Muscle group holder. More...

#include <Muscles.h>

Public Member Functions
	Muscles ()
	Construct muscles.

	Muscles (const biorbd::muscles::Muscles &other)
	Construct muscles from other muscles. More...

virtual	~Muscles ()
	Destroy class properly.

biorbd::muscles::Muscles	DeepCopy () const
	Deep copy of muscles. More...

void	DeepCopy (const biorbd::muscles::Muscles &other)
	Deep copy of muscles into another mucles. More...

void	addMuscleGroup (const biorbd::utils::String &name, const biorbd::utils::String &originName, const biorbd::utils::String &insertionName)
	Add a muscle group to the set. More...

int	getGroupId (const biorbd::utils::String &name) const
	Return the group ID. More...

const std::vector< std::shared_ptr< biorbd::muscles::Muscle > >	muscles () const
	Returns all the muscles. It sorts the muscles by group. More...

const biorbd::muscles::Muscle &	muscle (unsigned int idx) const
	Returns a specific muscle sorted by muscles() More...

std::vector< biorbd::utils::String >	muscleNames () const
	muscleNames Return the names for all the muscle ordered by their respective group name More...

std::vector< biorbd::muscles::MuscleGroup > &	muscleGroups ()
	Return the muscle groups. More...

const std::vector< biorbd::muscles::MuscleGroup > &	muscleGroups () const
	Return the muscle groups. More...

biorbd::muscles::MuscleGroup &	muscleGroup (unsigned int idx)
	Return the muscle group of specific index. More...

const biorbd::muscles::MuscleGroup &	muscleGroup (unsigned int idx) const
	Return the muscle group of specific index. More...

const biorbd::muscles::MuscleGroup &	muscleGroup (const biorbd::utils::String &name) const
	Return the muscle group of specific name. More...

void	updateMuscles (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin)
	Update all the muscles (positions, jacobian, etc.) More...

void	updateMuscles (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, bool updateKin)
	Update all the muscles (positions, jacobian, etc.) More...

void	updateMuscles (std::vector< std::vector< biorbd::utils::Vector3d >> &musclePointsInGlobal, std::vector< biorbd::utils::Matrix > &jacoPointsInGlobal)
	Update by hand all the muscles (positions, jacobian, velocity, etc.) More...

void	updateMuscles (std::vector< std::vector< biorbd::utils::Vector3d >> &musclePointsInGlobal, std::vector< biorbd::utils::Matrix > &jacoPointsInGlobal, const biorbd::rigidbody::GeneralizedVelocity &QDot)
	Update by hand all the muscles (positions, jacobian, velocity, etc.) More...

biorbd::rigidbody::GeneralizedTorque	muscularJointTorque (const biorbd::utils::Vector &F)
	Compute the muscular joint torque. More...

biorbd::rigidbody::GeneralizedTorque	muscularJointTorque (const biorbd::utils::Vector &F, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot)
	Compute the muscular joint torque. More...

biorbd::rigidbody::GeneralizedTorque	muscularJointTorque (const std::vector< std::shared_ptr< biorbd::muscles::State >> &emg)
	Compute the muscular joint torque. More...

biorbd::rigidbody::GeneralizedTorque	muscularJointTorque (const std::vector< std::shared_ptr< biorbd::muscles::State >> &emg, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot)
	Compute the muscular joint torque. More...

biorbd::utils::Vector	activationDot (const std::vector< std::shared_ptr< biorbd::muscles::State >> &states, bool areadyNormalized=true)
	Interface that returns in a vector all the activations dot. More...

biorbd::utils::Matrix	musclesLengthJacobian ()
	Return the previously computed muscle length jacobian. More...

biorbd::utils::Matrix	musclesLengthJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Compute and return the muscle length Jacobian. More...

biorbd::utils::Vector	muscleForces (const std::vector< std::shared_ptr< biorbd::muscles::State >> &emg)
	Compute and return the muscle forces. More...

biorbd::utils::Vector	muscleForces (const std::vector< std::shared_ptr< biorbd::muscles::State >> &emg, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot)
	Compute and return the muscle forces. More...

unsigned int	nbMuscleGroups () const
	Return the total number of muscle groups. More...

unsigned int	nbMuscleTotal () const
	Return the total number of muscle. More...

unsigned int	nbMuscles () const
	Return the total number of muscle. More...

Protected Attributes
std::shared_ptr< std::vector< biorbd::muscles::MuscleGroup > >	m_mus
	Holder for muscle groups.

Detailed Description

Muscle group holder.

Definition at line 31 of file Muscles.h.

Constructor & Destructor Documentation

◆ Muscles()

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

Construct muscles from other muscles.

Parameters

other The other muscles

Definition at line 21 of file Muscles.cpp.

Member Function Documentation

◆ activationDot()

biorbd::utils::Vector biorbd::muscles::Muscles::activationDot	(	const std::vector< std::shared_ptr< biorbd::muscles::State >> &	states,
		bool	areadyNormalized = `true`
	)

Interface that returns in a vector all the activations dot.

Parameters

states	The state of the muscle
areadyNormalized	If the states are already normalized

Returns: All the activations dot

Definition at line 167 of file Muscles.cpp.

◆ addMuscleGroup()

void biorbd::muscles::Muscles::addMuscleGroup	(	const biorbd::utils::String &	name,
		const biorbd::utils::String &	originName,
		const biorbd::utils::String &	insertionName
	)

Add a muscle group to the set.

Parameters

name	The name of the muscle group
originName	The origin segment name where the origin lies
insertionName	The insertion segment name where the origin lies

Definition at line 47 of file Muscles.cpp.

◆ DeepCopy() [1/2]

biorbd::muscles::Muscles biorbd::muscles::Muscles::DeepCopy ( ) const

Deep copy of muscles.

Returns: A deep copy of muscles

Definition at line 32 of file Muscles.cpp.

◆ DeepCopy() [2/2]

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

Deep copy of muscles into another mucles.

Parameters

other The muscles to copy

Definition at line 39 of file Muscles.cpp.

◆ getGroupId()

int biorbd::muscles::Muscles::getGroupId ( const biorbd::utils::String & name ) const

Return the group ID.

Parameters

name	The name of the muscle group

Returns: The group ID (returns -1 if not found)

Definition at line 58 of file Muscles.cpp.

◆ muscle()

const biorbd::muscles::Muscle & biorbd::muscles::Muscles::muscle ( unsigned int idx ) const

Returns a specific muscle sorted by muscles()

Parameters

idx	The muscle index

Returns: The muscle

Definition at line 77 of file Muscles.cpp.

◆ muscleForces() [1/2]

biorbd::utils::Vector biorbd::muscles::Muscles::muscleForces ( const std::vector< std::shared_ptr< biorbd::muscles::State >> & emg )

Compute and return the muscle forces.

Parameters

emg	The dynamic state

Returns: The muscle forces

Warning: This function assumes that muscles are already updated (via updateMuscles)

Definition at line 185 of file Muscles.cpp.

◆ muscleForces() [2/2]

biorbd::utils::Vector biorbd::muscles::Muscles::muscleForces	(	const std::vector< std::shared_ptr< biorbd::muscles::State >> &	emg,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot
	)

Compute and return the muscle forces.

Parameters

emg	The dynamic state
Q	The generalized coordinates
QDot	The generalized velocities

Returns: The muscle forces

Definition at line 203 of file Muscles.cpp.

◆ muscleGroup() [1/3]

const biorbd::muscles::MuscleGroup & biorbd::muscles::Muscles::muscleGroup ( const biorbd::utils::String & name ) const

Return the muscle group of specific name.

Parameters

name	The name of the muscle group to return

Returns: A muscle group

Definition at line 121 of file Muscles.cpp.

◆ muscleGroup() [2/3]

biorbd::muscles::MuscleGroup & biorbd::muscles::Muscles::muscleGroup ( unsigned int idx )

Return the muscle group of specific index.

