walking2D_exo.m File Reference

Functions
function	walking2D_exo (in model, in Wtracking, in resultfile, in trackingData, in targetSpeed, in targetDuration, in isSymmetric, in initialGuess)
	Function to specify the optimization problem for normal 2D walking.

Function Documentation

walking2D_exo()

function walking2D_exo	(	in	model,
		in	Wtracking,
		in	resultfile,
		in	trackingData,
		in	targetSpeed,
		in	targetDuration,
		in	isSymmetric,
		in	initialGuess
	)

Function to specify the optimization problem for normal 2D walking.

This function creates walking simulation with an exoskeleton. If targetDuration is empty, the duration is left free and optimized. If it is given, the targetDuration is added as constraint

Parameters

model	Gait2dc: Model which should be used for the simulation
Wtracking	Double: Weight used for the tracking objective
resultfile	String: Name of the resultfile including path
trackingData	TrackingData: Tracking Data containing angles and GRFs data
targetSpeed	Double: Target speed of the movement in x direction in m/s. This target speed will be enforced.
targetDuration	Double: Target duration of the movement in steps/min. This duration will be enforced. Duration will be optimized if it is empty: [].
isSymmetric	Bool: Specifys weather we assume symmetry of the movement. If we assume symmetry, we simulate only one half of gait cycle. This has to fit to the tracking data.
initialGuess	String: Filename with path specifying the initial guess

Return values

problem

Collocation: Optimization problem for 2D running