EMG with the capability to compute the time derivative. More...

#include <StateDynamics.h>

Inheritance diagram for BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics:

Public Member Functions
	StateDynamics (const utils::Scalar &excitation=0, const utils::Scalar &activation=0)
	Construct the state dynamics.
	StateDynamics (const State &other)
	Construct a state dynamics from another state dynamics.
virtual	~StateDynamics ()
	Destroy class properly.
StateDynamics	DeepCopy () const
	Deep copy of state dynamics.
void	DeepCopy (const StateDynamics &other)
	Deep copy of state dynamics into another state dynamics.
virtual void	setExcitation (const utils::Scalar &val, bool turnOffWarnings=false)
	Set the muscle excitation.
const utils::Scalar &	previousExcitation () const
	Return the previous activation.
virtual void	setActivation (const utils::Scalar &val, bool turnOffWarnings=false)
	Set the muscle activation.
const utils::Scalar &	previousActivation () const
	Return the previous activation.
virtual const utils::Scalar &	timeDerivativeActivation (const utils::Scalar &excitation, const utils::Scalar &activation, const Characteristics &characteristics, bool alreadyNormalized=false)
	Compute and return the activation time derivative from the excitation and activation.
virtual const utils::Scalar &	timeDerivativeActivation (const State &emg, const Characteristics &characteristics, bool alreadyNormalized=false)
	Compute and return the activation time derivative.
virtual const utils::Scalar &	timeDerivativeActivation (const Characteristics &characteristics, bool alreadyNormalized=false)
	Compute and return the activation time derivative.
virtual const utils::Scalar &	timeDerivativeActivation ()
	Return the previously computed activation time derivative.
Public Member Functions inherited from BIORBD_NAMESPACE::internal_forces::muscles::State
	State (const utils::Scalar &excitation=0, const utils::Scalar &activation=0)
	Construct a state.
	State (const State &other)
	Construct a muscle state from another state.
virtual	~State ()
	Destroy class properly.
State	DeepCopy () const
	Deep copy of state.
void	DeepCopy (const State &other)
	Deep copy of state into another state.
const utils::Scalar &	excitation () const
	Return the muscle excitation.
const utils::Scalar &	normalizeExcitation (const State &emgMax, bool turnOffWarnings=false)
	Compute and return the normalized excitation.
void	setExcitationNorm (const utils::Scalar &val)
	Force set the normalized excitation.
const utils::Scalar &	excitationNorm () const
	Return the previously normalized excitation.
const utils::Scalar &	activation () const
	Return the muscle activation.
STATE_TYPE	type () const
	Return the state type.

Protected Member Functions
virtual void	setType ()
	Set the type to simple_state.

Protected Attributes
std::shared_ptr< utils::Scalar >	m_previousExcitation
	The previous excitation.
std::shared_ptr< utils::Scalar >	m_previousActivation
	The previous activation.
std::shared_ptr< utils::Scalar >	m_activationDot
	The activation velocity.
Protected Attributes inherited from BIORBD_NAMESPACE::internal_forces::muscles::State
std::shared_ptr< STATE_TYPE >	m_stateType
	The state type.
std::shared_ptr< utils::Scalar >	m_excitation
	The muscle excitation.
std::shared_ptr< utils::Scalar >	m_excitationNorm
	The normalized excitation.
std::shared_ptr< utils::Scalar >	m_activation
	The muscle activation.

Detailed Description

EMG with the capability to compute the time derivative.

Definition at line 15 of file StateDynamics.h.

Constructor & Destructor Documentation

◆ StateDynamics() [1/2]

internal_forces::muscles::StateDynamics::StateDynamics	(	const utils::Scalar &	excitation = 0,
		const utils::Scalar &	activation = 0 )

Construct the state dynamics.

Parameters

excitation	The muscle excitation
activation	The muscle activation

Definition at line 14 of file StateDynamics.cpp.

◆ StateDynamics() [2/2]

internal_forces::muscles::StateDynamics::StateDynamics ( const State & other )

Construct a state dynamics from another state dynamics.

Parameters

other The other state dynamics

Definition at line 24 of file StateDynamics.cpp.

◆ ~StateDynamics()

internal_forces::muscles::StateDynamics::~StateDynamics ( )

virtual

Destroy class properly.

Definition at line 34 of file StateDynamics.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

internal_forces::muscles::StateDynamics internal_forces::muscles::StateDynamics::DeepCopy ( ) const

Deep copy of state dynamics.

Returns: A deep copy of state dynamics

Definition at line 39 of file StateDynamics.cpp.

◆ DeepCopy() [2/2]

void internal_forces::muscles::StateDynamics::DeepCopy ( const StateDynamics & other )

Deep copy of state dynamics into another state dynamics.

