getDesignOptimizationValueStruct.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% This function parses and scales the design variables specific to
% Design Optimization. If the model is synergy driven, synergy weights are
% properly calculated if they are fixed or being optimized. If the model
% has user defined parameters, they are parsed and scaled. Lastly, if
% the model has external torque actuators, they are parsed and
% scaled.
%
% (struct, struct) -> (struct)
% Design variables specific to Design Optimization are parsed and scaled


function values = getDesignOptimizationValueStruct(inputs, params)
values = getTreatmentOptimizationValueStruct(inputs, params);

numParameters = 0;
if strcmp(params.controllerType, 'synergy_driven')
    if params.optimizeSynergyVectors
        values.synergyWeights = scaleToOriginal(inputs.parameter(1, ...
            1 : params.numSynergyWeights), ...
            params.maxParameter, params.minParameter);
        values.synergyWeights = getSynergyWeightsFromGroups(...
            values.synergyWeights, params);
        numParameters = params.numSynergyWeights;
    else
        values.synergyWeights = getSynergyWeightsFromGroups(...
            params.synergyWeightsGuess, params);
    end
    if params.splineSynergyActivations.dim > 1
        values.controlSynergyActivations = ...
            fnval(params.splineSynergyActivations, values.time)';
    else
        values.controlSynergyActivations = ...
            fnval(params.splineSynergyActivations, values.time);
    end
    if params.enableExternalTorqueControl
        controls = scaleToOriginal(inputs.control, ones(size( ...
            inputs.control, 1), 1) .* params.maxControl, ...
            ones(size(inputs.control, 1), 1) .* params.minControl);
        values.externalTorqueControls = controls(:, params.numCoordinates + ...
            params.numSynergies + 1 : end);
    end
else 
    if isfield(params, "enableExternalTorqueControl") && ...
            params.enableExternalTorqueControl
        controls = scaleToOriginal(inputs.control, ones(size( ...
            inputs.control, 1), 1) .* params.maxControl, ...
            ones(size(inputs.control, 1), 1) .* params.minControl);
        values.externalTorqueControls = controls(:, params.numCoordinates + ...
            params.numTorqueControls + 1 : end);
    end
end
if isfield(params, 'userDefinedVariables')
    for i = 1:length(params.userDefinedVariables)
        values.(params.userDefinedVariables{i}.type)(i) = scaleToOriginal( ...
            inputs.parameter(1, i + numParameters), ...
            params.userDefinedVariables{i}.upper_bounds, ...
            params.userDefinedVariables{i}.lower_bounds);
    end
end
end