mergeGroundContactPersonalizationRoundResults.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% 
%
% (struct, Array of double, struct, double) -> (struct)
% Merge the results of an optimization back into the input values.


function inputs = mergeGroundContactPersonalizationRoundResults(inputs, ...
    results, params, task)
index = 1;
if (params.tasks{task}.designVariables(1))
    inputs.springConstants = 1000 * results(index : index + ...
        length(inputs.springConstants) - 1);
    index = index + length(inputs.springConstants);
end
if (params.tasks{task}.designVariables(2))
    inputs.dampingFactor = results(index);
    index = index + 1;
end
if (params.tasks{task}.designVariables(3))
    inputs.dynamicFrictionCoefficient = results(index);
    index = index + 1;
end
if (params.tasks{task}.designVariables(4))
    inputs.viscousFrictionCoefficient = results(index);
    index = index + 1;
end
if (params.tasks{task}.designVariables(5))
    inputs.restingSpringLength = results(index);
end
if (params.tasks{task}.designVariables(6))
    % Other design variables are shared between feet, but kinematic
    % B-spline coefficients are specific to a foot. 
    for foot = 1:length(inputs.surfaces)
        bSplineCoefficientLength = length(reshape(inputs.surfaces{foot} ...
            .bSplineCoefficients, 1, []));
        bSplineCoefficients = results(index : index + ...
            bSplineCoefficientLength - 1);
        bSplineCoefficients = reshape(bSplineCoefficients, [], 7);
        inputs.surfaces{foot}.bSplineCoefficients = bSplineCoefficients;
        index = index + bSplineCoefficientLength;
    end
end
end