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API
4.3
For MATLAB, Python, Java, and C++ users
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API
4.3
For MATLAB, Python, Java, and C++ users
|
This muscle model was published in De Groote et al. More...
Inheritance diagram for OpenSim::DeGrooteFregly2016Muscle:OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (single-value) | |
| double | activation_time_constant |
| "Smaller value means activation can increase more rapidly. " "Default: 0.015 seconds." More... | |
| double | deactivation_time_constant |
| "Smaller value means activation can decrease more rapidly. " "Default: 0.060 seconds." More... | |
| double | default_activation |
| "Value of activation in the default state returned by " "initSystem(). Default: 0.5." More... | |
| double | default_normalized_tendon_force |
| "Value of normalized tendon force in the default state returned by " "initSystem(). Default: 0.5." More... | |
| double | active_force_width_scale |
| "Scale factor for the width of the active force-length curve. " "Larger values make the curve wider. Default: 1.0." More... | |
| double | fiber_damping |
| "Use this property to define the linear damping force that is " "added to the total muscle fiber force. It is computed by " "multiplying this damping parameter by the normalized fiber " "velocity and the max isometric force. Default: 0." More... | |
| bool | ignore_passive_fiber_force |
| "Make the passive fiber force 0. Default: false." More... | |
| double | passive_fiber_strain_at_one_norm_force |
| "Fiber strain when the passive fiber force is 1 normalized force. " "Default: 0.6." More... | |
| double | tendon_strain_at_one_norm_force |
| "Tendon strain at a tension of 1 normalized force. " "Default: 0.049." More... | |
| std::string | tendon_compliance_dynamics_mode |
| "The dynamics method used to enforce tendon compliance dynamics. " "Options: 'explicit' or 'implicit'. Default: 'explicit'. " More... | |
Outputs | |
| double | passive_fiber_elastic_force |
| Provides the value of getPassiveFiberElasticForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | passive_fiber_elastic_force_along_tendon |
| Provides the value of getPassiveFiberElasticForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | passive_fiber_damping_force |
| Provides the value of getPassiveFiberDampingForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | passive_fiber_damping_force_along_tendon |
| Provides the value of getPassiveFiberDampingForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | implicitresidual_normalized_tendon_force |
| Provides the value of getImplicitResidualNormalizedTendonForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| bool | implicitenabled_normalized_tendon_force |
| Provides the value of getImplicitEnabledNormalizedTendonForce() and is available at stage SimTK::Stage::Model . More... | |
| SimTK::Vec2 | statebounds_normalized_tendon_force |
| Provides the value of getBoundsNormalizedTendonForce() and is available at stage SimTK::Stage::Model . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Muscle | |
| double | max_isometric_force |
| "Maximum isometric force that the fibers can generate" More... | |
| double | optimal_fiber_length |
| "Optimal length of the muscle fibers" More... | |
| double | tendon_slack_length |
| "Resting length of the tendon" More... | |
| double | pennation_angle_at_optimal |
| "Angle between tendon and fibers at optimal fiber length expressed in radians" More... | |
| double | max_contraction_velocity |
| "Maximum contraction velocity of the fibers, in optimal fiberlengths/second" More... | |
| bool | ignore_tendon_compliance |
| "Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid." More... | |
| bool | ignore_activation_dynamics |
| "Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation." More... | |
| double | excitation |
| Provides the value of getExcitation() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | activation |
| Provides the value of getActivation() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_length |
| Provides the value of getFiberLength() and is available at stage SimTK::Stage::Position . More... | |
| double | pennation_angle |
| Provides the value of getPennationAngle() and is available at stage SimTK::Stage::Position . More... | |
| double | cos_pennation_angle |
| Provides the value of getCosPennationAngle() and is available at stage SimTK::Stage::Position . More... | |
| double | tendon_length |
| Provides the value of getTendonLength() and is available at stage SimTK::Stage::Position . More... | |
| double | normalized_fiber_length |
| Provides the value of getNormalizedFiberLength() and is available at stage SimTK::Stage::Position . More... | |
| double | fiber_length_along_tendon |
| Provides the value of getFiberLengthAlongTendon() and is available at stage SimTK::Stage::Position . More... | |
| double | tendon_strain |
| Provides the value of getTendonStrain() and is available at stage SimTK::Stage::Position . More... | |
| double | passive_force_multiplier |
| Provides the value of getPassiveForceMultiplier() and is available at stage SimTK::Stage::Position . More... | |
| double | active_force_length_multiplier |
| Provides the value of getActiveForceLengthMultiplier() and is available at stage SimTK::Stage::Position . More... | |
| double | fiber_velocity |
| Provides the value of getFiberVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
| double | normalized_fiber_velocity |
| Provides the value of getNormalizedFiberVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
| double | fiber_velocity_along_tendon |
| Provides the value of getFiberVelocityAlongTendon() and is available at stage SimTK::Stage::Velocity . More... | |
| double | tendon_velocity |
| Provides the value of getTendonVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
| double | force_velocity_multiplier |
| Provides the value of getForceVelocityMultiplier() and is available at stage SimTK::Stage::Velocity . More... | |
| double | pennation_angular_velocity |
| Provides the value of getPennationAngularVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
| double | fiber_force |
| Provides the value of getFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_force_along_tendon |
| Provides the value of getFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | active_fiber_force |
| Provides the value of getActiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | passive_fiber_force |
| Provides the value of getPassiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | active_fiber_force_along_tendon |
| Provides the value of getActiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | passive_fiber_force_along_tendon |
| Provides the value of getPassiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | tendon_force |
| Provides the value of getTendonForce() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_stiffness |
| Provides the value of getFiberStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_stiffness_along_tendon |
| Provides the value of getFiberStiffnessAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | tendon_stiffness |
| Provides the value of getTendonStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | muscle_stiffness |
| Provides the value of getMuscleStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_active_power |
| Provides the value of getFiberActivePower() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | fiber_passive_power |
| Provides the value of getFiberPassivePower() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | tendon_power |
| Provides the value of getTendonPower() and is available at stage SimTK::Stage::Dynamics . More... | |
| double | muscle_power |
| Provides the value of getMusclePower() and is available at stage SimTK::Stage::Dynamics . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::PathActuator | |
| GeometryPath | GeometryPath |
| "The set of points defining the path of the actuator." More... | |
| double | optimal_force |
| "The maximum force this actuator can produce." More... | |
| double | tension |
| Provides the value of computeActuation() and is available at stage SimTK::Stage::Acceleration . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::ScalarActuator | |
| double | min_control |
| "Minimum allowed value for control signal. Used primarily when solving " "for control values." More... | |
| double | max_control |
| "Maximum allowed value for control signal. Used primarily when solving " "for control values." More... | |
| double | actuation |
| Provides the value of getActuation() and is available at stage SimTK::Stage::Velocity . More... | |
| double | speed |
| Provides the value of getSpeed() and is available at stage SimTK::Stage::Velocity . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Actuator | |
| double | power |
| Provides the value of getPower() and is available at stage SimTK::Stage::Dynamics . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Force | |
| bool | appliesForce |
| "Flag indicating whether the force is applied or not. If true the force" "is applied to the MultibodySystem otherwise the force is not applied." "NOTE: Prior to OpenSim 4.0, this behavior was controlled by the " "'isDisabled' property, where 'true' meant that force was not being " "applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false." More... | |
| double | potential_energy |
| Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . More... | |
| OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component | |
| Component | components |
| "List of components that this component owns and serializes." More... | |
Public Member Functions | |
| DeGrooteFregly2016Muscle () | |
Property-related functions | |
| const double & | get_activation_time_constant () const |
| Get the value of the activation_time_constant property. More... | |
| double & | upd_activation_time_constant () |
| Get a writable reference to the activation_time_constant property. More... | |
| void | set_activation_time_constant (const double &value) |
| Set the value of the activation_time_constant property. More... | |
| const double & | get_deactivation_time_constant () const |
| Get the value of the deactivation_time_constant property. More... | |
| double & | upd_deactivation_time_constant () |
| Get a writable reference to the deactivation_time_constant property. More... | |
| void | set_deactivation_time_constant (const double &value) |
| Set the value of the deactivation_time_constant property. More... | |
| const double & | get_default_activation () const |
| Get the value of the default_activation property. More... | |
| double & | upd_default_activation () |
| Get a writable reference to the default_activation property. More... | |
| void | set_default_activation (const double &value) |
| Set the value of the default_activation property. More... | |
| const double & | get_default_normalized_tendon_force () const |
| Get the value of the default_normalized_tendon_force property. More... | |
| double & | upd_default_normalized_tendon_force () |
| Get a writable reference to the default_normalized_tendon_force property. More... | |
| void | set_default_normalized_tendon_force (const double &value) |
| Set the value of the default_normalized_tendon_force property. More... | |
| const double & | get_active_force_width_scale () const |
| Get the value of the active_force_width_scale property. More... | |
| double & | upd_active_force_width_scale () |
| Get a writable reference to the active_force_width_scale property. More... | |
| void | set_active_force_width_scale (const double &value) |
| Set the value of the active_force_width_scale property. More... | |
| const double & | get_fiber_damping () const |
| Get the value of the fiber_damping property. More... | |
| double & | upd_fiber_damping () |
| Get a writable reference to the fiber_damping property. More... | |
| void | set_fiber_damping (const double &value) |
| Set the value of the fiber_damping property. More... | |
| const bool & | get_ignore_passive_fiber_force () const |
| Get the value of the ignore_passive_fiber_force property. More... | |
| bool & | upd_ignore_passive_fiber_force () |
| Get a writable reference to the ignore_passive_fiber_force property. More... | |
| void | set_ignore_passive_fiber_force (const bool &value) |
| Set the value of the ignore_passive_fiber_force property. More... | |
| const double & | get_passive_fiber_strain_at_one_norm_force () const |
| Get the value of the passive_fiber_strain_at_one_norm_force property. More... | |
| double & | upd_passive_fiber_strain_at_one_norm_force () |
| Get a writable reference to the passive_fiber_strain_at_one_norm_force property. More... | |
| void | set_passive_fiber_strain_at_one_norm_force (const double &value) |
| Set the value of the passive_fiber_strain_at_one_norm_force property. More... | |
| const double & | get_tendon_strain_at_one_norm_force () const |
| Get the value of the tendon_strain_at_one_norm_force property. More... | |
| double & | upd_tendon_strain_at_one_norm_force () |
| Get a writable reference to the tendon_strain_at_one_norm_force property. More... | |
| void | set_tendon_strain_at_one_norm_force (const double &value) |
| Set the value of the tendon_strain_at_one_norm_force property. More... | |
| const std::string & | get_tendon_compliance_dynamics_mode () const |
| Get the value of the tendon_compliance_dynamics_mode property. More... | |
| std::string & | upd_tendon_compliance_dynamics_mode () |
| Get a writable reference to the tendon_compliance_dynamics_mode property. More... | |
| void | set_tendon_compliance_dynamics_mode (const std::string &value) |
| Set the value of the tendon_compliance_dynamics_mode property. More... | |
Set methods. | |
If ignore_tendon_compliance is true, this sets nothing. | |
| void | setNormalizedTendonForce (SimTK::State &s, double normTendonForce) const |
| Public Member Functions inherited from OpenSim::Muscle | |
| const double & | get_max_isometric_force () const |
| Get the value of the max_isometric_force property. More... | |
| double & | upd_max_isometric_force () |
| Get a writable reference to the max_isometric_force property. More... | |
| void | set_max_isometric_force (const double &value) |
| Set the value of the max_isometric_force property. More... | |
| const double & | get_optimal_fiber_length () const |
| Get the value of the optimal_fiber_length property. More... | |
| double & | upd_optimal_fiber_length () |
| Get a writable reference to the optimal_fiber_length property. More... | |
| void | set_optimal_fiber_length (const double &value) |
| Set the value of the optimal_fiber_length property. More... | |
| const double & | get_tendon_slack_length () const |
| Get the value of the tendon_slack_length property. More... | |
| double & | upd_tendon_slack_length () |
| Get a writable reference to the tendon_slack_length property. More... | |
| void | set_tendon_slack_length (const double &value) |
| Set the value of the tendon_slack_length property. More... | |
| const double & | get_pennation_angle_at_optimal () const |
| Get the value of the pennation_angle_at_optimal property. More... | |
| double & | upd_pennation_angle_at_optimal () |
| Get a writable reference to the pennation_angle_at_optimal property. More... | |
| void | set_pennation_angle_at_optimal (const double &value) |
| Set the value of the pennation_angle_at_optimal property. More... | |
| const double & | get_max_contraction_velocity () const |
| Get the value of the max_contraction_velocity property. More... | |
| double & | upd_max_contraction_velocity () |
| Get a writable reference to the max_contraction_velocity property. More... | |
| void | set_max_contraction_velocity (const double &value) |
| Set the value of the max_contraction_velocity property. More... | |
| const bool & | get_ignore_tendon_compliance () const |
| Get the value of the ignore_tendon_compliance property. More... | |
| bool & | upd_ignore_tendon_compliance () |
| Get a writable reference to the ignore_tendon_compliance property. More... | |
| void | set_ignore_tendon_compliance (const bool &value) |
| Set the value of the ignore_tendon_compliance property. More... | |
| const bool & | get_ignore_activation_dynamics () const |
| Get the value of the ignore_activation_dynamics property. More... | |
| bool & | upd_ignore_activation_dynamics () |
| Get a writable reference to the ignore_activation_dynamics property. More... | |
| void | set_ignore_activation_dynamics (const bool &value) |
| Set the value of the ignore_activation_dynamics property. More... | |
| Muscle () | |
| Default constructor. More... | |
| double | getMaxIsometricForce () const |
| get/set the maximum isometric force (in N) that the fibers can generate More... | |
| void | setMaxIsometricForce (double maxIsometricForce) |
| double | getOptimalFiberLength () const |
| get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber) More... | |
| void | setOptimalFiberLength (double optimalFiberLength) |
| double | getTendonSlackLength () const |
| get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber More... | |
| void | setTendonSlackLength (double tendonSlackLength) |
| double | getPennationAngleAtOptimalFiberLength () const |
| get/set the angle (in radians) between fibers at their optimal fiber length and the tendon More... | |
| void | setPennationAngleAtOptimalFiberLength (double pennationAngle) |
| double | getMaxContractionVelocity () const |
| get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second More... | |
| void | setMaxContractionVelocity (double maxContractionVelocity) |
| bool | getIgnoreTendonCompliance (const SimTK::State &s) const |
| Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics. More... | |
| void | setIgnoreTendonCompliance (SimTK::State &s, bool ignore) const |
| bool | getIgnoreActivationDynamics (const SimTK::State &s) const |
| Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics. More... | |
| void | setIgnoreActivationDynamics (SimTK::State &s, bool ignore) const |
| double | getFiberLength (const SimTK::State &s) const |
| get the current working fiber length (m) for the muscle More... | |
| double | getPennationAngle (const SimTK::State &s) const |
| get the current pennation angle (radians) between the fiber and tendon at the current fiber length More... | |
| double | getCosPennationAngle (const SimTK::State &s) const |
| get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length More... | |
| double | getTendonLength (const SimTK::State &s) const |
| get the current tendon length (m) given the current joint angles and fiber length More... | |
| double | getNormalizedFiberLength (const SimTK::State &s) const |
| get the current normalized fiber length (fiber_length/optimal_fiber_length) More... | |
| double | getFiberLengthAlongTendon (const SimTK::State &s) const |
| get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction More... | |
| double | getTendonStrain (const SimTK::State &s) const |
| get the current tendon strain (delta_l/tendon_slack_length is dimensionless) More... | |
| double | getFiberPotentialEnergy (const SimTK::State &s) const |
| the potential energy (J) stored in the fiber due to its parallel elastic element More... | |
| double | getTendonPotentialEnergy (const SimTK::State &s) const |
| the potential energy (J) stored in the tendon More... | |
| double | getMusclePotentialEnergy (const SimTK::State &s) const |
| the total potential energy (J) stored in the muscle More... | |
| double | getPassiveForceMultiplier (const SimTK::State &s) const |
| get the passive fiber (parallel elastic element) force multiplier More... | |
| double | getActiveForceLengthMultiplier (const SimTK::State &s) const |
| get the active fiber (contractile element) force multiplier due to current fiber length More... | |
| double | getFiberVelocity (const SimTK::State &s) const |
| get current fiber velocity (m/s) positive is lengthening More... | |
| double | getNormalizedFiberVelocity (const SimTK::State &s) const |
| get normalized fiber velocity. More... | |
| double | getFiberVelocityAlongTendon (const SimTK::State &s) const |
| get the current fiber velocity (m/s) projected onto the tendon direction More... | |
| double | getPennationAngularVelocity (const SimTK::State &s) const |
| get pennation angular velocity (radians/s) More... | |
| double | getTendonVelocity (const SimTK::State &s) const |
| get the tendon velocity (m/s) positive is lengthening More... | |
| double | getForceVelocityMultiplier (const SimTK::State &s) const |
| get the dimensionless multiplier resulting from the fiber's force-velocity curve More... | |
| double | getFiberForce (const SimTK::State &s) const |
| get the current fiber force (N) applied to the tendon More... | |
| double | getFiberForceAlongTendon (const SimTK::State &s) const |
| get the force of the fiber (N/m) along the direction of the tendon More... | |
| double | getActiveFiberForce (const SimTK::State &s) const |
| get the current active fiber force (N) due to activation*force_length*force_velocity relationships More... | |
| double | getPassiveFiberForce (const SimTK::State &s) const |
| get the total force applied by all passive elements in the fiber (N) More... | |
| double | getActiveFiberForceAlongTendon (const SimTK::State &s) const |
| get the current active fiber force (N) projected onto the tendon direction More... | |
| double | getPassiveFiberForceAlongTendon (const SimTK::State &s) const |
| get the total force applied by all passive elements in the fiber (N) projected onto the tendon direction More... | |
| double | getTendonForce (const SimTK::State &s) const |
| get the current tendon force (N) applied to bones More... | |
| double | getFiberStiffness (const SimTK::State &s) const |
| get the current fiber stiffness (N/m) defined as the partial derivative of fiber force with respect to fiber length More... | |
| double | getFiberStiffnessAlongTendon (const SimTK::State &s) const |
| get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon More... | |
| double | getTendonStiffness (const SimTK::State &s) const |
| get the current tendon stiffness (N/m) defined as the partial derivative of tendon force with respect to tendon length More... | |
| double | getMuscleStiffness (const SimTK::State &s) const |
| get the current muscle stiffness (N/m) defined as the partial derivative of muscle force with respect to muscle length More... | |
| double | getFiberActivePower (const SimTK::State &s) const |
| get the current active fiber power (W) More... | |
| double | getFiberPassivePower (const SimTK::State &s) const |
| get the current passive fiber power (W) More... | |
| double | getTendonPower (const SimTK::State &s) const |
| get the current tendon power (W) More... | |
| double | getMusclePower (const SimTK::State &s) const |
| get the current muscle power (W) More... | |
| double | getStress (const SimTK::State &s) const override |
| get the stress in the muscle (part of the Actuator interface as well) More... | |
| void | setExcitation (SimTK::State &s, double excitation) const |
| set the excitation (control) for this muscle. More... | |
| double | getExcitation (const SimTK::State &s) const |
| void | computeEquilibrium (SimTK::State &s) const override final |
| Find and set the equilibrium state of the muscle (if any) More... | |
| Public Member Functions inherited from OpenSim::PathActuator | |
| PathActuator () | |
| GeometryPath & | updGeometryPath () |
| const GeometryPath & | getGeometryPath () const |
| bool | hasGeometryPath () const override |
| Return a flag indicating whether the Force is applied along a Path. More... | |
| void | setOptimalForce (double aOptimalForce) |
| double | getOptimalForce () const override |
| virtual double | getLength (const SimTK::State &s) const |
| virtual double | getLengtheningSpeed (const SimTK::State &s) const |
| double | getPower (const SimTK::State &s) const override |
| double | getStress (const SimTK::State &s) const override |
| void | addNewPathPoint (const std::string &proposedName, const PhysicalFrame &aBody, const SimTK::Vec3 &aPositionOnBody) |
| Note that this function does not maintain the State and so should be used only before a valid State is created. More... | |
| double | computeActuation (const SimTK::State &s) const override |
| virtual double | computeMomentArm (const SimTK::State &s, Coordinate &aCoord) const |
| const GeometryPath & | get_GeometryPath () const |
| Get the value of the GeometryPath property. More... | |
| GeometryPath & | upd_GeometryPath () |
| Get a writable reference to the GeometryPath property. More... | |
| void | set_GeometryPath (const GeometryPath &value) |
| Set the value of the GeometryPath property. More... | |
| const double & | get_optimal_force () const |
| Get the value of the optimal_force property. More... | |
| double & | upd_optimal_force () |
| Get a writable reference to the optimal_force property. More... | |
| void | set_optimal_force (const double &value) |
| Set the value of the optimal_force property. More... | |
| PathActuator * | clone () const override |
| Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
| const std::string & | getConcreteClassName () const override |
| Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
| Public Member Functions inherited from OpenSim::ScalarActuator | |
| ScalarActuator () | |
| virtual double | getControl (const SimTK::State &s) const |
| Convenience method to get control given scalar (double) valued control. More... | |
| int | numControls () const override |
| virtual void | setActuation (const SimTK::State &s, double aActuation) const |
| virtual double | getActuation (const SimTK::State &s) const |
| virtual void | setSpeed (const SimTK::State &s, double aspeed) const |
| virtual double | getSpeed (const SimTK::State &s) const |
| void | setMinControl (const double &aMinControl) |
| Methods to manage the bounds on ScalarActuator's control. More... | |
| double | getMinControl () const |
| void | setMaxControl (const double &aMaxControl) |
| double | getMaxControl () const |
| void | overrideActuation (SimTK::State &s, bool flag) const |
| Enable/disable a ScalarActuator's override actuation. More... | |
| bool | isActuationOverridden (const SimTK::State &s) const |
| return ScalarActuator's override status More... | |
| void | setOverrideActuation (SimTK::State &s, double value) const |
| set the actuation value used when the override is true More... | |
| double | getOverrideActuation (const SimTK::State &s) const |
| return override actuation More... | |
| const double & | get_min_control () const |
| Get the value of the min_control property. More... | |
| double & | upd_min_control () |
| Get a writable reference to the min_control property. More... | |
| void | set_min_control (const double &value) |
