Time derivative of activation as described by Buchanan (https://www.sciencedirect.com/science/article/pii/S0021929003001520). More...

#include <StateDynamicsBuchanan.h>

Inheritance diagram for BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan:

Public Member Functions
	StateDynamicsBuchanan (const utils::Scalar &neuralCommand=0, const utils::Scalar &excitation=0)
	Construct state dynamics.
	StateDynamicsBuchanan (const State &other)
	Construct a state dynamics Buchanan from another state dynamics Buchanan.
	~StateDynamicsBuchanan ()
	Destroy class properly.
StateDynamicsBuchanan	DeepCopy () const
	Deep copy of state dynamics Buchanan.
void	DeepCopy (const StateDynamicsBuchanan &other)
	Deep copy of state dynamics Buchanan into another state dynamics Buchanan.
virtual const utils::Scalar &	timeDerivativeExcitation (const Characteristics &characteristics, bool alreadyNormalized)
	Compute and return the excitation velocity.
virtual void	setExcitation (const utils::Scalar &val, bool turnOffWarnings=false)
	Set the muscle excitation.
virtual void	setNeuralCommand (const utils::Scalar &val)
	Set the neural command.
void	shapeFactor (const utils::Scalar &shape_factor)
	Set the shape factor.
const utils::Scalar &	shapeFactor () const
	Return the shape factor.
virtual void	setActivation (const utils::Scalar &notUsed, bool turnOffWarnings=false)
	Set the muscle activation.
Public Member Functions inherited from BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics
	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.
const utils::Scalar &	previousExcitation () const
	Return the previous 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 type to Buchanan.

Protected Attributes
std::shared_ptr< utils::Scalar >	m_neuralCommand
	The muscle neural command.
std::shared_ptr< utils::Scalar >	m_shapeFactor
	The shape factor (Buchanan2004, march 22nd, 2018).
std::shared_ptr< utils::Scalar >	m_excitationDot
	The excitation velocity.
Protected Attributes inherited from BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics
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

Time derivative of activation as described by Buchanan (https://www.sciencedirect.com/science/article/pii/S0021929003001520).

Definition at line 15 of file StateDynamicsBuchanan.h.

Constructor & Destructor Documentation

◆ StateDynamicsBuchanan() [1/2]

internal_forces::muscles::StateDynamicsBuchanan::StateDynamicsBuchanan	(	const utils::Scalar &	neuralCommand = 0,
		const utils::Scalar &	excitation = 0 )

Construct state dynamics.

Parameters

neuralCommand	The muscle neural command
excitation	The muscle excitation

Definition at line 8 of file StateDynamicsBuchanan.cpp.

◆ StateDynamicsBuchanan() [2/2]

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

Construct a state dynamics Buchanan from another state dynamics Buchanan.

Parameters

other The other state dynamics Buchanan

Definition at line 20 of file StateDynamicsBuchanan.cpp.

◆ ~StateDynamicsBuchanan()

internal_forces::muscles::StateDynamicsBuchanan::~StateDynamicsBuchanan ( )

Destroy class properly.

Definition at line 31 of file StateDynamicsBuchanan.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

internal_forces::muscles::StateDynamicsBuchanan internal_forces::muscles::StateDynamicsBuchanan::DeepCopy ( ) const

Deep copy of state dynamics Buchanan.

Returns: A deep copy of state dynamics Buchanan

Definition at line 36 of file StateDynamicsBuchanan.cpp.

◆ DeepCopy() [2/2]

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

Deep copy of state dynamics Buchanan into another state dynamics Buchanan.

Parameters

other The state dynamics Buchanan to copy

Definition at line 42 of file StateDynamicsBuchanan.cpp.

◆ setActivation()

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

virtual

Set the muscle activation.

Parameters

notUsed	the activation is computed from the neuralCommand and excitation
turnOffWarnings	If the warnings should be OFF or ON.

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics.

Definition at line 101 of file StateDynamicsBuchanan.cpp.

◆ setExcitation()

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

virtual

Set the muscle excitation.

Parameters

val	Value of the muscle excitation
turnOffWarnings	If the warning should be silenced

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics.

Definition at line 87 of file StateDynamicsBuchanan.cpp.

◆ setNeuralCommand()

void internal_forces::muscles::StateDynamicsBuchanan::setNeuralCommand ( const utils::Scalar & val )

virtual

Set the neural command.

Parameters

val	Value of the neural command

Definition at line 96 of file StateDynamicsBuchanan.cpp.

◆ setType()

void internal_forces::muscles::StateDynamicsBuchanan::setType ( )

protectedvirtual

Set type to Buchanan.

Reimplemented from BIORBD_NAMESPACE::internal_forces::muscles::StateDynamics.

Definition at line 109 of file StateDynamicsBuchanan.cpp.

◆ shapeFactor() [1/2]

const utils::Scalar & internal_forces::muscles::StateDynamicsBuchanan::shapeFactor ( ) const

Return the shape factor.

Returns: The shape factor

Definition at line 59 of file StateDynamicsBuchanan.cpp.

◆ shapeFactor() [2/2]

void internal_forces::muscles::StateDynamicsBuchanan::shapeFactor ( const utils::Scalar & shape_factor )

Set the shape factor.

Parameters

shape_factor Value of the shape factor

Definition at line 50 of file StateDynamicsBuchanan.cpp.

◆ timeDerivativeExcitation()

const utils::Scalar & internal_forces::muscles::StateDynamicsBuchanan::timeDerivativeExcitation	(	const Characteristics &	characteristics,
		bool	alreadyNormalized )

virtual

Compute and return the excitation velocity.

Parameters

characteristics	The muscle characteristics
alreadyNormalized	If already normalized

Returns: The excitation time derivative

Definition at line 64 of file StateDynamicsBuchanan.cpp.

Member Data Documentation

◆ m_excitationDot

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan::m_excitationDot

protected

The excitation velocity.

Definition at line 108 of file StateDynamicsBuchanan.h.

◆ m_neuralCommand

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan::m_neuralCommand

protected

The muscle neural command.

Definition at line 105 of file StateDynamicsBuchanan.h.

◆ m_shapeFactor

std::shared_ptr<utils::Scalar> BIORBD_NAMESPACE::internal_forces::muscles::StateDynamicsBuchanan::m_shapeFactor

protected

The shape factor (Buchanan2004, march 22nd, 2018).

Definition at line 107 of file StateDynamicsBuchanan.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

◆ StateDynamicsBuchanan() [1/2]

◆ StateDynamicsBuchanan() [2/2]

◆ ~StateDynamicsBuchanan()

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ setActivation()

◆ setExcitation()

◆ setNeuralCommand()

◆ setType()

◆ shapeFactor() [1/2]

◆ shapeFactor() [2/2]

◆ timeDerivativeExcitation()

Member Data Documentation

◆ m_excitationDot

◆ m_neuralCommand

◆ m_shapeFactor