##### https://github.com/kuo-lab/simplelocomotionmodel

Tip revision:

**36da82525dcea1e32a93f16f7b7b5fac250da764**authored by**Art Kuo**on**12 February 2023, 23:16:48 UTC****updated uneventerrain for pub** Tip revision:

**36da825** f_minimizeOptimalCostRW2_MStoMSvariableAlpha.m

```
function cost = f_minimizeOptimalCostRW2_MStoMSvariableAlpha(w, params, latePushOffFlag, x_init, nominalStepSpeedRW)
%cost = 0.5*sum(params.^2); %ORIGINAL
%Variable alpha with swing cost
% [xe,te,x,t,energies,indices,vinterms, alphaNewAll] = onestep3variableAlpha(w, x0, bumps, ctrls, latePushOffFlag, nomMidStanceSpeed, varargin);
[xe,te,x,t,energies,indices,vinterms] = onestep3_MStoMSvariableAlpha(w, x_init, [], params, latePushOffFlag, nominalStepSpeedRW);
indicesHS = indices-10;
stepLen = sin(abs(x(indicesHS,1))) + sin(abs(x(indicesHS+1,1)));
stepTime = [t(indices(1)); diff(t(indices))];
% cost = 0.5*sum(params.^2) + 0.0115 * sum((stepLen./stepTime).^0.42 .* (1./t(indices)).^3); %this is C*(speed.^0.42)*freq^3; The mominal coef is 0.0115 which is number found from SW2 simulations
costCoef = 0.05;%0.0115;%0.05;%0.15;%0.0115;
cost = 0.5*sum(params.^2) + costCoef * sum((stepLen./stepTime).^0.42 .* (1./stepTime).^3); %this is C*(speed.^0.42)*freq^3; The mominal coef is 0.0115 which is number found from SW2 simulations
% [~, ~, xs, ts, ~, indices, ~, ~] = onestep3variableAlpha(w, x_init, [], params2, latePushOffFlag, nominalMSspeed); %this is to try for varibale alpha for eLife
% alpha = get(w, 'alpha');
% [comDistMstoMs, comTimeMstoMs ] = getComDistNTimeMstoMS_variableAlphaRW(xs,ts,indices, alpha, numStepBefore, stepLenNomRW, stepTimeNomRW, nominalMiddleStanceTimeRW, te_beginOnBump);
%
% cost = 0.5*sum(params2(1,:).^2) + 0.0115 * sum((comDistMstoMs./comTimeMstoMs).^0.42 .* (1./comTimeMstoMs).^3); %this is C*(speed.^0.42)*freq^3; The mominal coef is 0.0115 which is number found from SW2 simulations
```