Run static optimization (OpenSim, or a pure-R fallback)

Resolves net joint moments into muscle activations. When an OpenSim backend is available and a Static Optimization setup file is supplied, it runs the OpenSim Static Optimization tool via PhysioOpenSim; otherwise it falls back to staticOptimizationR(), the pure-R quadratic muscle-effort solver, using the supplied moment arms, maximum forces and joint moments.

Usage

runStaticOptimization(
  so_setup = NULL,
  moment_arms = NULL,
  max_force = NULL,
  joint_moments = NULL,
  execution = c("auto", "opensim", "r"),
  workdir = NULL,
  cli = NULL,
  timeout_sec = 0L,
  fail_on_error = TRUE,
  ...
)

Arguments

so_setup

Path to an OpenSim Static Optimization setup XML (OpenSim backend).

moment_arms, max_force, joint_moments

Inputs for the pure-R fallback, passed to staticOptimizationR().

execution

Backend selection: "auto" (default; OpenSim when available and so_setup is given, else pure-R), "opensim", or "r".

workdir, cli, timeout_sec, fail_on_error

Passed to PhysioOpenSim::opensimRunSO() for the OpenSim backend.

...

Additional arguments passed to staticOptimizationR() for the pure-R backend (e.g. weights, activation_bounds).

Value

An opensim_so_result list with backend ("opensim" or "r") and either tool (the PhysioOpenSim tool result) or static_optimization (the staticOptimizationR() result).

See also

staticOptimizationR(), runRRA(), runCMC()

Examples

if (requireNamespace("quadprog", quietly = TRUE)) {
  set.seed(1)
  n_muscle <- 6; n_dof <- 2; n_frames <- 15
  r <- matrix(runif(n_dof * n_muscle, -0.05, 0.05), n_dof, n_muscle)
  fmax <- runif(n_muscle, 200, 1200)
  a <- matrix(runif(n_frames * n_muscle, 0, 0.6), n_frames, n_muscle)
  cmat <- sweep(r, 2, fmax, "*")
  tau <- t(apply(a, 1, function(ai) as.numeric(cmat %*% ai)))
  res <- runStaticOptimization(moment_arms = r, max_force = fmax,
    joint_moments = tau, execution = "r")
  res$backend
}
#> [1] "r"