Merge pull request #1425 from opensim-org/manager-cleanup

chrisdembia · web-flow · commit 54239467beff · 2016-12-14T11:12:38.000-08:00
Remove CMC usage from Manager and other Manager clean up
diff --git a/OpenSim/Simulation/Manager/Manager.cpp b/OpenSim/Simulation/Manager/Manager.cpp
@@ -71,9 +71,6 @@ Manager::Manager(Model& model, bool dummyVar) :
 {
     setNull();
 
-    // STATES
-    constructStates();
-
     // STORAGE
     constructStorage();
 
@@ -99,31 +96,15 @@ setNull()
     _sessionName = "";
     _ti = 0.0;
     _tf = 1.0;
-    _firstDT = 1.0e-8;
-    _steps = 0;
-    _trys = 0;
-    _maxSteps = 10000;
     _halt = false;
-    _dtMax = 1.0;
-    _dtMin = 1.0e-8;
     _specifiedDT = false;
     _constantDT = false;
     _dt = 1.0e-4;
     _performAnalyses=true;
     _writeToStorage=true;
     _tArray.setSize(0);
-    _system = 0;
     _dtArray.setSize(0);
 }
-//_____________________________________________________________________________
-/**
- * Construct the states.
- */
-bool Manager::
-constructStates()
-{
-    return(true);
-}
 
 //_____________________________________________________________________________
 /**
@@ -510,9 +491,6 @@ setModel(Model& aModel)
     }
 
     _model = &aModel;
-    
-    // STATES
-    constructStates();
 
     // STORAGE
     constructStorage();
@@ -599,33 +577,6 @@ getFinalTime() const
     return(_tf);
 }
 
-//-----------------------------------------------------------------------------
-// FIRST DT
-//-----------------------------------------------------------------------------
-//_____________________________________________________________________________
-/**
- * Set the first time step taken in an integration.
- *
- * @param aDT First integration time step.
- */
-void Manager::
-setFirstDT(double aDT)
-{
-    _firstDT = aDT;
-    if(_firstDT<1.0e-8) _firstDT = 1.0e-8;
-}
-//_____________________________________________________________________________
-/**
- * Get the first time step taken in an integration.
- *
- * @return First integration time step.
- */
-double Manager::
-getFirstDT() const
-{
-    return(_firstDT);
-}
-
 
 //=============================================================================
 // EXECUTION
@@ -680,19 +631,19 @@ hasStateStorage() const
  * the model.
  */
 bool Manager::
-integrate( SimTK::State& s, double dtFirst )
+integrate(SimTK::State& s)
 {
     
     int step = 0;
 
     s.setTime( _ti );
 
     // INTEGRATE
-    return(doIntegration(s, step, dtFirst));
+    return doIntegration(s, step);
 
 }
 
-bool Manager::doIntegration(SimTK::State& s, int step, double dtFirst ) {
+bool Manager::doIntegration(SimTK::State& s, int step) {
 
     if(!_integ) {
         throw Exception("Manager::doIntegration(): "
@@ -704,11 +655,8 @@ bool Manager::doIntegration(SimTK::State& s, int step, double dtFirst ) {
     // Halts must arrive during an integration.
     clearHalt();
 
-    double dt/*,dtPrev*/,tReal;
+    double tReal;
     double time =_ti;
-    dt=dtFirst;
-    if(dt>_dtMax) dt = _dtMax;
-    //dtPrev=dt;
 
     // CHECK SPECIFIED DT STEPPING
     
@@ -739,34 +687,21 @@ bool Manager::doIntegration(SimTK::State& s, int step, double dtFirst ) {
     double fixedStepSize;
     if( _constantDT || _specifiedDT) fixedStep = true;
 
-    // If _system is has been set we should be integrating a CMC system
-    // not the model's system.
-    const SimTK::System& sys = _system ? *_system 
-                                       : _model->getMultibodySystem();
-
     // Only initialize a TimeStepper if it hasn't been done yet
-    if (_timeStepper == NULL) initializeTimeStepper(sys, s);
+    if (_timeStepper == NULL) initializeTimeStepper(s);
 
     SimTK::Integrator::SuccessfulStepStatus status;
 
-    if( fixedStep ) {
-        dt = getFixedStepSize(getTimeArrayStep(_ti));
-    } else {
+    if( !fixedStep ) {
         _integ->setReturnEveryInternalStep(true); 
     }
 