Parameters

other The state dynamics to copy

Definition at line 45 of file StateDynamics.cpp.

◆ previousActivation()

const utils::Scalar & internal_forces::muscles::StateDynamics::previousActivation ( ) const

Return the previous activation.

Returns: The previous activation

Definition at line 155 of file StateDynamics.cpp.

◆ previousExcitation()

const utils::Scalar & internal_forces::muscles::StateDynamics::previousExcitation ( ) const

Return the previous activation.

Returns: The previous activation

Definition at line 143 of file StateDynamics.cpp.

◆ setActivation()

void internal_forces::muscles::StateDynamics::setActivation	(	const utils::Scalar &	val,
		bool	turnOffWarnings = false )

virtual

Set the muscle activation.

Parameters

val	The value of the muscle activation
turnOffWarnings	If the warnings should be OFF or ON.

Even if the warning on the activation being lower than 0 is set to OFF it changes it to 0 anyway, but doesn't send a warning saying it.

Even if the warning on the activation being higher than 1 is set to OFF it changes it to 1 anyway, but doesn't send a warning saying it.

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::State.

Reimplemented in BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan.

Definition at line 147 of file StateDynamics.cpp.

◆ setExcitation()

void internal_forces::muscles::StateDynamics::setExcitation	(	const utils::Scalar &	val,
		bool	turnOffWarnings = false )

virtual

Set the muscle excitation.

Parameters

val	The value of the muscle excitation
turnOffWarnings	If the warnings should be OFF or ON.

Even if the warning on the excitation being lower than 0 is set to OFF it changes it to 0 anyway, but doesn't send a warning saying it.

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::State.

Reimplemented in BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan.

Definition at line 135 of file StateDynamics.cpp.

◆ setType()

void internal_forces::muscles::StateDynamics::setType ( )

protectedvirtual

Set the type to simple_state.

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::State.

Reimplemented in BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan, and BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsDeGroote.

Definition at line 159 of file StateDynamics.cpp.

◆ timeDerivativeActivation() [1/4]

const utils::Scalar & internal_forces::muscles::StateDynamics::timeDerivativeActivation ( )

virtual

Return the previously computed activation time derivative.

Returns: The activation time derivative

Definition at line 131 of file StateDynamics.cpp.

◆ timeDerivativeActivation() [2/4]

const utils::Scalar & internal_forces::muscles::StateDynamics::timeDerivativeActivation	(	const Characteristics &	characteristics,
		bool	alreadyNormalized = false )

virtual

Compute and return the activation time derivative.

Parameters

characteristics	The muscle characteristics
alreadyNormalized	If already normalized

Returns: The activation time derivative

Reimplemented in BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsDeGroote.

Definition at line 75 of file StateDynamics.cpp.

◆ timeDerivativeActivation() [3/4]

const utils::Scalar & internal_forces::muscles::StateDynamics::timeDerivativeActivation	(	const State &	emg,
		const Characteristics &	characteristics,
		bool	alreadyNormalized = false )

virtual

Compute and return the activation time derivative.

Parameters

emg	The emg
characteristics	The muscle characteristics
alreadyNormalized	If already normalized

Returns: The activation time derivative

Definition at line 55 of file StateDynamics.cpp.

◆ timeDerivativeActivation() [4/4]

const utils::Scalar & internal_forces::muscles::StateDynamics::timeDerivativeActivation	(	const utils::Scalar &	excitation,
		const utils::Scalar &	activation,
		const Characteristics &	characteristics,
		bool	alreadyNormalized = false )

virtual

Compute and return the activation time derivative from the excitation and activation.

Parameters

excitation	The muscle excitation
activation	The muscle activation
characteristics	The muscle characteristics
alreadyNormalized	If already normalized

Returns: The activation time derivative

Definition at line 64 of file StateDynamics.cpp.

Member Data Documentation

◆ m_activationDot

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics::m_activationDot

protected

The activation velocity.

Definition at line 137 of file StateDynamics.h.

◆ m_previousActivation

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics::m_previousActivation

protected

The previous activation.

Definition at line 136 of file StateDynamics.h.

◆ m_previousExcitation

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics::m_previousExcitation

protected

The previous excitation.

Definition at line 134 of file StateDynamics.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ StateDynamics() [1/2]

◆ StateDynamics() [2/2]

◆ ~StateDynamics()

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ previousActivation()

◆ previousExcitation()

◆ setActivation()

◆ setExcitation()

◆ setType()

◆ timeDerivativeActivation() [1/4]

◆ timeDerivativeActivation() [2/4]

◆ timeDerivativeActivation() [3/4]

◆ timeDerivativeActivation() [4/4]

Member Data Documentation

◆ m_activationDot

◆ m_previousActivation

◆ m_previousExcitation