Cylinder object that makes the muscle to wrap around. More...

#include <WrappingCylinder.h>

Inheritance diagram for biorbd::muscles::WrappingCylinder:

Classes
class	NodeMusclePair
	Pair of 2 muscles points. More...

Public Member Functions
	WrappingCylinder ()
	Construct a wrapping cylinder.

	WrappingCylinder (const biorbd::utils::RotoTrans &rt, const biorbd::utils::Scalar &diameter, const biorbd::utils::Scalar &length, bool isCylinderPositiveSign)
	Construct a wrapping cylinder. More...

	WrappingCylinder (const biorbd::utils::RotoTrans &rt, const biorbd::utils::Scalar &diameter, const biorbd::utils::Scalar &length, bool isCylinderPositiveSign, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping cylinder. More...

biorbd::muscles::WrappingCylinder	DeepCopy () const
	Deep copy of the wrapping cylinder. More...

void	DeepCopy (const biorbd::muscles::WrappingCylinder &other)
	Deep copy of the wrapping cylinder in another wrapping cylinder. More...

void	wrapPoints (const biorbd::utils::RotoTrans &rt, const biorbd::utils::Vector3d &p1_bone, const biorbd::utils::Vector3d &p2_bone, biorbd::utils::Vector3d &p1, biorbd::utils::Vector3d &p2, biorbd::utils::Scalar *length=nullptr)
	From the position of the cylinder, return the 2 locations where the muscle leaves the wrapping object. More...

void	wrapPoints (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::utils::Vector3d &p1_bone, const biorbd::utils::Vector3d &p2_bone, biorbd::utils::Vector3d &p1, biorbd::utils::Vector3d &p2, biorbd::utils::Scalar *length=nullptr)
	From the position of the cylinder, return the 2 locations where the muscle leaves the wrapping object. More...

void	wrapPoints (biorbd::utils::Vector3d &p1, biorbd::utils::Vector3d &p2, biorbd::utils::Scalar *length=nullptr)
	Returns the previously computed 2 locations where the muscle leaves the wrapping object. More...

virtual const biorbd::utils::RotoTrans &	RT (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the RotoTrans matrix of the cylinder. More...

void	setDiameter (const biorbd::utils::Scalar &val)
	Set the diameter of the wrapping cylinder. More...

const biorbd::utils::Scalar &	diameter () const
	Return the diameter of the cylinder. More...

biorbd::utils::Scalar	radius () const
	Return the radius of the cylinder. More...

void	setLength (const biorbd::utils::Scalar &val)
	Set the length of the cylinder. More...

const biorbd::utils::Scalar &	length () const
	Return the length of the cylinder. More...

Public Member Functions inherited from biorbd::muscles::WrappingObject
	WrappingObject ()
	Construct a wrapping object.

	WrappingObject (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z)
	Construct a wrapping object. More...

	WrappingObject (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping object. More...

	WrappingObject (const biorbd::utils::Vector3d &other)
	Construct a wrapping object from 3d Vector. More...

	WrappingObject (const biorbd::utils::Vector3d &other, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping object. More...

void	DeepCopy (const biorbd::muscles::WrappingObject &other)
	Deep copy of the wrapping ibject in another wrapping object. More...

const biorbd::utils::RotoTrans &	RT () const
	Return the RotoTrans matrix of the wrapping object. More...

biorbd::muscles::WrappingObject &	operator= (const biorbd::utils::Vector3d &other)
	To be able to use the equal "=" operator to define wrapping object. More...

Public Member Functions inherited from biorbd::utils::Vector3d
	Vector3d ()
	Construct 3D vector. More...

	Vector3d (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z)
	Construct 3D vector. More...

	Vector3d (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a 3D vector. More...

	Vector3d (const biorbd::utils::Vector3d vec, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a 3D vector. More...

	Vector3d (const RigidBodyDynamics::Math::Vector3d &other)
	Construct a 3D vector from a Casadi 3D vector (drop the trailling 1) More...

