#landing-optimization-framework

This file generates a main() to optimize the control parameters (desired length length gain, speed gain) of muscle stretch controllers to match a given motion. This will build an executable that can take the following arguments:

• -m <optimizedDropModel.osim>: model file to be loaded
• -csfile <optimizedControllerSet.xml>: initial guess of controller set parameters for optimizer
• -kfile <DesiredKinematics.sto>: trajectories of desired kinematics
• -ti <0.0> default time from which to start simulating
• -tf <0.1> default simulation end time
• -opt: flag to run optimization
• -resume: flag to run optimization but resume using resumecmaes.dat file
• -lambda : CMA parameter, set number of samples per outer iteration
• -sigma : CMA parameter, set initial constant of covariance matrix
• -maxIters : optimizer parameter, set max outer iterations

###Usage:

dropLandingSim_nodal.exe -m InputDropModel.osim -csfile InitialControllerSet.xml -kfile DesiredKinematics.sto -ti 0.0 -tf 0.1 -opt -lambda 50 -sigma 0.1 -maxIters 2000

The -opt flag is used when an optimization should be run. If the -opt flag is not present, then a single forward simulation with analyses will be performed.

Parallelization of the CMA optimizer is done by using MPI. If ENABLE_MPI was checked in CMake, then you can call on the executable to use more threads using:

mpiexec -n <numthreads> dropLandingSim_nodal.exe -opt -lambda 50 ...

###Dependencies

1. OpenSim 3.2 or above by installing a distribution or building from source
2. The opensim-reflex-controllers plugin (https://github.com/msdemers/opensim-reflex-controllers)
3. a git client
4. Source code (git clone https://github.com/msdemers/landing-optimization-framework)
5. CMake

###Building Steps

####Linux (assuming you have gcc and/or clang)

1. build/install OpenSim. I'll call the install location ~/OpenSim_Install
2. build/install the opensim-reflex-controllers plugin
3. Creat a directories for cloning and building the landing-optimization-framework sourcecode into binaries

$ mkdir ~/landingOptimization
$ cd ~/landingOptimization

4. If you haven't yet, clone this repository, for example to ~/landingOptimization/source

$ git clone https://github.com/msdemers/landing-optimization-framework ~/landingOptimization/source

you can optionally check out a specific branch

$ git checkout [branch name]

5. Create a place to build the optimization binaries

$ mkdir build

6. Run CMake, choosing the IDE project system of your choice, or simply UNIX Make Files will serve fine.

7. point at ~/landingOptimization/source for the source directory. This is where the high-level CMakeLists.txt lives

8. point at ~/landingOptimization/build for the build directory

9. Check the CMAKE_INSTALL_PREFIX variable. This is where your the Install command will copy the binaries after they have been built.

10. push Configure untill nothing appears red

11. push Generate

12. Navigate to the build directory

$ cd build

8. Build the project. This may mean opening your IDE or using your favorite command line build tools. If using make files.

make install