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opensim-org / opensim-moco

Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.
https://opensim.stanford.edu/moco
Apache License 2.0
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Should we support models that already have controllers? #61

Open chrisdembia opened 6 years ago

chrisdembia commented 6 years ago

The direct collocation method is the controller. Should we let models have their own controllers, and treat direct collocation as just another controller?

chrisdembia commented 6 years ago

Saving the Muscollo-generated controls as a controller would help using the Muscollo solution to drive a forward simulation based on the solution, although one could just use the ControlSetController or PrescribedController. We could be smart about which interpolation scheme is used to be consistent with the transcription method.

chrisdembia commented 6 years ago

We could also add an option to MucoProblem to ignore all controllers in the model.