Class Geometry of the muscle. More...

#include <Geometry.h>

Public Member Functions
	Geometry ()
	Construct geometry.

	Geometry (const biorbd::utils::Vector3d &origin, const biorbd::utils::Vector3d &insertion)
	Construct geometry. More...

biorbd::muscles::Geometry	DeepCopy () const
	Deep copy of a geometry. More...

void	DeepCopy (const biorbd::muscles::Geometry &other)
	Deep copy of a geometry from another geometry. More...

void	updateKinematics (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, const biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, int updateKin=2)
	Updates the position and dynamic elements of the muscles. More...

void	updateKinematics (biorbd::rigidbody::Joints &model, const biorbd::muscles::Characteristics &characteristics, biorbd::muscles::PathModifiers &pathModifiers, const biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, const biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, int updateKin=2)
	Updates the position and dynamic elements of the muscles. More...

void	updateKinematics (std::vector< biorbd::utils::Vector3d > &musclePointsInGlobal, biorbd::utils::Matrix &jacoPointsInGlobal, const biorbd::rigidbody::GeneralizedVelocity *Qdot=nullptr)
	Updates the position and dynamic elements of the muscles by hand. More...

void	updateKinematics (std::vector< biorbd::utils::Vector3d > &musclePointsInGlobal, biorbd::utils::Matrix &jacoPointsInGlobal, const biorbd::muscles::Characteristics &characteristics, const biorbd::rigidbody::GeneralizedVelocity *Qdot=nullptr)
	Updates the position and dynamic elements of the muscles by hand. More...

void	setOrigin (const biorbd::utils::Vector3d &position)
	Set the origin position in the local reference frame of the muscle. More...

const biorbd::utils::Vector3d &	originInLocal () const
	Return the origin position. More...

void	setInsertionInLocal (const biorbd::utils::Vector3d &position)
	Set the insertion position. More...

const biorbd::utils::Vector3d &	insertionInLocal () const
	Return the insertion position. More...

const biorbd::utils::Vector3d &	originInGlobal () const
	Return the origin position in the global reference. More...

const biorbd::utils::Vector3d &	insertionInGlobal () const
	Return the insertion position in the global reference. More...

const std::vector< biorbd::utils::Vector3d > &	musclesPointsInGlobal () const
	Return the muscles points in the global reference. More...

const biorbd::utils::Scalar &	length () const
	Return the previously computed muscle length. More...

const biorbd::utils::Scalar &	musculoTendonLength () const
	Return the previously computed muscle-tendon length. More...

const biorbd::utils::Scalar &	velocity () const
	Return the previously computed velocity. More...

const biorbd::utils::Matrix &	jacobian () const
	Return the previously computed muscle jacobian. More...

biorbd::utils::Matrix	jacobianOrigin () const
	Return the gradient of the jacobian for the origin node. More...

biorbd::utils::Matrix	jacobianInsertion () const
	Return the gradient of the jacobian for the insertion node. More...

biorbd::utils::Matrix	jacobian (unsigned int idxViaPoint) const
	Return the gradient of the jacobian for the via specified node. More...

const biorbd::utils::Matrix &	jacobianLength () const
	Return the jacobian length of the muscle. More...

Protected Member Functions
void	_updateKinematics (const biorbd::rigidbody::GeneralizedVelocity Qdot, const biorbd::muscles::Characteristics characteristics=nullptr, biorbd::muscles::PathModifiers *pathModifiers=nullptr)
	Actual function that implements the update of the kinematics. More...

const biorbd::utils::Vector3d &	originInGlobal (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Updates the kinematics and return the position of the origin node. More...

const biorbd::utils::Vector3d &	insertionInGlobal (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Updates the kinematics and return the position of the insertion node. More...

void	setMusclesPointsInGlobal (std::vector< biorbd::utils::Vector3d > &ptsInGlobal)
	Set the muscle points in global. More...

void	setMusclesPointsInGlobal (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, biorbd::muscles::PathModifiers *pathModifiers=nullptr)
	Set the muscle points in global. More...

const biorbd::utils::Scalar &	length (const biorbd::muscles::Characteristics characteristics=nullptr, biorbd::muscles::PathModifiers pathModifiers=nullptr)
	Update the kinematics, compute and return the muscle length. More...

const biorbd::utils::Scalar &	velocity (const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Update the kinematics, compute and return the muscle velocity assuming not via points nor wrapping objects. More...

void	setJacobianDimension (biorbd::rigidbody::Joints &model)
	Set the jacobian dimensions. More...

void	jacobian (const biorbd::utils::Matrix &jaco)
	Force a jacobian computed from the user. More...

void	jacobian (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Compute the jacobian. More...

void	computeJacobianLength ()
	Compute the muscle length jacobian.

Protected Attributes
std::shared_ptr< biorbd::utils::Vector3d >	m_origin
	Origin node.

std::shared_ptr< biorbd::utils::Vector3d >	m_insertion
	Insertion node.

std::shared_ptr< biorbd::utils::Vector3d >	m_originInGlobal
	Position of the origin in the global reference.

std::shared_ptr< biorbd::utils::Vector3d >	m_insertionInGlobal
	Position of the insertion node in the global reference.

std::shared_ptr< std::vector< biorbd::utils::Vector3d > >	m_pointsInGlobal
	Position of all the points in the global reference.

std::shared_ptr< std::vector< biorbd::utils::Vector3d > >	m_pointsInLocal
	Position of all the points in local.

std::shared_ptr< biorbd::utils::Matrix >	m_jacobian
	The jacobian matrix.

std::shared_ptr< biorbd::utils::Matrix >	m_G
	Internal matrix of the jacobian dimension to speed up calculation.

std::shared_ptr< biorbd::utils::Matrix >	m_jacobianLength
	The muscle length jacobian.

std::shared_ptr< biorbd::utils::Scalar >	m_length
	Muscle length.

std::shared_ptr< biorbd::utils::Scalar >	m_muscleTendonLength
	Muscle tendon length.

std::shared_ptr< biorbd::utils::Scalar >	m_velocity
	Velocity of the muscular elongation.

std::shared_ptr< bool >	m_isGeometryComputed
	To know if the geometry was computed at least once.

std::shared_ptr< bool >	m_isVelocityComputed
	To know if the velocity was computed in the last update.

std::shared_ptr< bool >	m_posAndJacoWereForced
	To know if the override was used on the muscle position and the Jacobian.

Detailed Description

Class Geometry of the muscle.

Definition at line 29 of file Geometry.h.

Constructor & Destructor Documentation

◆ Geometry()

biorbd::muscles::Geometry::Geometry	(	const biorbd::utils::Vector3d &	origin,
		const biorbd::utils::Vector3d &	insertion
	)

Construct geometry.

Parameters

origin	The origin node of the muscle
insertion	The insertion node of the muscle

Definition at line 38 of file Geometry.cpp.

Member Function Documentation

◆ _updateKinematics()

void biorbd::muscles::Geometry::_updateKinematics	(	const biorbd::rigidbody::GeneralizedVelocity *	Qdot,
		const biorbd::muscles::Characteristics *	characteristics = `nullptr`,
		biorbd::muscles::PathModifiers *	pathModifiers = `nullptr`
	)

protected

Actual function that implements the update of the kinematics.

Parameters

Qdot	The generalized velocities
characteristics	The muscle characteristics
pathModifiers	The set of path modifiers

Definition at line 269 of file Geometry.cpp.

◆ DeepCopy() [1/2]

biorbd::muscles::Geometry biorbd::muscles::Geometry::DeepCopy ( ) const

Deep copy of a geometry.

Returns: A deep copy of a geometry

Definition at line 60 of file Geometry.cpp.

◆ DeepCopy() [2/2]

void biorbd::muscles::Geometry::DeepCopy ( const biorbd::muscles::Geometry & other )

Deep copy of a geometry from another geometry.

Parameters

other The geometry to copy

Definition at line 67 of file Geometry.cpp.

◆ insertionInGlobal() [1/2]

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::insertionInGlobal ( ) const

Return the insertion position in the global reference.

Returns: The insertion position in the global reference

Geometry (updateKin) must be computed at least once before calling

Definition at line 211 of file Geometry.cpp.

◆ insertionInGlobal() [2/2]

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::insertionInGlobal	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q
	)

protected

Updates the kinematics and return the position of the insertion node.

Parameters

model	The joint model
Q	The generalized coordinates of the model

Returns: The origin position in the global reference

Definition at line 297 of file Geometry.cpp.

◆ insertionInLocal()

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::insertionInLocal ( ) const

Return the insertion position.

Returns: The insertion position

Definition at line 200 of file Geometry.cpp.

◆ jacobian() [1/4]

const biorbd::utils::Matrix & biorbd::muscles::Geometry::jacobian ( ) const

Return the previously computed muscle jacobian.

Returns: The muscle jacobian

Definition at line 240 of file Geometry.cpp.

◆ jacobian() [2/4]

void biorbd::muscles::Geometry::jacobian	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q
	)

protected

Compute the jacobian.

Parameters

model	The joint model
Q	The generalize coordinates

Definition at line 445 of file Geometry.cpp.