-    if( s.getTime()+dt >= _tf ) dt = _tf - s.getTime();
-   
-    // We need to be at a valid stage to initialize the controls, but only when 
-    // we are integrating the complete model system, not the CMC system. This 
-    // is very ugly and a cleaner solution is required- aseth
-    if(_system == NULL)
-        sys.realize(s, SimTK::Stage::Velocity); // this is multibody system 
-    initialize(s, dt);  
+    _model->realizeVelocity(s);
+    initializeStorageAndAnalyses(s);
 
     if( fixedStep){
         s.updTime() = time;
-        sys.realize(s, SimTK::Stage::Acceleration);
+        _model->realizeAcceleration(s);
 
         if(_performAnalyses)_model->updAnalysisSet().step(s, step);
         tReal = s.getTime();
@@ -849,9 +784,8 @@ double Manager::getFixedStepSize(int tArrayStep) const {
  * 
  * @param s system state before integration
  */
-void Manager::initialize(SimTK::State& s, double dt )
+void Manager::initializeStorageAndAnalyses(SimTK::State& s)
 {
-    // skip initializations for CMC's actuator system
     if( _writeToStorage && _performAnalyses ) { 
 
         double tReal = s.getTime();
@@ -882,11 +816,11 @@ void Manager::initialize(SimTK::State& s, double dt )
 /**
 * set and initialize a SimTK::TimeStepper
 */
-void Manager::initializeTimeStepper(
-    const SimTK::System& sys, const SimTK::State& state)
+void Manager::initializeTimeStepper(const SimTK::State& s)
 {
-    _timeStepper.reset(new SimTK::TimeStepper(sys, *_integ));
-    _timeStepper->initialize(state);
+    _timeStepper.reset(
+        new SimTK::TimeStepper(_model->getMultibodySystem(), *_integ));
+    _timeStepper->initialize(s);
     _timeStepper->setReportAllSignificantStates(true);
 }
 
diff --git a/OpenSim/Simulation/Manager/Manager.h b/OpenSim/Simulation/Manager/Manager.h
@@ -95,38 +95,28 @@ class OSIMSIMULATION_API Manager
     double _ti;
     /** Final time of the simulation. */
     double _tf;
-    /** First dt in an integration. */
-    double _firstDT;
     
     /** Storage for the states. */
     std::unique_ptr<Storage> _stateStore;
 
-   int _steps;
-   /** Number of integration step tries. */
-   int _trys;
-   /** Maximum number of steps in an integration. */
-   int _maxSteps;
-   /** Flag for signaling a desired halt. */
-   bool _halt;
-   /** Minimum step size. */
-   double _dtMin;
-   /** Maximum step size. */
-   double _dtMax;
-   /** Flag to indicate whether or not specified integration time steps
-   should be used.  The specified integration time steps are held in _tVec.
-   If _tVec does not contain time steps appropriate for the integration,
-   an exception is thrown. */
-   bool _specifiedDT;
-   /** Flag to indicate whether or not constant (fixed) integration time
-   steps should be used.  The constant integration time step is set using
-   setDT(). */
-   bool _constantDT;
-   /** Constant integration time step. */
-   double _dt;
-   /** Vector of integration time steps. */
-   Array<double> _tArray;
-   /** Vector of integration time step deltas. */
-   Array<double> _dtArray;
+    /** Flag for signaling a desired halt. */
+    bool _halt;
+
+    /** Flag to indicate whether or not specified integration time steps
+    should be used.  The specified integration time steps are held in _tVec.
+    If _tVec does not contain time steps appropriate for the integration,
+    an exception is thrown. */
+    bool _specifiedDT;
+    /** Flag to indicate whether or not constant (fixed) integration time
+    steps should be used.  The constant integration time step is set using
+    setDT(). */
+    bool _constantDT;
+    /** Constant integration time step. */
+    double _dt;
+    /** Vector of integration time steps. */
+    Array<double> _tArray;
+    /** Vector of integration time step deltas. */
+    Array<double> _dtArray;
 
     /** Name to be shown by the UI */
     static std::string _displayName;
@@ -140,9 +130,6 @@ class OSIMSIMULATION_API Manager
     /** controllerSet used for the integration */
     ControllerSet* _controllerSet;
 
-    /** system of equations to be integrated */
-    const SimTK::System* _system;
-
 
 //=============================================================================
 // METHODS
@@ -170,7 +157,6 @@ class OSIMSIMULATION_API Manager
 
 private:
     void setNull();
-    bool constructStates();
     bool constructStorage();
     //--------------------------------------------------------------------------
     // GET AND SET
@@ -198,41 +184,33 @@ class OSIMSIMULATION_API Manager
     double getInitialTime() const;
     void setFinalTime(double aTF);
     double getFinalTime() const;
-    void setFirstDT(double aDT);
-    double getFirstDT() const;
-       // SPECIFIED TIME STEP
-   void setUseSpecifiedDT(bool aTrueFalse);
-   bool getUseSpecifiedDT() const;
-   // CONSTANT TIME STEP
-   void setUseConstantDT(bool aTrueFalse);
-   bool getUseConstantDT() const;
-   // DT VECTOR
-   const Array<double>& getDTArray();
-   void setDTArray(const SimTK::Vector_<double>& aDT, double aTI = 0.0);
-   double getDTArrayDT(int aStep);
-   void printDTArray(const char *aFileName=NULL);
-   // TIME VECTOR
-   const Array<double>& getTimeArray();
-   double getTimeArrayTime(int aStep);
-   int getTimeArrayStep(double aTime);
-   void printTimeArray(const char *aFileName=NULL);
-   void resetTimeAndDTArrays(double aTime);
-
-   double getNextTimeArrayTime(double aTime);
-
-
-    // SYSTEM
-    // only called when need to integrate a different set of equations 
-    // then what is defined by the model 
-    void setSystem(SimTK::System* system) { _system = system; }
+    // SPECIFIED TIME STEP
+    void setUseSpecifiedDT(bool aTrueFalse);
+    bool getUseSpecifiedDT() const;
+    // CONSTANT TIME STEP
+    void setUseConstantDT(bool aTrueFalse);
+    bool getUseConstantDT() const;
+    // DT VECTOR
+    const Array<double>& getDTArray();
+    void setDTArray(const SimTK::Vector_<double>& aDT, double aTI = 0.0);
+    double getDTArrayDT(int aStep);
+    void printDTArray(const char *aFileName=NULL);
+    // TIME VECTOR
+    const Array<double>& getTimeArray();
+    double getTimeArrayTime(int aStep);
+    int getTimeArrayStep(double aTime);
+    void printTimeArray(const char *aFileName=NULL);
+    void resetTimeAndDTArrays(double aTime);
+    double getNextTimeArrayTime(double aTime);
+
+
 