	Vector3d (const RigidBodyDynamics::Math::VectorNd &other)
	Construct a 3D vector from a Casadi ND vector (drop the trailling 1) More...

	Vector3d (const RigidBodyDynamics::Math::Vector4d &other)
	Construct a 3D vector from an eigen 4D vector (drop the trailling 1) More...

biorbd::utils::Vector3d	DeepCopy () const
	Deep copy of a 3D vector. More...

void	DeepCopy (const biorbd::utils::Vector3d &other)
	Deep copy of a 3D vector into another 3D vector. More...

biorbd::utils::Vector3d	applyRT (const RotoTrans &rt) const
	Apply a RotoTrans to the 3D vector. More...

void	applyRT (const RotoTrans &rt)
	Apply a RotoTrans to the 3D vector. More...

Public Member Functions inherited from biorbd::utils::Node
	Node ()
	Construct Node.

	Node (const biorbd::utils::Node &other)
	Construct Node from another node. More...

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

	Node (const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct Node. More...

virtual	~Node ()
	Destroy class properly.

void	DeepCopy (const biorbd::utils::Node &other)
	Deep copy of the node in another node. More...

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

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

const biorbd::utils::String &	parent () const
	Return the parent name of the node.

void	setParent (const biorbd::utils::String &name)
	Set the parent name of the node. More...

biorbd::utils::NODE_TYPE	typeOfNode () const
	Return the type of node.

Protected Member Functions
void	findTangentToCircle (const biorbd::utils::Vector3d &p, biorbd::utils::Vector3d &p_tan) const
	Find the two tangents of a point with a circle. More...

void	selectTangents (const NodeMusclePair &p, biorbd::utils::Vector3d &p_tan) const
	Select between a set of nodes which ones to keep. More...

bool	findVerticalNode (const NodeMusclePair &pointsInGlobal, NodeMusclePair &pointsToWrap) const
	Find the height of both points. More...

bool	checkIfWraps (const NodeMusclePair &pointsInGlobal, NodeMusclePair &pointsToWrap) const
	Check if a wrapper has to be done. More...

biorbd::utils::Scalar	computeLength (const NodeMusclePair &p) const
	Compute the muscle length on the cylinder. More...

Protected Member Functions inherited from biorbd::utils::Vector3d
void	setType ()
	Set the type Vector3d.

Protected Attributes
std::shared_ptr< biorbd::utils::Scalar >	m_dia
	Diameter of the cylinder diametre du cylindre.

std::shared_ptr< biorbd::utils::Scalar >	m_length
	Length of the cylinder.

std::shared_ptr< bool >	m_isCylinderPositiveSign
	orientation of the muscle passing

std::shared_ptr< biorbd::utils::RotoTrans >	m_RTtoParent
	RotoTrans matrix with the parent.

std::shared_ptr< biorbd::utils::Vector3d >	m_p1Wrap
	First point of contact with the wrap.

std::shared_ptr< biorbd::utils::Vector3d >	m_p2Wrap
	Second point of contact with the wrap.

std::shared_ptr< biorbd::utils::Scalar >	m_lengthAroundWrap
	Length between p1 and p2.

Protected Attributes inherited from biorbd::muscles::WrappingObject
std::shared_ptr< biorbd::utils::RotoTrans >	m_RT
	RotoTrans matrix of the wrapping object.

Protected Attributes inherited from biorbd::utils::Node
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the node.

std::shared_ptr< biorbd::utils::String >	m_parentName
	The parent name of the node.

std::shared_ptr< biorbd::utils::NODE_TYPE >	m_typeOfNode
	The type of the node.

Detailed Description

Cylinder object that makes the muscle to wrap around.

Definition at line 12 of file WrappingCylinder.h.

Constructor & Destructor Documentation

◆ WrappingCylinder() [1/2]

biorbd::muscles::WrappingCylinder::WrappingCylinder	(	const biorbd::utils::RotoTrans &	rt,
		const biorbd::utils::Scalar &	diameter,
		const biorbd::utils::Scalar &	length,
		bool	isCylinderPositiveSign
	)

Construct a wrapping cylinder.

Parameters

rt	RotoTrans matrix of the origin of the cylinder
diameter	Diameter of the cylinder
length	Length of the cylinder
isCylinderPositiveSign	If cylinder is of positive sign

Definition at line 21 of file WrappingCylinder.cpp.

◆ WrappingCylinder() [2/2]

biorbd::muscles::WrappingCylinder::WrappingCylinder	(	const biorbd::utils::RotoTrans &	rt,
		const biorbd::utils::Scalar &	diameter,
		const biorbd::utils::Scalar &	length,
		bool	isCylinderPositiveSign,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName
	)

Construct a wrapping cylinder.

Parameters

rt	RotoTrans matrix
diameter	Diameter of the cylinder
length	Length of the cylinder
isCylinderPositiveSign	If cylinder is of positive sign
name	The name of the cylinder
parentName	The parent name segment

Definition at line 38 of file WrappingCylinder.cpp.

Member Function Documentation

◆ checkIfWraps()

bool biorbd::muscles::WrappingCylinder::checkIfWraps	(	const NodeMusclePair &	pointsInGlobal,
		NodeMusclePair &	pointsToWrap
	)		const

protected

Check if a wrapper has to be done.

Parameters

pointsInGlobal	The position of the muscle pair in global reference frame
pointsToWrap	The points to wrap

Returns: If the wrapper has to be done

Definition at line 311 of file WrappingCylinder.cpp.

◆ computeLength()

biorbd::utils::Scalar biorbd::muscles::WrappingCylinder::computeLength ( const NodeMusclePair & p ) const

protected

Compute the muscle length on the cylinder.

Parameters

p	the muscle node pair

Returns: The muscle lengh on the cylinder

Definition at line 353 of file WrappingCylinder.cpp.

◆ DeepCopy() [1/2]

biorbd::muscles::WrappingCylinder biorbd::muscles::WrappingCylinder::DeepCopy ( ) const

Deep copy of the wrapping cylinder.

Returns: A deep copy of the wrapping cylinder

Definition at line 57 of file WrappingCylinder.cpp.

◆ DeepCopy() [2/2]

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

Deep copy of the wrapping cylinder in another wrapping cylinder.

Parameters

other The wrapping cylinder to copy

Definition at line 64 of file WrappingCylinder.cpp.

◆ diameter()

const biorbd::utils::Scalar & biorbd::muscles::WrappingCylinder::diameter ( ) const

Return the diameter of the cylinder.

Returns: The diameter of the cylinder

Definition at line 164 of file WrappingCylinder.cpp.

◆ findTangentToCircle()

void biorbd::muscles::WrappingCylinder::findTangentToCircle	(	const biorbd::utils::Vector3d &	p,
		biorbd::utils::Vector3d &	p_tan
	)		const

protected

Find the two tangents of a point with a circle.

Parameters

p	The point
p_tan	The point tangent

Definition at line 185 of file WrappingCylinder.cpp.

◆ findVerticalNode()

bool biorbd::muscles::WrappingCylinder::findVerticalNode	(	const NodeMusclePair &	pointsInGlobal,
		NodeMusclePair &	pointsToWrap
	)		const

protected

Find the height of both points.

Parameters

pointsInGlobal	The position of the muscle pair in global reference frame
pointsToWrap	The points to wrap

Returns: Return false if no wrap is needed

Definition at line 235 of file WrappingCylinder.cpp.

◆ length()

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

Return the length of the cylinder.

Returns: The length of the cylinder

Definition at line 180 of file WrappingCylinder.cpp.

◆ radius()

biorbd::utils::Scalar biorbd::muscles::WrappingCylinder::radius ( ) const

Return the radius of the cylinder.

Returns: The radius of the cylinder

Definition at line 169 of file WrappingCylinder.cpp.

◆ RT()

const biorbd::utils::RotoTrans & biorbd::muscles::WrappingCylinder::RT	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

virtual

Return the RotoTrans matrix of the cylinder.