◆ jacobian() [3/4]

void biorbd::muscles::Geometry::jacobian ( const biorbd::utils::Matrix & jaco )

protected

Force a jacobian computed from the user.

Parameters

jaco	The jacobian

Definition at line 439 of file Geometry.cpp.

◆ jacobian() [4/4]

biorbd::utils::Matrix biorbd::muscles::Geometry::jacobian ( unsigned int idxViaPoint ) const

Return the gradient of the jacobian for the via specified node.

idxViaPoint the index of the via point (0 being the the origin)

Returns: The via point's node jacobian

Definition at line 255 of file Geometry.cpp.

◆ jacobianInsertion()

biorbd::utils::Matrix biorbd::muscles::Geometry::jacobianInsertion ( ) const

Return the gradient of the jacobian for the insertion node.

Returns: The insertion's node jacobian

Definition at line 250 of file Geometry.cpp.

◆ jacobianLength()

const biorbd::utils::Matrix & biorbd::muscles::Geometry::jacobianLength ( ) const

Return the jacobian length of the muscle.

Returns: The jacobian length

Definition at line 261 of file Geometry.cpp.

◆ jacobianOrigin()

biorbd::utils::Matrix biorbd::muscles::Geometry::jacobianOrigin ( ) const

Return the gradient of the jacobian for the origin node.

Returns: The origin's node jacobian

Definition at line 245 of file Geometry.cpp.

◆ length() [1/2]

const biorbd::utils::Scalar & biorbd::muscles::Geometry::length ( ) const

Return the previously computed muscle length.

Returns: The muscle lengh

Definition at line 223 of file Geometry.cpp.

◆ length() [2/2]

const biorbd::utils::Scalar & biorbd::muscles::Geometry::length	(	const biorbd::muscles::Characteristics *	characteristics = `nullptr`,
		biorbd::muscles::PathModifiers *	pathModifiers = `nullptr`
	)

protected

Update the kinematics, compute and return the muscle length.

Parameters

characteristics	The muscle characteristics
pathModifiers	The set of path modifiers

Returns: The muscle length

Definition at line 389 of file Geometry.cpp.

◆ musclesPointsInGlobal()

const std::vector< biorbd::utils::Vector3d > & biorbd::muscles::Geometry::musclesPointsInGlobal ( ) const

Return the muscles points in the global reference.

Returns: The muscle points in the global reference

Geometry (updateKin) must be computed at least once before calling. Return already computed via points

Definition at line 216 of file Geometry.cpp.

◆ musculoTendonLength()

const biorbd::utils::Scalar & biorbd::muscles::Geometry::musculoTendonLength ( ) const

Return the previously computed muscle-tendon length.

Returns: The muscle-tendon length

Definition at line 228 of file Geometry.cpp.

◆ originInGlobal() [1/2]

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::originInGlobal ( ) const

Return the origin position in the global reference.

Returns: The origin position in the global reference

Geometry (updateKin) must be computed at least once before calling originInLocal()

Definition at line 206 of file Geometry.cpp.

◆ originInGlobal() [2/2]

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::originInGlobal	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q
	)

protected

Updates the kinematics and return the position of the origin node.

Parameters

model	The joint model
Q	The generalized coordinates of the model

Returns: The origin position in the global reference

Definition at line 288 of file Geometry.cpp.

◆ originInLocal()

const biorbd::utils::Vector3d & biorbd::muscles::Geometry::originInLocal ( ) const

Return the origin position.

Returns: The origin position

Definition at line 190 of file Geometry.cpp.

◆ setInsertionInLocal()

void biorbd::muscles::Geometry::setInsertionInLocal ( const biorbd::utils::Vector3d & position )

Set the insertion position.

Parameters

position The insertion position value to set

Definition at line 195 of file Geometry.cpp.

◆ setJacobianDimension()

void biorbd::muscles::Geometry::setJacobianDimension ( biorbd::rigidbody::Joints & model )

protected

Set the jacobian dimensions.

Parameters

model The joint model

Definition at line 433 of file Geometry.cpp.

◆ setMusclesPointsInGlobal() [1/2]

void biorbd::muscles::Geometry::setMusclesPointsInGlobal	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		biorbd::muscles::PathModifiers *	pathModifiers = `nullptr`
	)

protected

Set the muscle points in global.

Parameters

model	The joint model
Q	The generalized coordinates of the model
pathModifiers	The set of path modifiers

Definition at line 314 of file Geometry.cpp.

◆ setMusclesPointsInGlobal() [2/2]

void biorbd::muscles::Geometry::setMusclesPointsInGlobal ( std::vector< biorbd::utils::Vector3d > & ptsInGlobal )

protected

Set the muscle points in global.

