Muscle that has a constant maximal force. More...

#include <IdealizedActuator.h>

Inheritance diagram for biorbd::muscles::IdealizedActuator:

Public Member Functions
	IdealizedActuator ()
	Contruct an idealized actuator.

	IdealizedActuator (const biorbd::utils::String &name, const biorbd::muscles::Geometry &geometry, const biorbd::muscles::Characteristics &characteristics)
	Construct an idealized actuator. More...

	IdealizedActuator (const biorbd::utils::String &name, const biorbd::muscles::Geometry &geometry, const biorbd::muscles::Characteristics &characteristics, const biorbd::muscles::State &emg)
	Construct an idealized actuator. More...

	IdealizedActuator (const biorbd::utils::String &name, const biorbd::muscles::Geometry &geometry, const biorbd::muscles::Characteristics &characteristics, const biorbd::muscles::PathModifiers &pathModifiers)
	Construct an idealized actuator. More...

	IdealizedActuator (const biorbd::utils::String &name, const biorbd::muscles::Geometry &geometry, const biorbd::muscles::Characteristics &characteristics, const biorbd::muscles::PathModifiers &pathModifiers, const biorbd::muscles::State &emg)
	Construct an idealized actuator. More...

	IdealizedActuator (const biorbd::muscles::Muscle &other)
	Construct an idealized actuator from another muscle. More...

	IdealizedActuator (const std::shared_ptr< biorbd::muscles::Muscle > other)
	Construct an idealized actuator from another muscle. More...

biorbd::muscles::IdealizedActuator	DeepCopy () const
	Deep copy of an idealized actuator. More...

void	DeepCopy (const biorbd::muscles::IdealizedActuator &other)
	Deep copy of an idealized actuator from another idealized actuator. More...

virtual const biorbd::utils::Scalar &	force (const biorbd::muscles::State &emg)
	Return the force. More...

virtual const biorbd::utils::Scalar &	force (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::muscles::State &emg, int updateKin=2)
	Return the muscle force vector at origin and insertion. More...

virtual const biorbd::utils::Scalar &	force (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::muscles::State &emg, int updateKin=2)
	Return the muscle force vector at origin and insertion. More...

Public Member Functions inherited from biorbd::muscles::Muscle
	Muscle ()
	Construct a muscle.

	Muscle (const biorbd::utils::String &name, const biorbd::muscles::Geometry &position, const biorbd::muscles::Characteristics &characteristics)
	Construct a muscle. More...

	Muscle (const biorbd::utils::String &name, const biorbd::muscles::Geometry &position, const biorbd::muscles::Characteristics &characteristics, const biorbd::muscles::State &emg)
	Construct a muscle. More...

	Muscle (const biorbd::utils::String &name, const biorbd::muscles::Geometry &position, const biorbd::muscles::Characteristics &characteristics, const biorbd::muscles::PathModifiers &pathModifiers)
	Construct a muscle. More...

	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)
	Construct a muscle. More...

	Muscle (const biorbd::muscles::Muscle &other)
	Construct a muscle from another muscle. More...

	Muscle (const std::shared_ptr< biorbd::muscles::Muscle > other)
	Construct a muscle from another muscle. More...

virtual	~Muscle ()
	Destroy class properly.

void	DeepCopy (const biorbd::muscles::Muscle &other)
	Deep copy of a muscle in new muscle. More...

const biorbd::utils::Scalar &	length (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, int updateKin=2)
	Get the length of the muscle. More...

const biorbd::utils::Scalar &	musculoTendonLength (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, int updateKin=2)
	Return the musculo tendon length. More...

const biorbd::utils::Scalar &	velocity (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool updateKin=true)
	Return the velocity of the muscle. More...

void	updateOrientations (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, int updateKin=2)
	Update the position of the origin and insertion positions of the muscle. More...

void	updateOrientations (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, int updateKin=2)
	Update the position of the origin and insertion nodes of the muscle. More...

void	updateOrientations (std::vector< biorbd::utils::Vector3d > &musclePointsInGlobal, biorbd::utils::Matrix &jacoPointsInGlobal)
	Update by hand the position of the origin and insertion nodes of the muscle. More...

void	updateOrientations (std::vector< biorbd::utils::Vector3d > &musclePointsInGlobal, biorbd::utils::Matrix &jacoPointsInGlobal, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Update by hand the position of the origin and insertion nodes of the muscle. More...

void	setPosition (const biorbd::muscles::Geometry &positions)
	Set the position of all the points attached to the muscle (0 being the origin) More...

const biorbd::muscles::Geometry &	position () const
	Return the position of all the points attached to the muscle (0 being the origin) More...

void	setCharacteristics (const biorbd::muscles::Characteristics &characteristics)
	Set the muscle characteristics. More...

const biorbd::muscles::Characteristics &	characteristics () const
	Return the muscle characteristics. More...

const std::vector< biorbd::utils::Vector3d > &	musclesPointsInGlobal (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Return the muscle points in global reference frame. More...

