
		double &	rTI
	)

virtual

void OpenSim::CMC::connectToModel ( Model & model )

overrideprotectedvirtual

Model component interface that permits the controller to be "wired" up to its actuators.

Subclasses can override to perform additional setup.

Reimplemented from OpenSim::Controller.

void OpenSim::CMC::copyData ( const CMC & aCmc )

static void OpenSim::CMC::FilterControls	(	const SimTK::State &	s,
		const ControlSet &	aControlSet,
		double	aDT,
		OpenSim::Array< double > &	rControls,
		bool	aVerbosePrinting
	)

static

VectorFunctionForActuators* OpenSim::CMC::getActuatorForcePredictor ( )

bool OpenSim::CMC::getCheckTargetTime ( ) const

double OpenSim::CMC::getDT ( ) const

OptimizationTarget* OpenSim::CMC::getOptimizationTarget ( ) const

SimTK::Optimizer* OpenSim::CMC::getOptimizer ( ) const

Array<int>* OpenSim::CMC::getParameterList ( )

Storage* OpenSim::CMC::getPositionErrorStorage ( ) const

Storage* OpenSim::CMC::getStressTermWeightStorage ( ) const

double OpenSim::CMC::getTargetDT ( ) const

double OpenSim::CMC::getTargetTime ( ) const

const CMC_TaskSet& OpenSim::CMC::getTaskSet ( ) const

bool OpenSim::CMC::getUseCurvatureFilter ( ) const

bool OpenSim::CMC::getUseReflexes ( ) const

bool OpenSim::CMC::getUseVerbosePrinting ( ) const

Storage* OpenSim::CMC::getVelocityErrorStorage ( ) const

void OpenSim::CMC::obtainActuatorEquilibrium	(	SimTK::State &	s,
		double	tiReal,
		double	dtReal,
		const Array< double > &	x,
		bool	hold
	)

CMC& OpenSim::CMC::operator= ( const CMC & aCmc )

void OpenSim::CMC::restoreConfiguration	(	SimTK::State &	s,
		const SimTK::State &	initialState
	)

void OpenSim::CMC::setActuatorForcePredictor ( VectorFunctionForActuators * aPredictor )

virtual void OpenSim::CMC::setActuators ( const Set< Actuator > & actuators )

virtual

replace the current set of actuators with the provided set

Reimplemented from OpenSim::Controller.

void OpenSim::CMC::setCheckTargetTime ( bool aTrueFalse )

void OpenSim::CMC::setDT ( double aDT )

void OpenSim::CMC::setNull ( )

This method sets all member variables to default (e.g., NULL) values.

Reimplemented from OpenSim::TrackingController.

OptimizationTarget* OpenSim::CMC::setOptimizationTarget	(	OptimizationTarget *	aTarget,
		SimTK::Optimizer *	aOptimizer
	)

void OpenSim::CMC::setTargetDT ( double aDT )

void OpenSim::CMC::setTargetTime ( double aTime )

virtual void OpenSim::CMC::setupProperties ( )

virtual

Connect properties to local pointers.

Reimplemented from OpenSim::TrackingController.

void OpenSim::CMC::setUseCurvatureFilter ( bool aTrueFalse )

void OpenSim::CMC::setUseVerbosePrinting ( bool aTrueFalse )

ControlSet& OpenSim::CMC::updControlSet ( )

inline

CMC_TaskSet& OpenSim::CMC::updTaskSet ( ) const

Member Data Documentation

bool OpenSim::CMC::_checkTargetTime

protected

Whether or not to check the target time.

ControlSet OpenSim::CMC::_controlSet

protected

double OpenSim::CMC::_dt

protected

Next integration step size that is to be taken by the integrator.

Array<double> OpenSim::CMC::_f

protected

Array of actuator forces for achieving the desired accelerations.

double OpenSim::CMC::_lastDT

protected

Last integration step size that was taken before a new integration step size was set in order to step exactly to the target time.

SimTK::Optimizer* OpenSim::CMC::_optimizer

protected

Optimizer.

Array<int> OpenSim::CMC::_paramList

protected

List of parameters in the control set that are serving as the controls in the optimization problem.

Storage* OpenSim::CMC::_pErrStore

protected

Storage object for the position errors.

VectorFunctionForActuators* OpenSim::CMC::_predictor

protected

Vector function for estimating actuator forces over a specified time interval.

bool OpenSim::CMC::_restoreDT

protected

Flag indicating when the last integration step size should be restored.

Normally it is restored only following a change to the integration step size that was made to step exactly to the end of a target interval.

Storage* OpenSim::CMC::_stressTermWeightStore

protected

Storage object for the stress term weight.

OptimizationTarget* OpenSim::CMC::_target

protected

Optimization target for computing the controls.

double OpenSim::CMC::_targetDT

protected

The step size used to generate a new target time, once the old target time has been reached.

CMC_TaskSet* OpenSim::CMC::_taskSet

protected

double OpenSim::CMC::_tf

protected

The target time is the time in the future (in normalized units) for which the controls have been calculated.

If an integrator is taking steps prior to the target time, the controls should not have to be computed again.

bool OpenSim::CMC::_useCurvatureFilter

protected

bool OpenSim::CMC::_verbose

protected

Flag to indicate whether to use verbose printing.

Storage* OpenSim::CMC::_vErrStore

protected

Storage object for the velocity errors.

The documentation for this class was generated from the following file:

E:/Projects/OpenSimTrunk/OpenSim/Tools/CMC.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation