Base class of all muscle. More...

#include <Muscle.h>

Inheritance diagram for biorbd::muscles::Muscle:

Public Member Functions
	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...

virtual const biorbd::utils::Scalar &	force (const biorbd::muscles::State &emg)=0
	Computes and returns the forces norm from the EMG. 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)=0
	Return the computed force norm from EMG. More...

virtual const biorbd::utils::Scalar &	force (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::muscles::State &emg, int updateKin=2)=0
	Return the computed force norm from EMG. More...

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

virtual biorbd::utils::Scalar	getForceFromActivation (const biorbd::muscles::State &emg)=0
	Function allowing modification of the way the multiplication is done in computeForce(EMG) More...

Protected Member Functions inherited from biorbd::muscles::Compound
virtual void	setType ()=0
	Set the type of muscle.

Protected Attributes
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

Base class of all muscle.

Definition at line 22 of file Muscle.h.

Constructor & Destructor Documentation

◆ Muscle() [1/6]

biorbd::muscles::Muscle::Muscle	(	const biorbd::utils::String &	name,
		const biorbd::muscles::Geometry &	position,
		const biorbd::muscles::Characteristics &	characteristics
	)

Construct a muscle.

Parameters

name	Name of the muscle
position	Position of the origin/insertion
characteristics	Muscle characteristics from an initial state

Definition at line 24 of file Muscle.cpp.

◆ Muscle() [2/6]

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

Construct a muscle.

Parameters

name	Name of the muscle
position	Position of the origin/insertion
characteristics	Muscle characteristics from an initial state
emg	Dynamic state

Definition at line 36 of file Muscle.cpp.

◆ Muscle() [3/6]

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

Construct a muscle.

Parameters

name	Name of the muscle
position	Position of the origin/insertion
characteristics	Muscle characteristics from an initial state
pathModifiers	The path modifiers

Definition at line 49 of file Muscle.cpp.

◆ Muscle() [4/6]

biorbd::muscles::Muscle::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.

Parameters

name	Name of the muscle
position	Position of the origin/insertion
characteristics	Muscle characteristics from an initial state
pathModifiers	The path modifier
emg	The dynamic state

Definition at line 80 of file Muscle.cpp.

◆ Muscle() [5/6]

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

Construct a muscle from another muscle.

Parameters

other The other muscle

Definition at line 62 of file Muscle.cpp.

◆ Muscle() [6/6]

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

Construct a muscle from another muscle.

Parameters

other The other muscle

Definition at line 71 of file Muscle.cpp.

Member Function Documentation

◆ activationDot()

const biorbd::utils::Scalar & biorbd::muscles::Muscle::activationDot	(	const biorbd::muscles::State &	state,
		bool	alreadyNormalized = `false`
	)		const

Return the activation time derivative.

Parameters

state	The dynamic state
alreadyNormalized	If the emg is already normalized

Returns: The activation time derivative

Definition at line 189 of file Muscle.cpp.

◆ characteristics()

const biorbd::muscles::Characteristics & biorbd::muscles::Muscle::characteristics ( ) const

Return the muscle characteristics.

Returns: The muscle characteristics

Definition at line 232 of file Muscle.cpp.

◆ computeForce()

void biorbd::muscles::Muscle::computeForce ( const biorbd::muscles::State & emg )

protectedvirtual

Computer the forces from a specific emg.

Parameters

emg EMG data

Definition at line 202 of file Muscle.cpp.

◆ DeepCopy()

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

Deep copy of a muscle in new muscle.

Parameters

other The muscle to copy

Definition at line 100 of file Muscle.cpp.

◆ getForceFromActivation()

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

protectedpure virtual

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

Parameters

emg	The EMG data

Returns: The force from activation

Implemented in biorbd::muscles::HillType, and biorbd::muscles::IdealizedActuator.

◆ length()

const biorbd::utils::Scalar & biorbd::muscles::Muscle::length	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		int	updateKin = `2`
	)

Get the length of the muscle.

Parameters

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

Returns: The length of the muscle

Definition at line 149 of file Muscle.cpp.

◆ musclesPointsInGlobal() [1/2]

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

Return the previously computed muscle points in global reference frame.

Returns: The muscle points in global reference frame

Definition at line 216 of file Muscle.cpp.