     //--------------------------------------------------------------------------
     // EXECUTION
     //--------------------------------------------------------------------------
-    bool integrate( SimTK::State& s, double dtFirst=1.0e-6 );
-    bool doIntegration( SimTK::State& s, int step, double dtFirst );
-    void initialize(SimTK::State& s, double dt);
-    void finalize( SimTK::State& s);
+    bool integrate(SimTK::State& s);
+    bool doIntegration(SimTK::State& s, int step);
+    void finalize(SimTK::State& s);
     double getFixedStepSize(int tArrayStep) const;
 
     // STATE STORAGE
@@ -254,7 +232,10 @@ class OSIMSIMULATION_API Manager
 
     // Handles common tasks of some of the other constructors.
     Manager(Model& aModel, bool dummyVar);
-    void initializeTimeStepper(const SimTK::System& sys, const SimTK::State& state);
+
+    // Helper functions during initialization of integration
+    void initializeStorageAndAnalyses(SimTK::State& s);
+    void initializeTimeStepper(const SimTK::State& s);
 
 //=============================================================================
 };  // END of class Manager
diff --git a/OpenSim/Simulation/Test/testMuscleMetabolicsProbes.cpp b/OpenSim/Simulation/Test/testMuscleMetabolicsProbes.cpp
@@ -644,7 +644,7 @@ Storage simulateModel(Model& model, double t0, double t1)
     // Simulate.
     const clock_t tStart = clock();
     cout << "- integrating from " << t0 << " to " << t1 << "s" << endl;
-    manager.integrate(state, 1.0e-3);
+    manager.integrate(state);
     cout << "- simulation complete (" << (double)(clock()-tStart)/CLOCKS_PER_SEC
          << " seconds elapsed)" << endl;
 
diff --git a/OpenSim/Tools/ForwardTool.cpp b/OpenSim/Tools/ForwardTool.cpp
@@ -275,6 +275,7 @@ bool ForwardTool::run()
     // Initialize integrator
     integrator.setInternalStepLimit(_maxSteps);
     integrator.setMaximumStepSize(_maxDT);
+    integrator.setMinimumStepSize(_minDT);
     integrator.setAccuracy(_errorTolerance);
 
 
diff --git a/OpenSim/Tools/VectorFunctionForActuators.cpp b/OpenSim/Tools/VectorFunctionForActuators.cpp
@@ -28,7 +28,6 @@
 #include "VectorFunctionForActuators.h"
 #include <OpenSim/Simulation/Model/CMCActuatorSubsystem.h>
 #include <OpenSim/Simulation/Model/Model.h>
-#include <OpenSim/Simulation/Manager/Manager.h>
 #include "CMC.h"
 
 
@@ -258,23 +257,14 @@ evaluate( const SimTK::State& s, double *aX, double *rF)
 
     // create a Manager that will integrate just the actuator subsystem and use only the 
     // CMC controller
-
-    Manager manager(*_model, *_integrator);
-    manager.setInitialTime(_ti);
-    manager.setFinalTime(_tf);
-    manager.setSystem( _CMCActuatorSystem );
-    // tell the manager to not call the analyses or write to storage 
-    // while the CMCSubsystem is being integrated.
-    manager.setPerformAnalyses(false); 
-    manager.setWriteToStorage(false); 
     SimTK::State& actSysState = _CMCActuatorSystem->updDefaultState();
     getCMCActSubsys()->updZ(actSysState) = _model->getMultibodySystem()
                                             .getDefaultSubsystem().getZ(s);
-
     actSysState.setTime(_ti);
 
-    // Integration
-    manager.integrate(actSysState, 0.000001);
+    SimTK::TimeStepper ts(*_CMCActuatorSystem, *_integrator);
+    ts.initialize(actSysState);
+    ts.stepTo(_tf);
 
     const Set<const Actuator>& forceSet = controller.getActuatorSet();
     // Vector function values