Parameters

idx	The index of the muscle group to return

Returns: A muscle group

Definition at line 111 of file Muscles.cpp.

◆ muscleGroup() [3/3]

const biorbd::muscles::MuscleGroup & biorbd::muscles::Muscles::muscleGroup ( unsigned int idx ) const

Return the muscle group of specific index.

Parameters

idx	The index of the muscle group to return

Returns: A muscle group

Definition at line 117 of file Muscles.cpp.

◆ muscleGroups() [1/2]

std::vector< biorbd::muscles::MuscleGroup > & biorbd::muscles::Muscles::muscleGroups ( )

Return the muscle groups.

Returns: The muscle groups

Definition at line 101 of file Muscles.cpp.

◆ muscleGroups() [2/2]

const std::vector< biorbd::muscles::MuscleGroup > & biorbd::muscles::Muscles::muscleGroups ( ) const

Return the muscle groups.

Returns: The muscle groups

Definition at line 106 of file Muscles.cpp.

◆ muscleNames()

std::vector< biorbd::utils::String > biorbd::muscles::Muscles::muscleNames ( ) const

muscleNames Return the names for all the muscle ordered by their respective group name

Returns: All the muscle names

Definition at line 90 of file Muscles.cpp.

◆ muscles()

const std::vector< std::shared_ptr< biorbd::muscles::Muscle > > biorbd::muscles::Muscles::muscles ( ) const

Returns all the muscles. It sorts the muscles by group.

Returns: All the muscle

Definition at line 66 of file Muscles.cpp.

◆ musclesLengthJacobian() [1/2]

biorbd::utils::Matrix biorbd::muscles::Muscles::musclesLengthJacobian ( )

Return the previously computed muscle length jacobian.

Returns: The muscle length jacobian

Definition at line 218 of file Muscles.cpp.

◆ musclesLengthJacobian() [2/2]

biorbd::utils::Matrix biorbd::muscles::Muscles::musclesLengthJacobian ( const biorbd::rigidbody::GeneralizedCoordinates & Q )

Compute and return the muscle length Jacobian.

Parameters

Q	The generalized coordinates

Returns: The muscle length Jacobian

Definition at line 233 of file Muscles.cpp.

◆ muscularJointTorque() [1/4]

biorbd::rigidbody::GeneralizedTorque biorbd::muscles::Muscles::muscularJointTorque ( const biorbd::utils::Vector & F )

Compute the muscular joint torque.

Parameters

F	The force vector of all the muscles

The computation for the muscular joint torque is done from virtual power:

i.e. $-J \times F$

where is the muscle lengths jacobian and is the force vector of all the muscles

Warning: This function assumes that muscles are already updated (via updateMuscles)

Definition at line 128 of file Muscles.cpp.

◆ muscularJointTorque() [2/4]

biorbd::rigidbody::GeneralizedTorque biorbd::muscles::Muscles::muscularJointTorque	(	const biorbd::utils::Vector &	F,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot
	)

Compute the muscular joint torque.

Parameters

F	The force vector of all the muscles
Q	The generalized coordinates
QDot	The generalized velocities

This function updates the muscles and then performs the computation for the muscular joint torque is done from virtual power:

i.e. $-J \times F$

where is the muscle lengths jacobian and is the force vector of all the muscles

Warning: This function assumes that muscles are already updated (via updateMuscles)

Definition at line 139 of file Muscles.cpp.

◆ muscularJointTorque() [3/4]

biorbd::rigidbody::GeneralizedTorque biorbd::muscles::Muscles::muscularJointTorque ( const std::vector< std::shared_ptr< biorbd::muscles::State >> & emg )

Compute the muscular joint torque.

Parameters

emg	The dynamic state to compute the force vector

This functions converts muscle activations into muscle forces and then performs the computation for the muscular joint torque is done from virtual power:

i.e. $-J \times F$

where is the muscle lengths jacobian and is the force vector of all the muscles

Warning: This function assumes that muscles are already updated (via updateMuscles)

Definition at line 152 of file Muscles.cpp.