◆ musclesPointsInGlobal() [2/2]

const std::vector< biorbd::utils::Vector3d > & biorbd::muscles::Muscle::musclesPointsInGlobal	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q
	)

Return the muscle points in global reference frame.

Parameters

model	The joint model
Q	The generalized coordinates

Returns: The muscle points in global reference frame

Definition at line 207 of file Muscle.cpp.

◆ musculoTendonLength()

const biorbd::utils::Scalar & biorbd::muscles::Muscle::musculoTendonLength	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		int	updateKin = `2`
	)

Return the musculo tendon length.

Parameters

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

Returns: The musculo tendon length

Definition at line 162 of file Muscle.cpp.

◆ position()

const biorbd::muscles::Geometry & biorbd::muscles::Muscle::position ( ) const

Return the position of all the points attached to the muscle (0 being the origin)

Returns: The positions

Definition at line 145 of file Muscle.cpp.

◆ setCharacteristics()

void biorbd::muscles::Muscle::setCharacteristics ( const biorbd::muscles::Characteristics & characteristics )

Set the muscle characteristics.

Parameters

characteristics New value of the muscle characteristics

Definition at line 227 of file Muscle.cpp.

◆ setForceIsoMax()

void biorbd::muscles::Muscle::setForceIsoMax ( const biorbd::utils::Scalar & forceMax )

Set the maximal isometric force.

Parameters

forceMax The force to set

Definition at line 221 of file Muscle.cpp.

◆ setPosition()

void biorbd::muscles::Muscle::setPosition ( const biorbd::muscles::Geometry & positions )

Set the position of all the points attached to the muscle (0 being the origin)

Parameters

positions New value of the position

Definition at line 140 of file Muscle.cpp.

◆ setState()

void biorbd::muscles::Muscle::setState ( const biorbd::muscles::State & emg )

Set the dynamic state.

Parameters

emg	The dynamic state value

Definition at line 238 of file Muscle.cpp.

◆ state() [1/2]

biorbd::muscles::State & biorbd::muscles::Muscle::state ( )

Return the dynamic state.

Returns: The dynamic state

Definition at line 258 of file Muscle.cpp.

◆ state() [2/2]

const biorbd::muscles::State & biorbd::muscles::Muscle::state ( ) const

Return the dynamic state.

Returns: The dynamic state

Definition at line 254 of file Muscle.cpp.

◆ updateOrientations() [1/4]

void biorbd::muscles::Muscle::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.

Parameters

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

Definition at line 116 of file Muscle.cpp.

◆ updateOrientations() [2/4]

void biorbd::muscles::Muscle::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.

Parameters

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

Definition at line 108 of file Muscle.cpp.

◆ updateOrientations() [3/4]

void biorbd::muscles::Muscle::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.

Parameters

musclePointsInGlobal	The muscle points
jacoPointsInGlobal	The jacobian matrix

Definition at line 125 of file Muscle.cpp.

◆ updateOrientations() [4/4]

void biorbd::muscles::Muscle::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.

Parameters

musclePointsInGlobal	The muscle points
jacoPointsInGlobal	The Jacobian matrix
Qdot	The genelized velocities

Definition at line 131 of file Muscle.cpp.

◆ velocity()

const biorbd::utils::Scalar & biorbd::muscles::Muscle::velocity	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	updateKin = `true`
	)

Return the velocity of the muscle.

Parameters

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

Returns: The velocity of the muscle

Definition at line 175 of file Muscle.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

◆ Muscle() [1/6]

◆ Muscle() [2/6]

◆ Muscle() [3/6]

◆ Muscle() [4/6]

◆ Muscle() [5/6]

◆ Muscle() [6/6]

Member Function Documentation

◆ activationDot()

◆ characteristics()

◆ computeForce()

◆ DeepCopy()

◆ getForceFromActivation()

◆ length()

◆ musclesPointsInGlobal() [1/2]

◆ musclesPointsInGlobal() [2/2]

◆ musculoTendonLength()

◆ position()

◆ setCharacteristics()

◆ setForceIsoMax()

◆ setPosition()

◆ setState()

◆ state() [1/2]

◆ state() [2/2]

◆ updateOrientations() [1/4]

◆ updateOrientations() [2/4]

◆ updateOrientations() [3/4]

◆ updateOrientations() [4/4]

◆ velocity()