| Set the value of the min_control property. More... | |
| const double & | get_max_control () const |
| Get the value of the max_control property. More... | |
| double & | upd_max_control () |
| Get a writable reference to the max_control property. More... | |
| void | set_max_control (const double &value) |
| Set the value of the max_control property. More... | |
| Public Member Functions inherited from OpenSim::Actuator | |
| Actuator () | |
| virtual const SimTK::Vector | getDefaultControls () |
| Actuator default controls are zero. More... | |
| virtual const SimTK::VectorView_< double > | getControls (const SimTK::State &s) const |
| virtual void | getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const |
| Convenience methods for getting, setting and adding to actuator controls from/into the model controls. More... | |
| virtual void | setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| set actuator controls subvector into the right slot in the system-wide model controls More... | |
| virtual void | addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
| add actuator controls to the values already occupying the slot in the system-wide model controls More... | |
| Public Member Functions inherited from OpenSim::Force | |
| virtual bool | shouldBeParallelized () const |
| Tell SimBody to parallelize this force. More... | |
| bool | appliesForce (const SimTK::State &s) const |
| Return if the Force is applied (or enabled) or not. More... | |
| void | setAppliesForce (SimTK::State &s, bool applyForce) const |
| Set whether or not the Force is applied. More... | |
| const bool & | get_appliesForce () const |
| Get the value of the appliesForce property. More... | |
| bool & | upd_appliesForce () |
| Get a writable reference to the appliesForce property. More... | |
| void | set_appliesForce (const bool &value) |
| Set the value of the appliesForce property. More... | |
| Public Member Functions inherited from OpenSim::ModelComponent | |
| ModelComponent () | |
| Default constructor. More... | |
| ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
| Construct ModelComponent from an XML file. More... | |
| ModelComponent (SimTK::Xml::Element &aNode) | |
| Construct ModelComponent from a specific node in an XML document. More... | |
| virtual | ~ModelComponent () |
| Destructor is virtual to allow concrete model component cleanup. More... | |
| void | connectToModel (Model &model) |
| Connect this ModelComponent to its aggregate- a Model. More... | |
| const Model & | getModel () const |
| Get a const reference to the Model this component is part of. More... | |
| Model & | updModel () |
| Get a modifiable reference to the Model this component is part of. More... | |
| bool | hasModel () const |
| Does this ModelComponent have a Model associated with it? More... | |
| void | preScale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More... | |
| void | scale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Scale the ModelComponent. More... | |
| void | postScale (const SimTK::State &s, const ScaleSet &scaleSet) |
| Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More... | |
| Public Member Functions inherited from OpenSim::Component | |
| Component () | |
| Default constructor. More... | |
| Component (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
| Construct Component from an XML file. More... | |
| Component (SimTK::Xml::Element &aNode) | |
| Construct Component from a specific node in an XML document. More... | |
| Component (const Component &)=default | |
| Use default copy constructor and assignment operator. More... | |
| Component & | operator= (const Component &)=default |
| virtual | ~Component ()=default |
| Destructor is virtual to allow concrete Component to cleanup. More... | |
| virtual void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
| Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More... | |
| const SimTK::MultibodySystem & | getSystem () const |
| Get the underlying MultibodySystem that this component is connected to. More... | |
| bool | hasSystem () const |
| Check if this component has an underlying MultibodySystem. More... | |
| bool | isComponentInOwnershipTree (const Component *component) const |
| Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More... | |
| void | addComponent (Component *subcomponent) |
Add a Component (as a subcomponent) of this component. More... | |
| template<typename T = Component> | |
| ComponentList< const T > | getComponentList () const |
| Get an iterator through the underlying subcomponents that this component is composed of. More... | |
| template<typename T = Component> | |
| ComponentList< T > | updComponentList () |
| Similar to getComponentList(), except the resulting list allows one to modify the components. More... | |
| template<typename T = Component> | |
| unsigned | countNumComponents () const |
| Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More... | |
| std::string | getAbsolutePathString () const |
| Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More... | |
| ComponentPath | getAbsolutePath () const |
| Return a ComponentPath of the absolute path of this Component. More... | |
| std::string | getRelativePathString (const Component &wrt) const |
| Get the relative path of this Component with respect to another Component, as a string. More... | |
| ComponentPath | getRelativePath (const Component &wrt) const |
| Get the relative path of this Component with respect to another Component. More... | |
| bool | hasComponent (const std::string &pathname) const |
| Query if there is a component (of any type) at the specified path name. More... | |
| template<class C = Component> | |
| bool | hasComponent (const std::string &pathname) const |
| Query if there is a component of a given type at the specified path name. More... | |
| template<class C = Component> | |
| const C & | getComponent (const std::string &pathname) const |
| Get a unique subcomponent of this Component by its path name and type 'C'. More... | |
| template<class C = Component> | |
| const C & | getComponent (const ComponentPath &pathname) const |
| const Component & | getComponent (const std::string &pathname) const |
| Similar to the templatized getComponent(), except this returns the component as the generic Component type. More... | |
| template<class C = Component> | |
| C & | updComponent (const std::string &name) |
| Get a writable reference to a subcomponent. More... | |
| template<class C = Component> | |
| C & | updComponent (const ComponentPath &name) |
| Component & | updComponent (const std::string &pathname) |
| Similar to the templatized updComponent(), except this returns the component as the generic Component type. More... | |
| unsigned | printComponentsMatching (const std::string &substring) const |
| Print a list to the console of all components whose absolute path name contains the given string. More... | |
| int | getNumStateVariables () const |
| Get the number of "continuous" state variables maintained by the Component and its subcomponents. More... | |
| Array< std::string > | getStateVariableNames () const |
| Get the names of "continuous" state variables maintained by the Component and its subcomponents. More... | |
| template<class C = Component> | |
| const C * | findComponent (const ComponentPath &pathToFind) const |
| Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More... | |
| template<class C = Component> | |
| const C * | findComponent (const std::string &pathToFind) const |
| Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More... | |
| const StateVariable * | traverseToStateVariable (const std::string &pathName) const |
| Get a StateVariable anywhere in the Component tree, given a StateVariable path. More... | |
| void | finalizeFromProperties () |
| Define a Component's internal data members and structure according to its properties. More... | |
| void | finalizeConnections (Component &root) |
| Satisfy the Component's connections specified by its Sockets and Inputs. More... | |
| void | clearConnections () |
| Disconnect/clear this Component from its aggregate component. More... | |
| void | addToSystem (SimTK::MultibodySystem &system) const |
| Have the Component add itself to the underlying computational System. More... | |
| void | initStateFromProperties (SimTK::State &state) const |
| Initialize Component's state variable values from its properties. More... | |
| void | setPropertiesFromState (const SimTK::State &state) |
| Set Component's properties given a state. More... | |
| int | getNumSockets () const |
| Get the number of Sockets in this Component. More... | |
| std::vector< std::string > | getSocketNames () |
| Collect and return the names of the sockets in this component. More... | |
| template<typename T > | |
| const T & | getConnectee (const std::string &name) const |
| Get the "connectee" object that the Component's Socket is bound to. More... | |
| const Object & | getConnectee (const std::string &name) const |
| Get the connectee as an Object. More... | |
| const AbstractSocket & | getSocket (const std::string &name) const |
| Get an AbstractSocket for the given socket name. More... | |
| AbstractSocket & | updSocket (const std::string &name) |
| Get a writable reference to the AbstractSocket for the given socket name. More... | |
| template<typename T > | |
| const Socket< T > & | getSocket (const std::string &name) const |
| Get a const reference to the concrete Socket provided by this Component by name. More... | |
| template<typename T > | |
| Socket< T > & | updSocket (const std::string &name) |
| Get a writable reference to the concrete Socket provided by this Component by name. More... | |
| void | printSubcomponentInfo () const |
| List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More... | |
| void | printSocketInfo () const |
| List all the Sockets of this component and whether or not they are connected. More... | |
| void | printInputInfo () const |
| List all the inputs of this component and whether or not they are connected. More... | |
| template<typename C > | |
| void | printSubcomponentInfo () const |
| void | printOutputInfo (const bool includeDescendants=true) const |
| Print outputs of this component and optionally, those of all subcomponents. More... | |
| int | getNumInputs () const |
| Access the number of Inputs that this component has. More... | |
| int | getNumOutputs () const |
| Access the number of Outputs that this component has. More... | |
| std::vector< std::string > | getInputNames () const |
| Collect and return the names of Inputs in this component as an std::vector. More... | |
| std::vector< std::string > | getOutputNames () const |
| Collect and return the names of Outputs in this component as an std::vector. More... | |
| const AbstractInput & | getInput (const std::string &name) const |
| Get an Input provided by this Component by name. More... | |
| AbstractInput & | updInput (const std::string &name) |
| Get a writable reference to an Input provided by this Component by name. More... | |
| template<typename T > | |
| const Input< T > & | getInput (const std::string &name) const |
| Get a concrete Input that you can directly ask for its values. More... | |
| const AbstractOutput & | getOutput (const std::string &name) const |
| Get the Output provided by this Component by name. More... | |
| AbstractOutput & | updOutput (const std::string &name) |
| Get a writable reference to an Output provided by this Component by name. More... | |
| SimTK::IteratorRange< OutputConstIterator > | getOutputs () const |
| Iterate through all Outputs of this component. More... | |
| int | getModelingOption (const SimTK::State &state, const std::string &name) const |
| Get a ModelingOption flag for this Component by name. More... | |
| void | setModelingOption (SimTK::State &state, const std::string &name, int flag) const |
| Set the value of a ModelingOption flag for this Component. More... | |
| template<typename T > | |
| const T & | getInputValue (const SimTK::State &state, const std::string &name) const |
| Get the Input value that this component is dependent on. More... | |
| template<typename T > | |
| const T & | getOutputValue (const SimTK::State &state, const std::string &name) const |
| Get the Output value provided by this Component by name. More... | |
| double | getStateVariableValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a state variable allocated by this Component. More... | |
| void | setStateVariableValue (SimTK::State &state, const std::string &name, double value) const |
| Set the value of a state variable allocated by this Component by name. More... | |
| SimTK::Vector | getStateVariableValues (const SimTK::State &state) const |
| Get all values of the state variables allocated by this Component. More... | |
| void | setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const |
| Set all values of the state variables allocated by this Component. More... | |
| double | getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a state variable derivative computed by this Component. More... | |
| double | getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a discrete variable allocated by this Component by name. More... | |
| void | setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const |
| Set the value of a discrete variable allocated by this Component by name. More... | |
| template<class T > | |
| SimTK::CacheEntryIndex | getCacheVariableIndex (const CacheVariable< T > &cv) const |
| Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
| SimTK::CacheEntryIndex | getCacheVariableIndex (const std::string &name) const |
| Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
| template<class T > | |
| const T & | getCacheVariableValue (const SimTK::State &state, const std::string &name) const |
| Get the value of a cache variable allocated by this Component by name. More... | |
| template<class T > | |
| const T & | getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
| Get the value of a cache variable allocated by this Component. More... | |
| template<typename T > | |
| void | setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const |
Set the value of a cache variable, identified by name, to a new value and mark the cache variable as valid. More... | |
| template<typename T > | |
| void | setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const |
| Set the value of a cache variable to a new value and mark the cache variable as valid. More... | |
| template<typename T > | |
| T & | updCacheVariableValue (const SimTK::State &state, const std::string &name) const |
Returns a mutable reference to the value of a cache variable identified by name. More... | |
| template<typename T > | |
| T & | updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
| Returns a mutable reference to the value of a cache variable. More... | |
| bool | isCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Returns true if the cache variable, identified by name, is valid. More... | |
| template<class T > | |
| bool | isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
| Returns true if the cache variable is valid. More... | |
| void | markCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name, as valid. More... | |
| template<typename T > | |
| void | markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
| Marks the value of a cache variable as valid. More... | |
| void | markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name, as invalid. More... | |
| template<class T > | |
| void | markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const |
| Marks the value of a cache variable as invalid. More... | |
| const Component & | getOwner () const |
| Access the owner of this Component. More... | |
| bool | hasOwner () const |
| (For advanced users) Check if this Component has an owner. More... | |
| const Component & | getRoot () const |
| Obtain the root Component, which is this component if it is orphaned. More... | |
| Public Member Functions inherited from OpenSim::Object | |
| virtual | ~Object () |
| Virtual destructor for cleanup. More... | |
| bool | isEqualTo (const Object &aObject) const |
| Equality operator wrapper for use from languages not supporting operator overloading. More... | |
| Object & | operator= (const Object &aObject) |
| Copy assignment copies he base class fields, including the properties. More... | |
| virtual bool | operator== (const Object &aObject) const |
| Determine if two objects are equal. More... | |
| virtual bool | operator< (const Object &aObject) const |
| Provide an ordering for objects so they can be put in sorted containers. More... | |
| void | setName (const std::string &name) |
| Set the name of the Object. More... | |
| const std::string & | getName () const |
| Get the name of this Object. More... | |
| void | setDescription (const std::string &description) |
| Set description, a one-liner summary. More... | |
| const std::string & | getDescription () const |
| Get description, a one-liner summary. More... | |
| const std::string & | getAuthors () const |
| Get Authors of this Object. More... | |
| void | setAuthors (const std::string &authors) |
| Set Authors of this object. More... | |
| const std::string & | getReferences () const |
| Get references or publications to cite if using this object. More... | |
| void | setReferences (const std::string &references) |
| Set references or publications to cite if using this object. More... | |
| int | getNumProperties () const |
| Determine how many properties are stored with this Object. More... | |
| const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| Get a const reference to a property by its index number, returned as an AbstractProperty. More... | |
| AbstractProperty & | updPropertyByIndex (int propertyIndex) |
| Get a writable reference to a property by its index number, returned as an AbstractProperty. More... | |
