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void constructProperties()
{
constructProperty_results_directory("results");
constructProperty_model_filename("flippinfelines_*FILL THIS IN*.osim");
constructProperty_num_optim_spline_points(20);
constructProperty_anterior_legs_down_weight(1.0);
constructProperty_posterior_legs_down_weight(1.0);
constructProperty_sagittal_symmetry_weight(1.0);
constructProperty_use_coordinate_limit_forces(true);
constructProperty_initial_parameters_filename("");
} |
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Below is what the XML serialization of this class looks like. This is exactly what we meant by the optimizer_setup_file.xml above. This is a simplified version of what's generated by the executable optimize_input_template, which is generated from optimize_input_template.cpp. We've given you this file, but we do not discuss it in this tutorial.
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
<FlippinFelinesOptimizerTool>
<!--Directory in which to save optimization log and results-->
<results_directory>results</results_directory>
<!--Specifies path to model file, WITH .osim extension-->
<model_filename>flippinfelines_*FILL THIS IN*.osim</model_filename>
<!--Number of points being optimized in each spline function. Constant across all splines. If an initial_parameters_filename is provided, the functions specified in that file must have the correct number of points. We do not error-check for this.-->
<num_optim_spline_points>20</num_optim_spline_points>
<!--Adds terms to the objective to minimize final value of (roll - Pi) and related speeds-->
<anterior_legs_down_weight>1</anterior_legs_down_weight>
<!--Adds terms to the objective to minimize final value of (twist - 0) and related speeds-->
<posterior_legs_down_weight>1</posterior_legs_down_weight>
<!--Adds a term to the objective to minimize final value of (hunch + 2 * pitch)-->
<sagittal_symmetry_weight>1</sagittal_symmetry_weight>
<!--TRUE: use coordinate limit forces, FALSE: ignore coordinate limit forces-->
<use_coordinate_limit_forces>true</use_coordinate_limit_forces>
<!--File containing FunctionSet of SimmSpline's used to initialize optimization parameters. If not provided, initial parameters are all 0.0, and this element must be DELETED from the XML file (cannot just leave it blank). The name of each function must be identical to that of the actuator it is for. x values are ignored. The time values that are actually used in the simulation are equally spaced from t = 0 to t = 1.0 s, and there should be as many points in each function as given by the num_optim_spline_points property. y values should be nondimensional and between -1 and 1 (negative values normalized by minControl if minControl is negative; otherwise the value is normalized by maxControl). NOTE that the output optimized splines are NOT NONDIMENSIONAL. Be careful, we do not do any error checking.-->
<initial_parameters_filename>initial_parameters.xml</initial_parameters_filename>
</FlippinFelinesOptimizerTool>
</OpenSimDocument> |
iterations is not number of objective function calls.
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There's an additional file, optimizer_tool_template.cpp, whose code we do not show here. It generates a template XML file TODO .... TODO paste a version of it into this page.
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Recreating our results
TODO We've given you some input files to the optimization.