◆ muscularJointTorque() [4/4]

biorbd::rigidbody::GeneralizedTorque biorbd::muscles::Muscles::muscularJointTorque	(	const std::vector< std::shared_ptr< biorbd::muscles::State >> &	emg,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot
	)

Compute the muscular joint torque.

Parameters

emg	The dynamic state to compute the force vector
Q	The generalized coordinates (not needed if updateKin is false)
QDot	The generalized velocities (not needed if updateKin is false)

The computation for the muscular joint torque is done from virtual power:

i.e. $-J \times F$

where is the muscle lengths jacobian and is the force vector of all the muscles

Definition at line 159 of file Muscles.cpp.

◆ nbMuscleGroups()

unsigned int biorbd::muscles::Muscles::nbMuscleGroups ( ) const

Return the total number of muscle groups.

Returns: The total number of muscle groups

Definition at line 214 of file Muscles.cpp.

◆ nbMuscles()

unsigned int biorbd::muscles::Muscles::nbMuscles ( ) const

Return the total number of muscle.

Returns: The total number of muscles

Definition at line 246 of file Muscles.cpp.

◆ nbMuscleTotal()

unsigned int biorbd::muscles::Muscles::nbMuscleTotal ( ) const

Return the total number of muscle.

Returns: The total number of muscles

Definition at line 242 of file Muscles.cpp.

◆ updateMuscles() [1/4]

void biorbd::muscles::Muscles::updateMuscles	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin
	)

Update all the muscles (positions, jacobian, etc.)

Parameters

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

Definition at line 277 of file Muscles.cpp.

◆ updateMuscles() [2/4]

void biorbd::muscles::Muscles::updateMuscles	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		bool	updateKin
	)

Update all the muscles (positions, jacobian, etc.)

Parameters

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 254 of file Muscles.cpp.

◆ updateMuscles() [3/4]

void biorbd::muscles::Muscles::updateMuscles	(	std::vector< std::vector< biorbd::utils::Vector3d >> &	musclePointsInGlobal,
		std::vector< biorbd::utils::Matrix > &	jacoPointsInGlobal
	)

Update by hand all the muscles (positions, jacobian, velocity, etc.)

Parameters

musclePointsInGlobal	The muscle points in global reference frame
jacoPointsInGlobal	The jacobian points in global reference frame

Definition at line 312 of file Muscles.cpp.

◆ updateMuscles() [4/4]

void biorbd::muscles::Muscles::updateMuscles	(	std::vector< std::vector< biorbd::utils::Vector3d >> &	musclePointsInGlobal,
		std::vector< biorbd::utils::Matrix > &	jacoPointsInGlobal,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot
	)

Update by hand all the muscles (positions, jacobian, velocity, etc.)

Parameters

musclePointsInGlobal	The muscle points in global reference frame
jacoPointsInGlobal	The jacobian points in global reference frame
QDot	The generalized velocities

Definition at line 300 of file Muscles.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Muscles()

Member Function Documentation

◆ activationDot()

◆ addMuscleGroup()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ getGroupId()

◆ muscle()

◆ muscleForces() [1/2]

◆ muscleForces() [2/2]

◆ muscleGroup() [1/3]

◆ muscleGroup() [2/3]

◆ muscleGroup() [3/3]

◆ muscleGroups() [1/2]

◆ muscleGroups() [2/2]

◆ muscleNames()

◆ muscles()

◆ musclesLengthJacobian() [1/2]

◆ musclesLengthJacobian() [2/2]

◆ muscularJointTorque() [1/4]

◆ muscularJointTorque() [2/4]

◆ muscularJointTorque() [3/4]

◆ muscularJointTorque() [4/4]

◆ nbMuscleGroups()

◆ nbMuscles()

◆ nbMuscleTotal()

◆ updateMuscles() [1/4]

◆ updateMuscles() [2/4]

◆ updateMuscles() [3/4]

◆ updateMuscles() [4/4]