| bool | hasProperty (const std::string &name) const |
| Return true if this Object has a property of any type with the given name, which must not be empty. More... | |
| const AbstractProperty & | getPropertyByName (const std::string &name) const |
| Get a const reference to a property by its name, returned as an AbstractProperty. More... | |
| AbstractProperty & | updPropertyByName (const std::string &name) |
| Get a writable reference to a property by its name, returned as an AbstractProperty. More... | |
| template<class T > | |
| bool | hasProperty () const |
| Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More... | |
| template<class T > | |
| const Property< T > & | getProperty (const PropertyIndex &index) const |
| Get property of known type Property<T> as a const reference; the property must be present and have the right type. More... | |
| template<class T > | |
| Property< T > & | updProperty (const PropertyIndex &index) |
| Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More... | |
| bool | isObjectUpToDateWithProperties () const |
Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More... | |
| void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
| We're given an XML element from which we are to populate this Object. More... | |
| void | updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const |
| Serialize this object into the XML node that represents it. More... | |
| bool | getInlined () const |
| Inlined means an in-memory Object that is not associated with an XMLDocument. More... | |
| void | setInlined (bool aInlined, const std::string &aFileName="") |
| Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More... | |
| std::string | getDocumentFileName () const |
| If there is a document associated with this object then return the file name maintained by the document. More... | |
| int | getDocumentFileVersion () const |
| If there is a document associated with this object then return its version number. More... | |
| void | setAllPropertiesUseDefault (bool aUseDefault) |
| bool | print (const std::string &fileName) const |
| Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More... | |
| std::string | dump () const |
| dump the XML representation of this Object into an std::string and return it. More... | |
| virtual bool | isA (const char *type) const |
| The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More... | |
| const std::string & | toString () const |
| Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More... | |
| PropertySet & | getPropertySet () |
| OBSOLETE: Get a reference to the PropertySet maintained by the Object. More... | |
| const PropertySet & | getPropertySet () const |
Auto-generated functions | |
| static DeGrooteFregly2016Muscle * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "DeGrooteFregly2016Muscle". More... | |
| DeGrooteFregly2016Muscle * | clone () const override |
| Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
| const std::string & | getConcreteClassName () const override |
| Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
Muscle interface | |
| double | getActivation (const SimTK::State &s) const override |
| If ignore_activation_dynamics is true, this gets excitation instead. More... | |
| void | setActivation (SimTK::State &s, double activation) const override |
| If ignore_activation_dynamics is true, this sets excitation instead. More... | |
| void | computeInitialFiberEquilibrium (SimTK::State &s) const override |
| In this method, calcEquilibriumResidual() is used to find a value of the normalized tendon force state variable that produces muscle-tendon equilibrium. More... | |
| double | calcInextensibleTendonActiveFiberForce (SimTK::State &, double) const override |
| void | calcMuscleLengthInfo (const SimTK::State &s, MuscleLengthInfo &mli) const override |
| calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc... More... | |
| void | calcFiberVelocityInfo (const SimTK::State &s, FiberVelocityInfo &fvi) const override |
| calculate muscle's fiber velocity and pennation angular velocity, etc... More... | |
| void | calcMuscleDynamicsInfo (const SimTK::State &s, MuscleDynamicsInfo &mdi) const override |
| calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values More... | |
| void | calcMusclePotentialEnergyInfo (const SimTK::State &s, MusclePotentialEnergyInfo &mpei) const override |
| calculate muscle's fiber and tendon potential energy More... | |
Get methods. | |
| static std::string | getActivationStateName () |
| static std::string | getNormalizedTendonForceStateName () |
| static std::string | getImplicitDynamicsDerivativeName () |
| static std::string | getImplicitDynamicsResidualName () |
| static double | getMinNormalizedTendonForce () |
| static double | getMaxNormalizedTendonForce () |
| static double | getMinNormalizedFiberLength () |
| static double | getMaxNormalizedFiberLength () |
| double | getPassiveFiberElasticForce (const SimTK::State &s) const |
| Get the portion of the passive fiber force generated by the elastic element only (N). More... | |
| double | getPassiveFiberElasticForceAlongTendon (const SimTK::State &s) const |
| Get the portion of the passive fiber force generated by the elastic element only, projected onto the tendon direction (N). More... | |
| double | getPassiveFiberDampingForce (const SimTK::State &s) const |
| Get the portion of the passive fiber force generated by the damping element only (N). More... | |
| double | getPassiveFiberDampingForceAlongTendon (const SimTK::State &s) const |
| Get the portion of the passive fiber force generated by the damping element only, projected onto the tendon direction (N). More... | |
| bool | getImplicitEnabledNormalizedTendonForce (const SimTK::State &) const |
| Get whether fiber dynamics is in implicit dynamics mode when using normalized tendon force as the state. More... | |
| double | getImplicitResidualNormalizedTendonForce (const SimTK::State &s) const |
| Compute the muscle-tendon force equilibrium residual value when using implicit contraction dynamics with normalized tendon force as the state. More... | |
| double | getNormalizedTendonForce (const SimTK::State &s) const |
| If ignore_tendon_compliance is true, this gets normalized fiber force along the tendon instead. More... | |
| double | getNormalizedTendonForceDerivative (const SimTK::State &s) const |
| Obtain the time derivative of the normalized tendon force. More... | |
| double | getEquilibriumResidual (const SimTK::State &s) const |
| The residual (i.e. More... | |
| double | getLinearizedEquilibriumResidualDerivative (const SimTK::State &s) const |
| The residual (i.e. More... | |
| SimTK::Vec2 | getBoundsNormalizedTendonForce (const SimTK::State &) const |
| The first element of the Vec2 is the lower bound, and the second is the upper bound. More... | |
| SimTK::Vec2 | getBoundsNormalizedFiberLength () const |
| The first element of the Vec2 is the lower bound, and the second is the upper bound. More... | |
Calculation methods. | |
These functions compute the values of normalized/dimensionless curves, their derivatives and integrals, and other quantities of the muscle. These do not depend on a SimTK::State. | |
| static SimTK::Real | calcForceVelocityMultiplier (const SimTK::Real &normFiberVelocity) |
| The parameters of this curve are not modifiable, so this function is static. More... | |
| static SimTK::Real | calcForceVelocityInverseCurve (const SimTK::Real &forceVelocityMult) |
| This is the inverse of the force-velocity multiplier function, and returns the normalized fiber velocity (in [-1, 1]) as a function of the force-velocity multiplier. More... | |
| SimTK::Real | calcActiveForceLengthMultiplier (const SimTK::Real &normFiberLength) const |
| The active force-length curve is the sum of 3 Gaussian-like curves. More... | |
| SimTK::Real | calcActiveForceLengthMultiplierDerivative (const SimTK::Real &normFiberLength) const |
| The derivative of the active force-length curve with respect to normalized fiber length. More... | |
| SimTK::Real | calcPassiveForceMultiplier (const SimTK::Real &normFiberLength) const |
| This is the passive force-length curve. More... | |
| SimTK::Real | calcPassiveForceMultiplierDerivative (const SimTK::Real &normFiberLength) const |
| This is the derivative of the passive force-length curve with respect to the normalized fiber length. More... | |
| SimTK::Real | calcPassiveForceMultiplierIntegral (const SimTK::Real &normFiberLength) const |
| This is the integral of the passive force-length curve with respect to the normalized fiber length over the domain [minNormFiberLength normFiberLength], where minNormFiberLength is the value return by getMinNormalizedFiberLength(). More... | |
| SimTK::Real | calcTendonForceMultiplier (const SimTK::Real &normTendonLength) const |
| The normalized tendon force as a function of normalized tendon length. More... | |
| SimTK::Real | calcTendonForceMultiplierDerivative (const SimTK::Real &normTendonLength) const |
