Muscles.h

#ifndef BIORBD_MUSCLES_MUSCLES_H
#define BIORBD_MUSCLES_MUSCLES_H
 
#include <vector>
#include <memory>
 
#include "biorbdConfig.h"
 
namespace biorbd {
namespace utils {
class String;
class Matrix;
class Vector;
class Vector3d;
}
 
namespace rigidbody {
class GeneralizedCoordinates;
class GeneralizedVelocity;
class GeneralizedTorque;
}
 
namespace muscles {
class MuscleGroup;
class State;
class Muscle;
 
class BIORBD_API Muscles
{
public:
    Muscles();
    
    Muscles(const biorbd::muscles::Muscles& other);
    
    virtual ~Muscles();
 
    biorbd::muscles::Muscles DeepCopy() const;
 
    void DeepCopy(
            const biorbd::muscles::Muscles& other);
 
    void addMuscleGroup(
            const biorbd::utils::String &name,
            const biorbd::utils::String &originName,
            const biorbd::utils::String &insertionName);
 
    int getGroupId(
            const biorbd::utils::String &name) const;
 
 
    const std::vector<std::shared_ptr<biorbd::muscles::Muscle>> muscles() const;
 
    const biorbd::muscles::Muscle& muscle(
            unsigned int idx) const;
 
    std::vector<biorbd::utils::String> muscleNames() const;
 
    std::vector<biorbd::muscles::MuscleGroup>& muscleGroups();
 
    const std::vector<biorbd::muscles::MuscleGroup>& muscleGroups() const;
 
    biorbd::muscles::MuscleGroup& muscleGroup(
            unsigned int idx);
 
    const biorbd::muscles::MuscleGroup& muscleGroup(
            unsigned int idx) const;
 
    const biorbd::muscles::MuscleGroup& muscleGroup(
            const biorbd::utils::String& name) const;
 
    void updateMuscles(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            bool updateKin); 
 
    void updateMuscles(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& QDot,
            bool updateKin); 
 
    void updateMuscles(
            std::vector<std::vector<biorbd::utils::Vector3d>>& musclePointsInGlobal,
            std::vector<biorbd::utils::Matrix>& jacoPointsInGlobal); 
 
    void updateMuscles(
            std::vector<std::vector<biorbd::utils::Vector3d>>& musclePointsInGlobal,
            std::vector<biorbd::utils::Matrix>& jacoPointsInGlobal,
            const biorbd::rigidbody::GeneralizedVelocity& QDot);
 
    biorbd::rigidbody::GeneralizedTorque muscularJointTorque(
            const biorbd::utils::Vector& F);
 
    biorbd::rigidbody::GeneralizedTorque muscularJointTorque(
            const biorbd::utils::Vector& F,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& QDot);
 
    biorbd::rigidbody::GeneralizedTorque muscularJointTorque(
            const std::vector<std::shared_ptr<biorbd::muscles::State>>& emg);
 
    biorbd::rigidbody::GeneralizedTorque muscularJointTorque(
            const std::vector<std::shared_ptr<biorbd::muscles::State>>& emg,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& QDot);
 
    biorbd::utils::Vector activationDot(
            const std::vector<std::shared_ptr<biorbd::muscles::State>>& states,
            bool areadyNormalized = true);
 
    biorbd::utils::Matrix musclesLengthJacobian();
 
    biorbd::utils::Matrix musclesLengthJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates& Q);
 
    biorbd::utils::Vector muscleForces(
            const std::vector<std::shared_ptr<biorbd::muscles::State>>& emg);
 
    biorbd::utils::Vector muscleForces(
            const std::vector<std::shared_ptr<biorbd::muscles::State>>& emg,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& QDot);
 
    unsigned int nbMuscleGroups() const; 
 
    unsigned int nbMuscleTotal() const; 
 
    unsigned int nbMuscles() const;
 
protected:
    std::shared_ptr<std::vector<biorbd::muscles::MuscleGroup>> m_mus; 
 
};
 
}}
 
#endif // BIORBD_MUSCLES_MUSCLES_H