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

void	setForceIsoMax (const biorbd::utils::Scalar &forceMax)
	Set the maximal isometric force. More...

void	setState (const biorbd::muscles::State &emg)
	Set the dynamic state. More...

const biorbd::muscles::State &	state () const
	Return the dynamic state. More...

biorbd::muscles::State &	state ()
	Return the dynamic state. More...

const biorbd::utils::Scalar &	activationDot (const biorbd::muscles::State &state, bool alreadyNormalized=false) const
	Return the activation time derivative. More...

Public Member Functions inherited from biorbd::muscles::Compound
	Compound ()
	Construct muscle compound.

	Compound (const biorbd::utils::String &name)
	Construct compound. More...

	Compound (const biorbd::utils::String &name, const biorbd::muscles::PathModifiers &pathModifiers)
	Construct compound. More...

	Compound (const biorbd::muscles::Compound &other)
	Construct compound from another muscle. More...

	Compound (const std::shared_ptr< biorbd::muscles::Compound > other)
	Construct compound from another muscle. More...

virtual	~Compound ()
	Destroy class properly.

void	DeepCopy (const biorbd::muscles::Compound &other)
	Deep copy of a compound. More...

void	setName (const biorbd::utils::String &name)
	Set the name of a muscle. More...

const biorbd::utils::String &	name () const
	Return the name of the muscle. More...

biorbd::muscles::MUSCLE_TYPE	type () const
	Return the type of the muscle. More...

const biorbd::muscles::PathModifiers &	pathModifier ()
	Return the path modifier. More...

void	addPathObject (biorbd::utils::Vector3d &wrap)
	Add a path modifier object. More...

virtual const biorbd::utils::Scalar &	force ()
	Return the last computed muscle force norm. More...

Protected Member Functions
virtual biorbd::utils::Scalar	getForceFromActivation (const biorbd::muscles::State &emg)
	Function allowing modification of the way the multiplication is done in computeForce(EMG) More...

virtual void	setType ()
	Set the type to Idealized_actuator.

Protected Member Functions inherited from biorbd::muscles::Muscle
virtual void	computeForce (const biorbd::muscles::State &emg)
	Computer the forces from a specific emg. More...

Additional Inherited Members
Protected Attributes inherited from biorbd::muscles::Muscle
std::shared_ptr< biorbd::muscles::Geometry >	m_position
	The position of all the nodes of the muscle (0 being the origin and last being insertion.

std::shared_ptr< biorbd::muscles::Characteristics >	m_characteristics
	The muscle characteristics.

std::shared_ptr< biorbd::muscles::State >	m_state
	The dynamic state.

Protected Attributes inherited from biorbd::muscles::Compound
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the muscle.

std::shared_ptr< biorbd::muscles::MUSCLE_TYPE >	m_type
	The type of muscle.

std::shared_ptr< biorbd::muscles::PathModifiers >	m_pathChanger
	The set of path modifiers.

std::shared_ptr< biorbd::utils::Scalar >	m_force
	The last computed force.

Detailed Description

Muscle that has a constant maximal force.

Definition at line 13 of file IdealizedActuator.h.

Constructor & Destructor Documentation

◆ IdealizedActuator() [1/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator	(	const biorbd::utils::String &	name,
		const biorbd::muscles::Geometry &	geometry,
		const biorbd::muscles::Characteristics &	characteristics
	)

Construct an idealized actuator.

Parameters

name	The name of the muscle
geometry	The muscle geometry
characteristics	The muscle characteristics

Definition at line 14 of file IdealizedActuator.cpp.

◆ IdealizedActuator() [2/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator	(	const biorbd::utils::String &	name,
		const biorbd::muscles::Geometry &	geometry,
		const biorbd::muscles::Characteristics &	characteristics,
		const biorbd::muscles::State &	emg
	)

Construct an idealized actuator.

