parseTrackingOptimizationSettingsTree.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% This function parses the settings tree resulting from xml2struct of the
% Tracking Optimizatoin settings XML file.
%
% (struct) -> (struct, struct)
% returns the input values for Tracking Optimization


function [inputs, params, resultsDirectory] = ...
    parseTrackingOptimizationSettingsTree(settingsTree)
inputs = getTreatmentOptimizationInputs(settingsTree);
inputs = getDesignVariableBounds(settingsTree, inputs);
params = getParams(settingsTree);
inputs = modifyModelForces(inputs);
end

function inputs = getDesignVariableBounds(tree, inputs)
designVariableTree = getFieldByNameOrError(tree, ...
    'RCNLDesignVariableBoundsTerms');
jointPositionsMultiple = getFieldByNameOrError(designVariableTree, ...
    'joint_positions_multiple');
if(isstruct(jointPositionsMultiple))
    inputs.statePositionsMultiple = getDoubleFromField(jointPositionsMultiple);
end
jointVelocitiesMultiple = getFieldByNameOrError(designVariableTree, ...
    'joint_velocities_multiple');
if(isstruct(jointVelocitiesMultiple))
    inputs.stateVelocitiesMultiple = getDoubleFromField(jointVelocitiesMultiple);
end
jointAccelerationsMultiple = getFieldByNameOrError(designVariableTree, ...
    'joint_accelerations_multiple');
if(isstruct(jointAccelerationsMultiple))
    inputs.stateAccelerationsMultiple = ...
        getDoubleFromField(jointAccelerationsMultiple);
end
jointJerkMultiple = getFieldByNameOrError(designVariableTree, ...
    'joint_jerks_multiple');
if(isstruct(jointJerkMultiple))
    inputs.controlJerksMultiple = getDoubleFromField(jointJerkMultiple);
end
if strcmp(inputs.controllerType, 'synergy_driven')
maxControlSynergyActivations = getFieldByNameOrError(designVariableTree, ...
    'synergy_activations_max');
if(isstruct(maxControlSynergyActivations))
    inputs.maxControlSynergyActivations = ...
        getDoubleFromField(maxControlSynergyActivations);
end
maxParameterSynergyWeights = getFieldByNameOrError(designVariableTree, ...
    'synergy_weights_max');
if(isstruct(maxParameterSynergyWeights))
    inputs.maxParameterSynergyWeights = ...
        getDoubleFromField(maxParameterSynergyWeights);
end
else 
maxControlTorques = getFieldByNameOrError(designVariableTree, ...
    'torque_controls_max');
if(isstruct(maxControlTorques))
    inputs.maxControlTorquesMultiple = getDoubleFromField(maxControlTorques);
end
end
inputs.toolName = "TrackingOptimization";
end

function params = getParams(tree)
params.solverSettings = getOptimalControlSolverSettings(...
    getTextFromField(getFieldByName(tree, 'optimal_control_settings_file')));
end