Single phase problem and calcium summation in control #6

Kev1CO · 2024-10-03T16:35:59Z

All Submissions:

Have you followed the guidelines in our Contributing document [docs/contribution.md]?
Have you checked to ensure there aren't other open [Pull Requests] for the same update/change?
Have you opened/linked the issue related to your pull request?
Have you used the tag [WIP] for ongoing changes, and removed it when the pull request was ready?
When ready to merge, have you sent a comment pinging @Kev1CO in it?

New Feature Submissions:

Does your submission pass the tests (if not please explain why this is intended)?
Did you write a proper documentation (docstrings and ReadMe)
Have you linted your code locally prior to submission (using the command: black . -l120 --exclude "external/*")?

Changes to Core Features:

Have you added an explanation of what your changes do and why you'd like us to include them?
Have you written new examples for your core changes, as applicable?
Have you written new tests for your core changes, as applicable?

This change is

fixed absurd control when in linearcontinuous type, enabled nmpc with old model

Ipuch

Reviewed 84 of 97 files at r1, all commit messages.
Reviewable status: 84 of 97 files reviewed, 14 unresolved discussions (waiting on @Kev1CO)

cocofest/custom_constraints.py line 15 at r1 (raw file):

    @staticmethod
    def cn_sum(controller: PenaltyController, stim_time: list, stim_index: list) -> MX | SX:
        intensity_in_model = True if isinstance(controller.model, DingModelIntensityFrequency) else False

model = controller.model
model.compute_lambda_i(...) 
model.compute_r0(....)

Try to put the physics equations always in the model if in the model as much as possible.

cocofest/custom_constraints.py line 28 at r1 (raw file):

    @staticmethod
    def cn_sum_msk(controller: PenaltyController, stim_time: list, model_idx: int, sum_truncation: int) -> MX | SX:

remove truncation

cocofest/custom_constraints.py line 29 at r1 (raw file):

    @staticmethod
    def cn_sum_msk(controller: PenaltyController, stim_time: list, model_idx: int, sum_truncation: int) -> MX | SX:
        model = controller.model.muscles_dynamics_model[model_idx]

@Property such that
model.km_name

cocofest/custom_constraints.py line 47 at r1 (raw file):

        return controller.controls["Cn_sum_" + muscle_name].cx - model.cn_sum_fun(
            r0=r0, t=controller.time.cx, t_stim_prev=stim_time, lambda_i=lambda_i
        )

msk should use the core of cn_sum N times.

cocofest/dynamics/warm_start.py line 21 at r1 (raw file):

    Solver,
)

initial guess of warm start make sure you know

cocofest/examples/getting_started/pulse_duration_optimization.py line 23 at r1 (raw file):

        "min": minimum_pulse_duration,
        "max": 0.0006,
        "bimapping": True,

as_unique_variable ?

cocofest/examples/getting_started/pulse_intensity_optimization.py line 17 at r1 (raw file):

    stim_time=[0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9],
    n_shooting=100,
    final_time=1,

Think the interface twice.

cocofest/models/ding2003.py line 128 at r1 (raw file):

        cn: MX,
        f: MX,
        cn_sum: MX | float = None,

Can we get cn_sum approximate = True ?

cocofest/models/ding2003_integrate.py line 15 at r1 (raw file):

class DingModelFrequencyIntegrate(DingModelFrequency):

DingModelFrequencyApproximated vs DingModelFrequency

cocofest/models/ding2007.py line 134 at r1 (raw file):

            cn,
            f,
            a_scale,

a_scale_as_control ?

cocofest/models/state_configue.py line 215 at r1 (raw file):

            as_states,
            as_controls,
            as_states_dot,

state_confiture

cocofest/optimization/fes_ocp.py line 149 at r1 (raw file):

        pulse_duration : dict
            Dictionary containing parameters related to the duration of the pulse.
            Optional if not using DingModelPulseDurationFrequency or DingModelPulseDurationFrequencyWithFatigue.

document dicts

cocofest/optimization/fes_ocp.py line 377 at r1 (raw file):

                raise NotImplementedError("If added, pulse duration parameter mapping must be a bool type")

        if isinstance(

one function per check

cocofest/optimization/fes_ocp_dynamics_nmpc_cyclic.py line 20 at r1 (raw file):

    def update_stim(self, sol):
        stimulation_time = sol.decision_parameters()["pulse_apparition_time"]
        stim_prev = list(np.round(np.array(stimulation_time) - sol.ocp.phase_time[0], 3))

don't round ! It can be dangerous.

Code quote:

np.round(

Kev1CO · 2024-10-31T20:26:55Z

cocofest/examples/getting_started/pulse_intensity_optimization.py line 17 at r1 (raw file):