Parameters

name	The name of the muscle
geometry	The muscle geometry
characteristics	The muscle characteristics
emg	The muscle dynamic state

Definition at line 23 of file IdealizedActuator.cpp.

◆ IdealizedActuator() [3/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator	(	const biorbd::utils::String &	name,
		const biorbd::muscles::Geometry &	geometry,
		const biorbd::muscles::Characteristics &	characteristics,
		const biorbd::muscles::PathModifiers &	pathModifiers
	)

Construct an idealized actuator.

Parameters

name	The name of the muscle
geometry	The muscle geometry
characteristics	The muscle characteristics
pathModifiers	The set of path modifiers

Definition at line 33 of file IdealizedActuator.cpp.

◆ IdealizedActuator() [4/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator	(	const biorbd::utils::String &	name,
		const biorbd::muscles::Geometry &	geometry,
		const biorbd::muscles::Characteristics &	characteristics,
		const biorbd::muscles::PathModifiers &	pathModifiers,
		const biorbd::muscles::State &	emg
	)

Construct an idealized actuator.

Parameters

name	The name of the muscle
geometry	The muscle geometry
characteristics	The muscle characteristics
pathModifiers	The set of path modifiers
emg	The dynamic state

Definition at line 43 of file IdealizedActuator.cpp.

◆ IdealizedActuator() [5/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator ( const biorbd::muscles::Muscle & other )

Construct an idealized actuator from another muscle.

Parameters

other The other muscle

Definition at line 54 of file IdealizedActuator.cpp.

◆ IdealizedActuator() [6/6]

biorbd::muscles::IdealizedActuator::IdealizedActuator ( const std::shared_ptr< biorbd::muscles::Muscle > other )

Construct an idealized actuator from another muscle.

Parameters

other The other muscle

Definition at line 60 of file IdealizedActuator.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::muscles::IdealizedActuator biorbd::muscles::IdealizedActuator::DeepCopy ( ) const

Deep copy of an idealized actuator.

Returns: A deep copy of an idealized actuator

Definition at line 66 of file IdealizedActuator.cpp.

◆ DeepCopy() [2/2]

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

Deep copy of an idealized actuator from another idealized actuator.

Parameters

other The idealized actuator to copy

Definition at line 73 of file IdealizedActuator.cpp.

◆ force() [1/3]

const biorbd::utils::Scalar & biorbd::muscles::IdealizedActuator::force	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::muscles::State &	emg,
		int	updateKin = `2`
	)

virtual

Return the muscle force vector at origin and insertion.

Parameters

model	The joint model
Q	The generalized coordinates
emg	The EMG data
updateKin	Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])

Returns: The force vector at origin and insertion

Implements biorbd::muscles::Compound.

Definition at line 96 of file IdealizedActuator.cpp.

◆ force() [2/3]

const biorbd::utils::Scalar & biorbd::muscles::IdealizedActuator::force	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::muscles::State &	emg,
		int	updateKin = `2`
	)

virtual

Return the muscle force vector at origin and insertion.

Parameters

model	The joint model
Q	The generalized coordinates
Qdot	The generalized velocities
emg	The EMG data
updateKin	Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])

Returns: The force vector at origin and insertion

Implements biorbd::muscles::Compound.

Definition at line 85 of file IdealizedActuator.cpp.

◆ force() [3/3]

const biorbd::utils::Scalar & biorbd::muscles::IdealizedActuator::force ( const biorbd::muscles::State & emg )

virtual

Return the force.

Parameters

emg EMG data

Returns: The force

Implements biorbd::muscles::Compound.

Definition at line 78 of file IdealizedActuator.cpp.

◆ getForceFromActivation()

biorbd::utils::Scalar biorbd::muscles::IdealizedActuator::getForceFromActivation ( const biorbd::muscles::State & emg )

protectedvirtual

Function allowing modification of the way the multiplication is done in computeForce(EMG)

Parameters

emg	The EMG data

Returns: The force from activation

Implements biorbd::muscles::Muscle.

Definition at line 106 of file IdealizedActuator.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IdealizedActuator() [1/6]

◆ IdealizedActuator() [2/6]

◆ IdealizedActuator() [3/6]

◆ IdealizedActuator() [4/6]

◆ IdealizedActuator() [5/6]

◆ IdealizedActuator() [6/6]

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ force() [1/3]

◆ force() [2/3]

◆ force() [3/3]

◆ getForceFromActivation()