#include "../libdef.any"

/* ----------------------------------------------------------------------------

This is a posture prediction problem based on the standing model. It 

simulates a person carrying a bag on the shoulder and tries to predict 

the postural changes due to this.

---------------------------------------------------------------------------- */

Main = {

  // ----------------------------------------------------------

  // Path to draw settings

  // ----------------------------------------------------------

  #include "Model/DrawSettings.any"

  // ----------------------------------------------------------

  // Body Model Configuration

  // ----------------------------------------------------------

  #include "Model/BodyModelConfiguration.any"

  // The Mannequin file specifies load-time positions for all the segments

  // in the HumanModel. This is important for the model's ablity to resolve

  // all the kinematic constraints when the model is analyzed.

  // The mannequin file also drives those degrees of freedom of the human 

  // model that are not governed by problem-specific drivers at run time.    

  #include "Model/Mannequin.any" 

  // Model of the human body to be used for the analysis

  #include "<ANYBODY_PATH_BODY>/HumanModel.any"

  /// The actual model where all components are assembled

  AnyFolder Model={

    /// Body model without default drivers

    AnyFolder &BodyModel=.HumanModel.BodyModel;

    /// Reference to the mannequin folder (used by drivers)

    AnyFolder &Mannequin =.HumanModel.Mannequin;

    #include "Model/Environment.any"   

    AnyFolder ModelEnvironmentConnection = {

      // This file converts values in the "Mannequin.any" file to Axes matrices

      #include "Model/JointsAndDrivers.any"

    };

  };

 AnyBodyStudy Study = {

    AnyFolder &Model = .Model;

    tEnd = 1.0;

    Gravity = {0.0, -9.81, 0.0};

    nStep = 1;

    AnyOutputFun MaxAct = {

      Val = .MaxMuscleActivity;

    };

  }; // End of study

  /// This optimization study demonstrates the use of posture prediction.

  /// The underlying assumption is that a person will attain the posture that

  /// minimizes the muscular effort. Thus, the study defines a number of postural

  /// variables and tries to find the combination that reduces the maximum

  /// muscle activity as much as possible.

  AnyOptStudy PostureOptimization = {

    LogFile = "Output/Optimization.log";

    AnyDesVar HipFlex = {

      Val = Main.Model.Mannequin.Posture.Right.HipFlexion;

      Min = Val - 10;

      Max = Val + 10;

    };

    AnyDesVar PelvisThoraxExt = {

      Val = Main.Model.Mannequin.Posture.PelvisThoraxExtension;

      Min = Val - 10;

      Max = Val + 10;

    };

    AnyDesVar PelvisThoraxLat = {

      Val = Main.Model.Mannequin.Posture.PelvisThoraxLateralBending;

      Min = Val - 10;

      Max = Val + 10;

    };

    AnyDesVar CoMx = {

      Val = Main.Model.ModelEnvironmentConnection.Drivers.CoMDriver.DriverPos[0];

      Min = Val - 0.05;

      Max = Val + 0.05;

    };

    /// Objective function: MaxMuscleActivity = Muscular effort.

    AnyDesMeasure MaxMuscleAct = {

      Val = max(..Study.MaxAct());  /// Max of muscle activity

      Type = ObjectiveFun;

    };

    /// Definition of the Analysis

    Analysis = {

      AnyOperation &Analysis = ..Study.InverseDynamics;

    };

  };

  // Include an operation sequence to run all required steps of your application (see Operations tab)

    #include "<ANYBODY_PATH_MODELUTILS>\Operations\RunAppSequence.any"

}; //Main