Added calcMinimizingExternalTorqueControl cost function

src/core/TreatmentOptimization/IntegrandTerms/calcMinimizingExternalTorqueControl.m

@@ -0,0 +1,34 @@
+% This function is part of the NMSM Pipeline, see file for full license.
+%
+% () -> ()
+% 
+
+% ----------------------------------------------------------------------- %
+% The NMSM Pipeline is a toolkit for model personalization and treatment  %
+% optimization of neuromusculoskeletal models through OpenSim. See        %
+% nmsm.rice.edu and the NOTICE file for more information. The             %
+% NMSM Pipeline is developed at Rice University and supported by the US   %
+% National Institutes of Health (R01 EB030520).                           %
+%                                                                         %
+% Copyright (c) 2021 Rice University and the Authors                      %
+% Author(s): Marleny Vega                                                 %
+%                                                                         %
+% Licensed under the Apache License, Version 2.0 (the "License");         %
+% you may not use this file except in compliance with the License.        %
+% You may obtain a copy of the License at                                 %
+% http://www.apache.org/licenses/LICENSE-2.0.                             %
+%                                                                         %
+% Unless required by applicable law or agreed to in writing, software     %
+% distributed under the License is distributed on an "AS IS" BASIS,       %
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or         %
+% implied. See the License for the specific language governing            %
+% permissions and limitations under the License.                          %
+% ----------------------------------------------------------------------- %
+
+function cost = calcMinimizingExternalTorqueControl(...
+    externalTorqueControl, params, coordinate)
+
+indx = find(strcmp(convertCharsToStrings( ...
+    params.externalControlTorqueNames), coordinate));
+cost = calcMinimizingCostArrayTerm(externalTorqueControl(:, indx));
+end

src/core/TreatmentOptimization/generateCostTermStruct.m

@@ -83,6 +83,7 @@
                 "center_mass_velocity_z_minimization" ...
                 "kinematic_symmetry" ...
                 "walking_speed_goal" ...
+                "external_torque_control_minimization" ...
                 "user_defined", ...
                 ];
         otherwise
@@ -297,6 +298,12 @@
     auxdata, ...
     costTerm);
 
+costTermCalculations.external_torque_control_minimization = @(values, modeledValues, auxdata, costTerm) ...
+    calcMinimizingExternalTorqueControl( ...
+    values.externalTorqueControls, ...
+    auxdata, ...
+    costTerm.coordinate);
+
 costTermCalculations.synergy_vector_tracking = @(values, modeledValues, auxdata, costTerm) ...
     calcTrackingSynergyVectorsDiscrete( ...
     values.synergyWeights, ...