Verify cost term components

resources/project/tkAoR0wDeR9bDqF10NY7YqXFvL4/GOuADJVTr_dqKcAa54Ua6GDYr-0d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/tkAoR0wDeR9bDqF10NY7YqXFvL4/GOuADJVTr_dqKcAa54Ua6GDYr-0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="verifyTreatmentOptimizationCostAndConstraintTerms.m" type="File"/>

src/TreatmentOptimization/TrackingOptimization/TrackingOptimizationTool.m

@@ -39,6 +39,7 @@ function TrackingOptimizationTool(settingsFileName)
 settingsTree = xml2struct(settingsFileName);
 verifyVersion(settingsTree, "TrackingOptimizationTool");
 [inputs, params] = parseTrackingOptimizationSettingsTree(settingsTree);
+verifyTreatmentOptimizationCostAndConstraintTerms(inputs);
 outputLogFile = fullfile("commandWindowOutput.txt");
 diary(outputLogFile)
 inputs = normalizeSynergyData(inputs);

src/TreatmentOptimization/verifyTreatmentOptimizationCostAndConstraintTerms.m

@@ -0,0 +1,139 @@
+function verifyTreatmentOptimizationCostAndConstraintTerms(inputs)
+    verifyCostTerms(inputs.costTerms, inputs)
+    verifyConstraintTerms(inputs.path, inputs)
+    verifyConstraintTerms(inputs.terminal, inputs)
+end
+
+function verifyCostTerms(costTerms, inputs)
+    components = searchCostOrConstraintComponents(costTerms);
+    warnings = verifyCoordinates(components.coordinates, inputs, ...
+        string([]), "cost");
+    warnings = verifyLoads(components.loads, inputs, warnings, "cost");
+    warnings = verifyMuscles(components.muscles, inputs, warnings, "cost");
+    warnings = verifyForces(components.forces, inputs, warnings, "cost");
+    warnings = verifyMoments(components.moments, inputs, warnings, "cost");
+    for i = 1 : numel(warnings)
+        warning(warnings(i))
+    end
+end
+
+function verifyConstraintTerms(constraintTerms, inputs)
+    components = searchCostOrConstraintComponents(constraintTerms);
+    warnings = verifyCoordinates(components.coordinates, inputs, ...
+        string([]), "constraint");
+    warnings = verifyLoads(components.loads, inputs, warnings, "constraint");
+    warnings = verifyMuscles(components.muscles, inputs, warnings, "constraint");
+    warnings = verifyForces(components.forces, inputs, warnings, "constraint");
+    warnings = verifyMoments(components.moments, inputs, warnings, "constraint");
+    for i = 1 : numel(warnings)
+        warning(warnings(i))
+    end
+end
+
+function components = searchCostOrConstraintComponents(terms)
+components.coordinates = string([]);
+components.loads = string([]);
+components.muscles = string([]);
+components.forces = string([]);
+components.moments = string([]);
+components.controllers = string([]);
+components.markers = string([]);
+components.bodies = string([]);
+
+for i = 1 : numel(terms)
+    term = terms{i};
+    if isfield(term, "coordinate")
+        components.coordinates(end+1) = term.coordinate;
+    elseif isfield(term, "load")
+        components.loads(end+1) = term.load;
+    elseif isfield(term, "muscle")
+        components.muscles(end+1) = term.muscle;
+    elseif isfield(term, "force")
+        components.forces(end+1) = term.force;
+    elseif isfield(term, "moment")
+        components.moments(end+1) = term.moment;
+    elseif isfield(term, "controller")
+        components.controllers(end+1) = term.controller;
+    elseif isfield(term, "marker")
+        components.markers(end+1) = term.marker;
+    elseif isfield(term, "body")
+        components.bodies(end+1) = term.body;
+    end
+end
+components.coordinates = unique(components.coordinates);
+components.loads = unique(components.loads);
+components.muscles = unique(components.muscles);
+components.forces = unique(components.forces);
+components.moments = unique(components.moments);
+components.controllers = unique(components.controllers);
+components.markers = unique(components.markers);
+components.bodies = unique(components.bodies);
+end
+
+function warnings = verifyCoordinates(coordinates, inputs, warnings, type)
+coordinateIndices = ismember(coordinates, ...
+    inputs.statesCoordinateNames);
+if any(~coordinateIndices)
+    warnings = [warnings, strcat("Coordinate ", coordinates( ...
+        ~coordinateIndices), " is included in a ", type, " term but is ", ...
+        "not in the states coordinate list")];
+end
+end
+
+function warnings = verifyLoads(loads, inputs, warnings, type)
+loadIndices = ismember(loads, ...
+    inputs.initialInverseDynamicsMomentLabels);
+if any(~loadIndices)
+    warnings = [warnings, strcat("Load ", loads( ...
+        ~loadIndices), " is included in a ", type, " term but is ", ...
+        "not in the inverse dynamics loads file")];
+end
+end
+
+function warnings = verifyMuscles(muscles, inputs, warnings, type)
+try
+    muscleIndices = ismember(muscles, ...
+        inputs.muscleNames);
+    if any(~muscleIndices)
+        warnings = [warnings, strcat("Muscle ", muscles( ...
+            ~muscleIndices), " is included in a ", type, " term but is ", ...
+            "not in the muscle activations file")];
+    end
+catch
+end
+end
+
+function warnings = verifyForces(forces, inputs, warnings, type)
+try
+    forceColumnsCompare = [];
+    for k = 1 : numel(inputs.contactSurfaces)
+        forceColumnsCompare = [forceColumnsCompare, ...
+            inputs.contactSurfaces{k}.forceColumns];
+    end
+    forceIndices = ismember(forces, forceColumnsCompare);
+    if any(~forceIndices)
+        warnings = [warnings, strcat("Force ", forces( ...
+            ~forceIndices), " is included in a ", type, " term but is ", ...
+            "not in the ground reaction file")];
+    end
+catch
+end
+end
+
+function warnings = verifyMoments(moments, inputs, warnings, type)
+try
+    momentColumnsCompare = [];
+    for k = 1 : numel(inputs.contactSurfaces)
+        momentColumnsCompare = [momentColumnsCompare, ...
+            inputs.contactSurfaces{k}.momentColumns];
+    end
+    momentIndices = ismember(moments, momentColumnsCompare);
+    if any(~momentIndices)
+        warnings = [warnings, strcat("Moment ", moments( ...
+            ~momentIndices), " is included in a ", type, " term but is ", ...
+            "not in the ground reaction file")];
+    end
+catch
+end
+end
+