Parameters

model	The joint model
Q	The generalized coordinates
updateKin	If the kinematics should be computed

Returns: The RotoTrans matrix of the cylinder

Implements biorbd::muscles::WrappingObject.

Definition at line 144 of file WrappingCylinder.cpp.

◆ selectTangents()

void biorbd::muscles::WrappingCylinder::selectTangents	(	const NodeMusclePair &	p,
		biorbd::utils::Vector3d &	p_tan
	)		const

protected

Select between a set of nodes which ones to keep.

Parameters

p	The 2 muscles points
p_tan	The selected point

Definition at line 207 of file WrappingCylinder.cpp.

◆ setDiameter()

void biorbd::muscles::WrappingCylinder::setDiameter ( const biorbd::utils::Scalar & val )

Set the diameter of the wrapping cylinder.

Parameters

val	Value of the diameter to set

Definition at line 158 of file WrappingCylinder.cpp.

◆ setLength()

void biorbd::muscles::WrappingCylinder::setLength ( const biorbd::utils::Scalar & val )

Set the length of the cylinder.

Parameters

val	Value of the to set

Definition at line 174 of file WrappingCylinder.cpp.

◆ wrapPoints() [1/3]

void biorbd::muscles::WrappingCylinder::wrapPoints	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::utils::Vector3d &	p1_bone,
		const biorbd::utils::Vector3d &	p2_bone,
		biorbd::utils::Vector3d &	p1,
		biorbd::utils::Vector3d &	p2,
		biorbd::utils::Scalar *	length = `nullptr`
	)

virtual

From the position of the cylinder, return the 2 locations where the muscle leaves the wrapping object.

Parameters

model	The joint model
Q	The generalized coordinates
p1_bone	1st position of the muscle node
p2_bone	2n position of the muscle node
p1	The 1st position on the cylinder the muscle leave
p2	The 2nd position on the cylinder the muscle leave
length	Length of the muscle (ignored if no value is provided)

Implements biorbd::muscles::WrappingObject.

Definition at line 121 of file WrappingCylinder.cpp.

◆ wrapPoints() [2/3]

void biorbd::muscles::WrappingCylinder::wrapPoints	(	biorbd::utils::Vector3d &	p1,
		biorbd::utils::Vector3d &	p2,
		biorbd::utils::Scalar *	length = `nullptr`
	)

virtual

Returns the previously computed 2 locations where the muscle leaves the wrapping object.

Parameters

p1	The 1st position on the cylinder the muscle leave
p2	The 2nd position on the cylinder the muscle leave
length	Length of the muscle (ignored if no value is provided)

Implements biorbd::muscles::WrappingObject.

Definition at line 134 of file WrappingCylinder.cpp.

◆ wrapPoints() [3/3]

void biorbd::muscles::WrappingCylinder::wrapPoints	(	const biorbd::utils::RotoTrans &	rt,
		const biorbd::utils::Vector3d &	p1_bone,
		const biorbd::utils::Vector3d &	p2_bone,
		biorbd::utils::Vector3d &	p1,
		biorbd::utils::Vector3d &	p2,
		biorbd::utils::Scalar *	length = `nullptr`
	)

virtual

From the position of the cylinder, return the 2 locations where the muscle leaves the wrapping object.

Parameters

rt	RotoTrans matrix of the cylinder
p1_bone	1st position of the muscle node
p2_bone	2n position of the muscle node
p1	The 1st position on the cylinder the muscle leave
p2	The 2nd position on the cylinder the muscle leave
length	Length of the muscle (ignored if no value is provided)

Implements biorbd::muscles::WrappingObject.

Definition at line 76 of file WrappingCylinder.cpp.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WrappingCylinder() [1/2]

◆ WrappingCylinder() [2/2]

Member Function Documentation

◆ checkIfWraps()

◆ computeLength()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ diameter()

◆ findTangentToCircle()

◆ findVerticalNode()

◆ length()

◆ radius()

◆ RT()

◆ selectTangents()

◆ setDiameter()

◆ setLength()

◆ wrapPoints() [1/3]

◆ wrapPoints() [2/3]

◆ wrapPoints() [3/3]