| This is the derivative of the tendon-force length curve with respect to normalized tendon length. More... | |
| SimTK::Real | calcTendonForceMultiplierIntegral (const SimTK::Real &normTendonLength) const |
| This is the integral of the tendon-force length curve with respect to normalized tendon length over the domain [minNormTendonLength normTendonLength]. More... | |
| SimTK::Real | calcTendonForceLengthInverseCurve (const SimTK::Real &normTendonForce) const |
| This is the inverse of the tendon force-length curve, and returns the normalized tendon length as a function of the normalized tendon force. More... | |
| SimTK::Real | calcTendonForceLengthInverseCurveDerivative (const SimTK::Real &derivNormTendonForce, const SimTK::Real &normTendonLength) const |
| This returns normalized tendon velocity given the derivative of normalized tendon force and normalized tendon length. More... | |
| void | calcFiberForce (const SimTK::Real &activation, const SimTK::Real &activeForceLengthMultiplier, const SimTK::Real &forceVelocityMultiplier, const SimTK::Real &normPassiveFiberForce, const SimTK::Real &normFiberVelocity, SimTK::Real &activeFiberForce, SimTK::Real &conPassiveFiberForce, SimTK::Real &nonConPassiveFiberForce, SimTK::Real &totalFiberForce) const |
| This computes both the total fiber force and the individual components of fiber force (active, conservative passive, and non-conservative passive). More... | |
| SimTK::Real | calcFiberStiffness (const SimTK::Real &activation, const SimTK::Real &normFiberLength, const SimTK::Real &fiberVelocityMultiplier) const |
| The stiffness of the fiber in the direction of the fiber. More... | |
| SimTK::Real | calcTendonStiffness (const SimTK::Real &normTendonLength) const |
| The stiffness of the tendon in the direction of the tendon. More... | |
| SimTK::Real | calcMuscleStiffness (const SimTK::Real &tendonStiffness, const SimTK::Real &fiberStiffnessAlongTendon) const |
| The stiffness of the whole musculotendon unit in the direction of the tendon. More... | |
| SimTK::Real | calcPartialPennationAnglePartialFiberLength (const SimTK::Real &fiberLength) const |
| The derivative of pennation angle with respect to fiber length. More... | |
| SimTK::Real | calcPartialFiberForceAlongTendonPartialFiberLength (const SimTK::Real &fiberForce, const SimTK::Real &fiberStiffness, const SimTK::Real &sinPennationAngle, const SimTK::Real &cosPennationAngle, const SimTK::Real &partialPennationAnglePartialFiberLength) const |
| The derivative of the fiber force along the tendon with respect to fiber length. More... | |
| SimTK::Real | calcFiberStiffnessAlongTendon (const SimTK::Real &fiberLength, const SimTK::Real &partialFiberForceAlongTendonPartialFiberLength, const SimTK::Real &sinPennationAngle, const SimTK::Real &cosPennationAngle, const SimTK::Real &partialPennationAnglePartialFiberLength) const |
| The derivative of the fiber force along the tendon with respect to the fiber length along the tendon. More... | |
| SimTK::Real | calcPartialTendonLengthPartialFiberLength (const SimTK::Real &fiberLength, const SimTK::Real &sinPennationAngle, const SimTK::Real &cosPennationAngle, const SimTK::Real &partialPennationAnglePartialFiberLength) const |
| SimTK::Real | calcPartialTendonForcePartialFiberLength (const SimTK::Real &tendonStiffness, const SimTK::Real &fiberLength, const SimTK::Real &sinPennationAngle, const SimTK::Real &cosPennationAngle) const |
| SimTK::Real | calcEquilibriumResidual (const SimTK::Real &muscleTendonLength, const SimTK::Real &muscleTendonVelocity, const SimTK::Real &activation, const SimTK::Real &normTendonForce, const SimTK::Real &normTendonForceDerivative) const |
| The residual (i.e. More... | |
| SimTK::Real | calcLinearizedEquilibriumResidualDerivative (const SimTK::Real &muscleTendonLength, const SimTK::Real &muscleTendonVelocity, const SimTK::Real &activation, const SimTK::Real &normTendonForce, const SimTK::Real &normTendonForceDerivative) const |
| The residual (i.e. More... | |
Utilities | |
| static void | replaceMuscles (Model &model, bool allowUnsupportedMuscles=false) |
| Replace muscles of other types in the model with muscles of this type. More... | |
| DataTable | exportFiberLengthCurvesToTable (const SimTK::Vector &normFiberLengths=SimTK::Vector()) const |
| Export the active force-length multiplier and passive force multiplier curves to a DataTable. More... | |
| DataTable | exportFiberVelocityMultiplierToTable (const SimTK::Vector &normFiberVelocities=SimTK::Vector()) const |
| Export the fiber force-velocity multiplier curve to a DataTable. More... | |
| DataTable | exportTendonForceMultiplierToTable (const SimTK::Vector &normTendonLengths=SimTK::Vector()) const |
| Export the fiber tendon force multiplier curve to a DataTable. More... | |
| void | printCurvesToSTOFiles (const std::string &directory=".") const |
| Print the muscle curves to STO files. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from OpenSim::Muscle | |
| static Muscle * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Muscle". More... | |
| Static Public Member Functions inherited from OpenSim::PathActuator | |
| static PathActuator * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "PathActuator". More... | |
| Static Public Member Functions inherited from OpenSim::ScalarActuator | |
| static ScalarActuator * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "ScalarActuator". More... | |
| Static Public Member Functions inherited from OpenSim::Actuator | |
| static Actuator * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Actuator". More... | |
| Static Public Member Functions inherited from OpenSim::Force | |
| static Force * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Force". More... | |
| Static Public Member Functions inherited from OpenSim::ModelComponent | |
| static ModelComponent * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "ModelComponent". More... | |
| Static Public Member Functions inherited from OpenSim::Component | |
| static Component * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More... | |
| static const std::string & | getClassName () |
| This returns "Component". More... | |
| Static Public Member Functions inherited from OpenSim::Object | |
| static void | registerType (const Object &defaultObject) |
| Register an instance of a class; if the class is already registered it will be replaced. More... | |
| static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
| Support versioning by associating the current Object type with an old name. More... | |
| static const Object * | getDefaultInstanceOfType (const std::string &concreteClassName) |
| Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More... | |
| template<class T > | |
| static bool | isObjectTypeDerivedFrom (const std::string &concreteClassName) |
| Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More... | |
| static Object * | newInstanceOfType (const std::string &concreteClassName) |
| Create a new instance of the concrete Object type whose class name is given as concreteClassName. More... | |
| static void | getRegisteredTypenames (Array< std::string > &typeNames) |
| Retrieve all the typenames registered so far. More... | |
| template<class T > | |
| static void | getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray) |
| Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More... | |
| static bool | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true) |
| Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More... | |
| static bool | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true) |
| Same as the other signature but the class name and property name are provided as two separate strings. More... | |
| static Object * | makeObjectFromFile (const std::string &fileName) |
| Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More... | |
| static const std::string & | getClassName () |
| Return the name of this class as a string; i.e., "Object". More... | |
| static void | setSerializeAllDefaults (bool shouldSerializeDefaults) |
| Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More... | |
| static bool | getSerializeAllDefaults () |
| Report the value of the "serialize all defaults" flag. More... | |
| static bool | isKindOf (const char *type) |
| Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More... | |
| static void | setDebugLevel (int newLevel) |
| Set the amount of logging output. More... | |
| static int | getDebugLevel () |
| Get the current setting of debug level. More... | |
| static Object * | SafeCopy (const Object *aObject) |
| Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More... | |
| static void | RegisterType (const Object &defaultObject) |
| OBSOLETE alternate name for registerType(). More... | |
| static void | RenameType (const std::string &oldName, const std::string &newName) |
| OBSOLETE alternate name for renameType(). More... | |
This muscle model was published in De Groote et al.
