Base class for the wrapping objects. More...

#include <WrappingObject.h>

Inheritance diagram for biorbd::muscles::WrappingObject:

Public Member Functions
	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...

virtual 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 *muscleLength=nullptr)=0
	From the position of the wrapping object, return the 2 locations where the muscle leaves the wrapping object. More...

virtual 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 *muscleLength=nullptr)=0
	From the position of the wrapping object, return the 2 locations where the muscle leaves the wrapping object. More...

virtual void	wrapPoints (biorbd::utils::Vector3d &p1, biorbd::utils::Vector3d &p2, biorbd::utils::Scalar *muscleLength=nullptr)=0
	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)=0
	Return the RotoTrans matrix of the 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 Attributes
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.

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

Detailed Description

Base class for the wrapping objects.

Definition at line 22 of file WrappingObject.h.

Constructor & Destructor Documentation

◆ WrappingObject() [1/4]

biorbd::muscles::WrappingObject::WrappingObject	(	const biorbd::utils::Scalar &	x,
		const biorbd::utils::Scalar &	y,
		const biorbd::utils::Scalar &	z
	)

Construct a wrapping object.

Parameters

x	X-Component of the wrapping object
y	Y-Component of the wrapping object
z	Z-Component of the wrapping object

Definition at line 14 of file WrappingObject.cpp.

◆ WrappingObject() [2/4]

biorbd::muscles::WrappingObject::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.

Parameters

x	X-Component of the wrapping object
y	Y-Component of the wrapping object
z	Z-Component of the wrapping object
name	Name of the wrapping object
parentName	Name of the parent segment

Definition at line 24 of file WrappingObject.cpp.

◆ WrappingObject() [3/4]

biorbd::muscles::WrappingObject::WrappingObject ( const biorbd::utils::Vector3d & other )

Construct a wrapping object from 3d Vector.

Parameters

other The 3d vector

Definition at line 36 of file WrappingObject.cpp.

◆ WrappingObject() [4/4]

biorbd::muscles::WrappingObject::WrappingObject	(	const biorbd::utils::Vector3d &	other,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName
	)

Construct a wrapping object.

Parameters

other	Eigen vector
name	Name of the wrapping object
parentName	Name of the parent segment

Definition at line 43 of file WrappingObject.cpp.

Member Function Documentation

◆ DeepCopy()

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

Deep copy of the wrapping ibject in another wrapping object.

Parameters

other The wrapping object to copy

Definition at line 52 of file WrappingObject.cpp.

◆ operator=()

biorbd::muscles::WrappingObject& biorbd::muscles::WrappingObject::operator= ( const biorbd::utils::Vector3d & other )

inline

To be able to use the equal "=" operator to define wrapping object.

Parameters

other The 3d node to define the wrapping object

Definition at line 148 of file WrappingObject.h.

◆ RT() [1/2]

const biorbd::utils::RotoTrans & biorbd::muscles::WrappingObject::RT ( ) const

Return the RotoTrans matrix of the wrapping object.

Returns: The RotoTrans matrix of the wrapping object

Definition at line 58 of file WrappingObject.cpp.

◆ RT() [2/2]

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

pure virtual

Return the RotoTrans matrix of the wrapping object.

Parameters

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

Returns: The RotoTrans matrix of the wrapping object

Implemented in biorbd::muscles::WrappingCylinder, and biorbd::muscles::WrappingSphere.

◆ wrapPoints() [1/3]

virtual void biorbd::muscles::WrappingObject::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 *	muscleLength = `nullptr`
	)

pure virtual

From the position of the wrapping object, 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 wrapping object the muscle leave
p2	The 2nd position on the wrapping object the muscle leave
muscleLength	Length of the muscle (ignored if no value is provided)

Implemented in biorbd::muscles::WrappingCylinder, and biorbd::muscles::WrappingSphere.

◆ wrapPoints() [2/3]

virtual void biorbd::muscles::WrappingObject::wrapPoints	(	biorbd::utils::Vector3d &	p1,
		biorbd::utils::Vector3d &	p2,
		biorbd::utils::Scalar *	muscleLength = `nullptr`
	)

pure virtual

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

Parameters

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

Implemented in biorbd::muscles::WrappingCylinder, and biorbd::muscles::WrappingSphere.

◆ wrapPoints() [3/3]

virtual void biorbd::muscles::WrappingObject::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 *	muscleLength = `nullptr`
	)

pure virtual

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

Parameters

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

Implemented in biorbd::muscles::WrappingCylinder, and biorbd::muscles::WrappingSphere.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WrappingObject() [1/4]

◆ WrappingObject() [2/4]

◆ WrappingObject() [3/4]

◆ WrappingObject() [4/4]

Member Function Documentation

◆ DeepCopy()

◆ operator=()

◆ RT() [1/2]

◆ RT() [2/2]

◆ wrapPoints() [1/3]

◆ wrapPoints() [2/3]

◆ wrapPoints() [3/3]