IdealizedActuator.h

#ifndef BIORBD_MUSCLES_IDEALIZED_ACTUATOR_H
#define BIORBD_MUSCLES_IDEALIZED_ACTUATOR_H
 
#include "biorbdConfig.h"
#include "Muscles/Muscle.h"
 
namespace biorbd {
namespace muscles {
 
class BIORBD_API IdealizedActuator : public biorbd::muscles::Muscle
{
public:
    IdealizedActuator();
 
    IdealizedActuator(
            const biorbd::utils::String& name,
            const biorbd::muscles::Geometry& geometry,
            const biorbd::muscles::Characteristics& characteristics);
 
    IdealizedActuator(
            const biorbd::utils::String& name,
            const biorbd::muscles::Geometry& geometry,
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::muscles::State& emg);
 
    IdealizedActuator(
            const biorbd::utils::String& name,
            const biorbd::muscles::Geometry& geometry,
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::muscles::PathModifiers& pathModifiers);
 
    IdealizedActuator(
            const biorbd::utils::String& name,
            const biorbd::muscles::Geometry& geometry,
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::muscles::PathModifiers& pathModifiers,
            const biorbd::muscles::State& emg);
 
    IdealizedActuator(
            const biorbd::muscles::Muscle& other);
 
    IdealizedActuator(
            const std::shared_ptr<biorbd::muscles::Muscle> other);
 
    biorbd::muscles::IdealizedActuator DeepCopy() const;
 
    void DeepCopy(const biorbd::muscles::IdealizedActuator& other);
 
    virtual const biorbd::utils::Scalar& force(
            const biorbd::muscles::State& emg);
 
    virtual const biorbd::utils::Scalar& force(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& Qdot,
            const biorbd::muscles::State& emg,
            int updateKin = 2);
 
    virtual const biorbd::utils::Scalar& force(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::muscles::State& emg,
            int updateKin = 2);
protected:
    virtual biorbd::utils::Scalar getForceFromActivation(
            const biorbd::muscles::State &emg);
 
    virtual void setType();
 
};
 
}}
 
#endif // BIORBD_MUSCLES_IDEALIZED_ACTUATOR_H