calcTrackingExternalForcesIntegrand.m

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


function cost = calcTrackingExternalForcesIntegrand(params, ...
    groundReactionsForces, time, forceName)

for i = 1:length(params.contactSurfaces)
    indx = find(strcmp(convertCharsToStrings(params.contactSurfaces{i}. ...
        forceColumns), forceName));
    if ~isempty(indx)
        if params.splineExperimentalGroundReactionForces{i}.dim > 1
            experimentalGroundReactions = ...
                fnval(params.splineExperimentalGroundReactionForces{i}, ...
                time)';
        else
            experimentalGroundReactions = ...
                fnval(params.splineExperimentalGroundReactionForces{i}, ...
                time);
        end
        cost = calcTrackingCostArrayTerm(...
            experimentalGroundReactions, groundReactionsForces{i}, ...
            indx);
    end
end
end