calcTrackingCoordinateIntegrand.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% This function calculates the difference between the experimental and
% predicted joint angles for the specified coordinate. 
%
% (struct, Array of number, 2D matrix, Array of string) -> (Array of number)
% 


function cost = calcTrackingCoordinateIntegrand(auxdata, time, ...
    statePositions, coordinateName)

indx = find(strcmp(convertCharsToStrings(auxdata.coordinateNames), ...
    coordinateName));
if auxdata.splineJointAngles.dim > 1
    experimentalJointAngles = fnval(auxdata.splineJointAngles, time)';
else
    experimentalJointAngles = fnval(auxdata.splineJointAngles, time);
end

cost = calcTrackingCostArrayTerm(experimentalJointAngles, ...
    statePositions, indx);
end