Merge pull request #4273 from opensim-org/example_2d_walking_final_time_fix

Fix inconsistency in final time and filtered coordinate data in `example2DWalking` and `example2DWalkingMetabolics`

Author: nickbianco

Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m

@@ -89,7 +89,7 @@
 track.set_track_reference_position_derivatives(true);
 track.set_apply_tracked_states_to_guess(true);
 track.set_initial_time(0.0);
-track.set_final_time(0.47008941);
+track.set_final_time(0.470089);
 study = track.initialize();
 problem = study.updProblem();
 

Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalkingMetabolics.m

@@ -108,7 +108,7 @@
 track.set_track_reference_position_derivatives(true);
 track.set_apply_tracked_states_to_guess(true);
 track.set_initial_time(0.0);
-track.set_final_time(0.47008941);
+track.set_final_time(0.470089);
 
 % Call initialize() to get the internal MocoStudy. This will allow us to
 % make further modifications to the MocoProblem.

Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py

@@ -90,7 +90,7 @@
 track.set_track_reference_position_derivatives(True)
 track.set_apply_tracked_states_to_guess(True)
 track.set_initial_time(0.0)
-track.set_final_time(0.47008941)
+track.set_final_time(0.470089)
 study = track.initialize()
 problem = study.updProblem()
 

Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py

@@ -109,7 +109,7 @@
 track.set_track_reference_position_derivatives(True)
 track.set_apply_tracked_states_to_guess(True)
 track.set_initial_time(0.0)
-track.set_final_time(0.47008941)
+track.set_final_time(0.470089)
 
 # Call initialize() to get the internal MocoStudy. This will allow us to
 # make further modifications to the MocoProblem.
@@ -216,7 +216,7 @@
 # To report the COT we multiply the metabolic cost objective term by 10 because
 # it had been scaled by 0.1
 print('   ')
-print(f'The metabolic cost of transport is: {10*solution.getObjectiveTerm('met'):.3f} J/kg/m')
+print(f'The metabolic cost of transport is: {10*solution.getObjectiveTerm("met"):.3f} J/kg/m')
 print('   ')
 
 # Visualize the result.

CHANGELOG.md

@@ -47,6 +47,7 @@ performance and stability in wrapping solutions.
 - Fixed a compile-time issue where `OutputReporter` was using the `Model` API without having access to its definition.
 - Added `ScopeExit`, which is a lightweight C++-only class for calling a function/lambda when it destructs (similar to `std::experimental::scope_exit`).
 - Fixed a leak in `Model::extendConnectToModel` that can occur when an exception is thrown midway through model graph creation.
+- Fixed an issue where the final time used for `example2DWalking` and `example2DWalkingMetabolics` was inconsistent with the filtered coordinate reference data. (#4273)
 - Fixed an issue where `StdVectorDouble::get()` would return `java.lang.Double` in Matlab
 - Fixed an issue in the Java bindings where setting the `Manager::IntegratorMethod` via `setIntegratorMethod()` with an integer argument did not work. (#4277)
 

OpenSim/Examples/Moco/example2DWalking/example2DWalking.cpp

@@ -80,7 +80,7 @@ MocoSolution gaitTracking(double controlEffortWeight = 10,
     track.set_track_reference_position_derivatives(true);
     track.set_apply_tracked_states_to_guess(true);
     track.set_initial_time(0.0);
-    track.set_final_time(0.47008941);
+    track.set_final_time(0.470089);
     MocoStudy study = track.initialize();
     MocoProblem& problem = study.updProblem();
 

OpenSim/Examples/Moco/example2DWalking/example2DWalkingMetabolics.cpp

@@ -118,7 +118,7 @@ void gaitTrackingMetabolics() {
     track.set_track_reference_position_derivatives(true);
     track.set_apply_tracked_states_to_guess(true);
     track.set_initial_time(0.0);
-    track.set_final_time(0.47008941);
+    track.set_final_time(0.470089);
     MocoStudy study = track.initialize();
     MocoProblem& problem = study.updProblem();