Hi all,
I have 31 coordinate actuators - getMobilityForces vector returns values as expected after I have set the controls for these DoFs.
I have 3 torque and 3 point actuators for the 6 pelvis DoFs - getMobilityForces vector returns zeros after I have set the controls for these DoFs - these values should be non-zero.
Does anyone have any idea why this?
Code:
PrescribedController* controller = dynamic_cast<PrescribedController*>(&controllerSet.get(0));
for (int index = 0; index < nActuators; index++)
{
controller->prescribeControlForActuator(index, new Constant(control_vars[index]));
}
myModel.updMultibodySystem().realize(myState, Stage::Dynamics);
const Vector& mf = myModel.getMultibodySystem().getMobilityForces(myState, Stage::Dynamics);
getMobilityForces output:
~[0 0 0 0 0 0 -91.3713 -2.58656 0.363775 -55.033 -2.32601 1.35196 0.134994 90.2715 -16.3504 3.61922 27.1173 4.19173 -0.861287 0.159846 -3.82231 -12.908 22.5087 4.61437 -2.798 0.228085 2.42431 -0.238017 0.147474 -0.382614 -1.90044 1.48016 0.534239 -0.437608 0.0226138 0.120517 0.00314895]
Thanks,
Nicos
Pelvis mobility forces = 0 - not correct
- Nicos Haralabidis
- Posts: 190
- Joined: Tue Aug 16, 2016 1:46 am
- Thomas Uchida
- Posts: 1790
- Joined: Wed May 16, 2012 11:40 am
Re: Pelvis mobility forces = 0 - not correct
There are several examples that use prescribeControlForActuator() (https://github.com/opensim-org/opensim-core; search for "prescribeControlForActuator"); you could try following one of those examples if possible (see, e.g., https://github.com/opensim-org/opensim- ... e.cpp#L768).
- Nicos Haralabidis
- Posts: 190
- Joined: Tue Aug 16, 2016 1:46 am
Re: Pelvis mobility forces = 0 - not correct
Hello Thomas,
Thank you for sharing the examples. I have looked through them and compared with my code for prescribing actuator control - they seem to match up.
Do you think it has anything to do with the type of actuator? Those actuators are the pelvis residual actuators.
Thanks,
Nicos
Thank you for sharing the examples. I have looked through them and compared with my code for prescribing actuator control - they seem to match up.
Do you think it has anything to do with the type of actuator? Those actuators are the pelvis residual actuators.
Thanks,
Nicos