Parameters

ptsInGlobal The new muscle points in global

Definition at line 306 of file Geometry.cpp.

◆ setOrigin()

void biorbd::muscles::Geometry::setOrigin ( const biorbd::utils::Vector3d & position )

Set the origin position in the local reference frame of the muscle.

Parameters

position The origin position to set

Definition at line 185 of file Geometry.cpp.

◆ updateKinematics() [1/4]

void biorbd::muscles::Geometry::updateKinematics	(	biorbd::rigidbody::Joints &	model,
		const biorbd::muscles::Characteristics &	characteristics,
		biorbd::muscles::PathModifiers &	pathModifiers,
		const biorbd::rigidbody::GeneralizedCoordinates *	Q = `nullptr`,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`,
		int	updateKin = `2`
	)

Updates the position and dynamic elements of the muscles.

Parameters

model	The joint model
characteristics	The muscle characteristics
pathModifiers	The path modifiers
Q	The generalized coordinates of the joints (not needed if updateKin is less than 2)
Qdot	The generalized velocities of the joints (not needed if updateKin is less than 2)
updateKin	Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])

updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot

Definition at line 120 of file Geometry.cpp.

◆ updateKinematics() [2/4]

void biorbd::muscles::Geometry::updateKinematics	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates *	Q = `nullptr`,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`,
		int	updateKin = `2`
	)

Updates the position and dynamic elements of the muscles.

Parameters

model	The joint model
Q	The generalized coordinates of the joints (not needed if updateKin is less than 2)
Qdot	The generalized velocities of the joints (not needed if updateKin is less than 2)
updateKin	Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])

updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot

Definition at line 92 of file Geometry.cpp.

◆ updateKinematics() [3/4]

void biorbd::muscles::Geometry::updateKinematics	(	std::vector< biorbd::utils::Vector3d > &	musclePointsInGlobal,
		biorbd::utils::Matrix &	jacoPointsInGlobal,
		const biorbd::muscles::Characteristics &	characteristics,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`
	)

Updates the position and dynamic elements of the muscles by hand.

Parameters

musclePointsInGlobal	Position of all the points in global
jacoPointsInGlobal	Position of all the Jacobian points in global
characteristics	The muscle characteristics
Qdot	The generalized velocities of the joints

updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot

Definition at line 166 of file Geometry.cpp.

◆ updateKinematics() [4/4]

void biorbd::muscles::Geometry::updateKinematics	(	std::vector< biorbd::utils::Vector3d > &	musclePointsInGlobal,
		biorbd::utils::Matrix &	jacoPointsInGlobal,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`
	)

Updates the position and dynamic elements of the muscles by hand.

Parameters

musclePointsInGlobal	Position of all the points in global
jacoPointsInGlobal	Position of all the Jacobian points in global
Qdot	The generalized velocities of the joints

updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot

Definition at line 149 of file Geometry.cpp.

◆ velocity() [1/2]

const biorbd::utils::Scalar & biorbd::muscles::Geometry::velocity ( ) const

Return the previously computed velocity.

Returns: The computed velocity

Definition at line 233 of file Geometry.cpp.

◆ velocity() [2/2]

const biorbd::utils::Scalar & biorbd::muscles::Geometry::velocity ( const biorbd::rigidbody::GeneralizedVelocity & Qdot )

protected

Update the kinematics, compute and return the muscle velocity assuming not via points nor wrapping objects.

Parameters

Qdot	The generalized velocities

Returns: The muscle velocity

Definition at line 425 of file Geometry.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Geometry()

Member Function Documentation

◆ _updateKinematics()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ insertionInGlobal() [1/2]

◆ insertionInGlobal() [2/2]

◆ insertionInLocal()

◆ jacobian() [1/4]

◆ jacobian() [2/4]

◆ jacobian() [3/4]

◆ jacobian() [4/4]

◆ jacobianInsertion()

◆ jacobianLength()

◆ jacobianOrigin()

◆ length() [1/2]

◆ length() [2/2]

◆ musclesPointsInGlobal()

◆ musculoTendonLength()

◆ originInGlobal() [1/2]

◆ originInGlobal() [2/2]

◆ originInLocal()

◆ setInsertionInLocal()

◆ setJacobianDimension()

◆ setMusclesPointsInGlobal() [1/2]

◆ setMusclesPointsInGlobal() [2/2]

◆ setOrigin()

◆ updateKinematics() [1/4]

◆ updateKinematics() [2/4]

◆ updateKinematics() [3/4]

◆ updateKinematics() [4/4]

◆ velocity() [1/2]

◆ velocity() [2/2]