Muscle.h

#ifndef BIORBD_MUSCLES_H
#define BIORBD_MUSCLES_H
 
#include "biorbdConfig.h"
#include "Muscles/Compound.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class Matrix;
class Vector3d;
}
 
namespace muscles {
class Geometry;
class Characteristics;
class State;
 
class BIORBD_API Muscle : public biorbd::muscles::Compound
{
public:
    Muscle();
 
    Muscle(
            const biorbd::utils::String& name, 
            const biorbd::muscles::Geometry& position, 
            const biorbd::muscles::Characteristics& characteristics); 
 
    Muscle(
            const biorbd::utils::String& name, 
            const biorbd::muscles::Geometry& position, 
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::muscles::State& emg);
 
    Muscle(
            const biorbd::utils::String& name, 
            const biorbd::muscles::Geometry& position, 
            const biorbd::muscles::Characteristics& characteristics, 
            const biorbd::muscles::PathModifiers& pathModifiers);
 
    Muscle(
            const biorbd::utils::String& name, 
            const biorbd::muscles::Geometry& position,
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::muscles::PathModifiers& pathModifiers,
            const biorbd::muscles::State& emg);
 
    Muscle(
            const biorbd::muscles::Muscle& other);
 
    Muscle(
            const std::shared_ptr<biorbd::muscles::Muscle> other);
 
    virtual ~Muscle();
    
    void DeepCopy(
            const biorbd::muscles::Muscle& other);
 
    // Get and set
 
    const biorbd::utils::Scalar& length(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            int updateKin = 2);
 
    const biorbd::utils::Scalar& musculoTendonLength(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            int updateKin = 2);
 
    const biorbd::utils::Scalar& velocity(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& Qdot,
            bool updateKin = true);
 
    void updateOrientations(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            int updateKin = 2);
 
    void updateOrientations(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot,
            int updateKin = 2);
 
    void updateOrientations(
            std::vector<biorbd::utils::Vector3d>& musclePointsInGlobal,
            biorbd::utils::Matrix& jacoPointsInGlobal); 
 
    void updateOrientations(
            std::vector<biorbd::utils::Vector3d>& musclePointsInGlobal,
            biorbd::utils::Matrix& jacoPointsInGlobal,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot);
 
    void setPosition(
            const biorbd::muscles::Geometry &positions);
 
    const biorbd::muscles::Geometry& position() const;
 
    void setCharacteristics(
            const biorbd::muscles::Characteristics &characteristics);
 
    const biorbd::muscles::Characteristics& characteristics() const;
 
    const std::vector<biorbd::utils::Vector3d>& musclesPointsInGlobal(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q);
 
    const std::vector<biorbd::utils::Vector3d>& musclesPointsInGlobal() const;
 
    void setForceIsoMax(
            const biorbd::utils::Scalar& forceMax);
 
    void setState(
            const biorbd::muscles::State &emg);
 
    const biorbd::muscles::State& state() const;
 
    biorbd::muscles::State& state();
 
    const biorbd::utils::Scalar& activationDot(
            const biorbd::muscles::State& state,
            bool alreadyNormalized = false) const;
protected:
    virtual void computeForce(
            const biorbd::muscles::State &emg);
 
    virtual biorbd::utils::Scalar getForceFromActivation(const biorbd::muscles::State &emg) = 0;
 
    std::shared_ptr<biorbd::muscles::Geometry> m_position; 
    std::shared_ptr<biorbd::muscles::Characteristics> m_characteristics; 
    std::shared_ptr<biorbd::muscles::State> m_state; 
 
};
 
}}
 
#endif // BIORBD_MUSCLES_H