getWalking_SNOPT_deterministic.m

% script for running the optim.m program
clear all

% tic
% define which movement we are working on
movement = 'Winter/SNOPT/Winter_normal';

% general settings
problem.Solver = 'SNOPT';
problem.MaxIterations = 5000;
problem.ConstraintTol = .01;
problem.Tol = .0001;
problem.symmetry = 1;
problem.discretization = 'BE';		% start with backward Euler
problem.checkderivatives = 0;		% set this to 1 to make optim.m check derivatives
problem.debug = 0;                  % only used in debug mode
problem.N = 60;						% start with a coarse mesh
problem.Printinterval = 3;
   
% define an able-bodied model and the target gait data for the simulation
ablemodel.parameterfile 	= 'gait2d_par.xls';
ablemodel.type 				= 'able';
ablemodel.datafile			= 'Winter/Winter_normal';
ablemodel.Wtrack 	= 1;	% weight of tracking term in optimization objective
ablemodel.Weffort 	= 20;	% weight of muscle effort term in optimization objective
ablemodel.effort.fatigue 	= 0;
ablemodel.effort.Fmaxweighted = 0;
ablemodel.effort.exponent	= 3;
ablemodel.Wvalve 	= 0.001;	% weight of valve operating cost in optimization objective
ablemodel.discretization = 'euler';
ablemodel.reducedW = 0;
ablemodel.kneeconstraint = 0;
ablemodel.hipconstraint = 0;

% Find standing model
% define model used for standing
standmodel = ablemodel;
standmodel.speed = 0;
standmodel.Wtrack = 1e-8;

% optimize for standing
problem.N = 2;
problem.model = standmodel;
problem.initialguess = 'mid';
problem.resultfile		= [movement '_result_stand_2.mat'];
result = optim(problem);

% optimize for standing
problem.N = 30;
problem.model = standmodel;
problem.initialguess = 'Winter/Winter_normal_result_stand_30.mat';
problem.resultfile		= [movement '_result_stand_30.mat'];
result = optim(problem);

% optimize for standing
problem.N = 60;
problem.model = standmodel;
problem.initialguess = 'Winter/SNOPT/Winter_normal_result_stand_30.mat';
problem.resultfile		= [movement '_result_stand.mat'];
result = optim(problem);

% define model used for slowest walking
slowestmodel = ablemodel;
slowestmodel.speed = 0.2;
slowestmodel.Wtrack = 0.05;

% optimize for slow walking
% problem.N = 60;
problem.model = slowestmodel;
problem.initialguess = 'Winter/SNOPT/Winter_normal_result_stand.mat';  % 'mid';%
problem.resultfile		= [movement '_result_slowest.mat'];
result = optim(problem);
% disp('Hit ENTER to continue with next optimization, or CTRL-C to quit');
% pause;

% define model used for slow walking
slowmodel = ablemodel;
slowmodel.speed = 0.5;
slowmodel.Wtrack = 0.1;

% optimize for slow walking
% problem.N = 60;
problem.model = slowmodel;
problem.initialguess = 'Winter/SNOPT/Winter_normal_result_slowest.mat';  % 'mid';%
problem.resultfile		= [movement '_result_slow.mat'];
result = optim(problem);
% disp('Hit ENTER to continue with next optimization, or CTRL-C to quit');
% pause;

% Find result for walking
problem.model = ablemodel;
problem.initialguess = 'Winter/SNOPT/Winter_normal_result_slow.mat';
problem.resultfile      = [movement '_result_able.mat'];
optim(problem)
% disp('Hit ENTER to continue with next optimization, or CTRL-C to quit');
% pause;
 
disp('All optimizations completed.')