The parameters of the active force-length and force-velocity curves have been slightly modified from what was published to ensure the curves go through key points:
This implementation introduces the property 'active_force_width_scale' as an addition to the original model, which allows users to effectively make the active force-length curve wider. This property may be useful for improving the force-generating capacity of a muscle without increasing maximum isometric force. This property works by scaling the normalized fiber length when the active force-length curve is computed. For example, a scale factor of 2 means that the fiber muscle traverses half as far along the force-length curve in either direction.
This implementation adds fiber damping as an addition to the original model. Users can specify this via the 'fiber_damping' property, and damping force along the fiber is computed by multiplying the property value by the normalized fiber velocity and max isometric force. If using this muscle for optimization, fiber damping is recommended as it can improve convergence.
This class supports tendon compliance dynamics in both explicit and implicit form (formulations 1 and 3 from De Groote et al. 2016). Both forms of the dynamics use normalized tendon force as the state variable (rather than the typical fiber length state). The explicit form is handled through the usual Component dynamics interface. The implicit form introduces an additional discrete state variable and cache variable in the SimTK::State for the derivative of normalized tendon force and muscle-tendon equilibrium residual respectively. In general, it is preferable to use the implicit form in optimization since it can be robust to arbitrary initial guesses (see De Groote et al. 2016). However, the implicit form is only for use with solvers that support implicit dynamics (i.e. Moco) and cannot be used to perform a time-stepping forward simulation with Manager; use explicit mode for time-stepping.
The documentation for Muscle::MuscleLengthInfo states that the optimalFiberLength of a muscle is also its resting length, but this is not true for this muscle: there is a non-zero passive fiber force at the optimal fiber length.
In the Muscle class, setIgnoreTendonCompliance() and setIngoreActivationDynamics() control modeling options, meaning these settings could theoretically be changed. However, for this class, the modeling option is ignored and the values of the ignore_tendon_compliance and ignore_activation_dynamics properties are used directly.
De Groote, F., Kinney, A. L., Rao, A. V., & Fregly, B. J. (2016). Evaluation of Direct Collocation Optimal Control Problem Formulations for Solving the Muscle Redundancy Problem. Annals of Biomedical Engineering, 44(10), 1–15. http://doi.org/10.1007/s10439-016-1591-9
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The active force-length curve is the sum of 3 Gaussian-like curves.
The width of the curve can be adjusted via the 'active_force_width_scale' property.
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The derivative of the active force-length curve with respect to normalized fiber length.
This curve is based on the derivative of the Gaussian-like curve used in calcActiveForceLengthMultiplier(). The 'active_force_width_scale' property also affects the value of the derivative curve.
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The residual (i.e.
error) in the muscle-tendon equilibrium equation: residual = normTendonForce - normFiberForce * cosPennationAngle The residual is unitless (units of normalized force). This is computed using the muscle in implicit mode, since explicit mode uses the normalized tendon force state variable directly to compute fiber force, which always produces a zero muscle-tendon equilibrium residual.
References OpenSim::Muscle::MuscleDynamicsInfo::fiberForceAlongTendon, and OpenSim::Muscle::MuscleDynamicsInfo::normTendonForce.
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This computes both the total fiber force and the individual components of fiber force (active, conservative passive, and non-conservative passive).
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The stiffness of the fiber in the direction of the fiber.
This includes both active and passive force contributions to stiffness from the muscle fiber.
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The derivative of the fiber force along the tendon with respect to the fiber length along the tendon.
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calculate muscle's fiber velocity and pennation angular velocity, etc...
Reimplemented from OpenSim::Muscle.
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This is the inverse of the force-velocity multiplier function, and returns the normalized fiber velocity (in [-1, 1]) as a function of the force-velocity multiplier.
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The parameters of this curve are not modifiable, so this function is static.
Domain: [-1, 1] Range: [0, 1.794]
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The residual (i.e.
error) in the time derivative of the linearized muscle-tendon equilibrium equation (Millard et al. 2013, equation A6): residual = fiberStiffnessAlongTendon * fiberVelocityAlongTendon - tendonStiffness * (muscleTendonVelocity - fiberVelocityAlongTendon) This may be useful for finding equilibrium when there is velocity in the muscle-tendon actuator. Velocity is divided between the muscle and tendon based on their relative stiffnesses.
References OpenSim::Muscle::MuscleDynamicsInfo::fiberStiffnessAlongTendon, OpenSim::Muscle::FiberVelocityInfo::fiberVelocityAlongTendon, and OpenSim::Muscle::MuscleDynamicsInfo::tendonStiffness.
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calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values
Reimplemented from OpenSim::Muscle.
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calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc...
Reimplemented from OpenSim::Muscle.
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calculate muscle's fiber and tendon potential energy
Reimplemented from OpenSim::Muscle.
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The stiffness of the whole musculotendon unit in the direction of the tendon.
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The derivative of the fiber force along the tendon with respect to fiber length.
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The derivative of pennation angle with respect to fiber length.
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This is the passive force-length curve.
The curve becomes negative below the minNormFiberLength.
We modified this equation from that in the supplementary materials of De Groote et al., 2016, which is the same function used in Thelen2003Muscle. The version in the supplementary materials passes through y = 0 at x = 1.0 and allows for negative forces. We do not want negative forces within the allowed range of fiber lengths, so we modified the equation to pass through y = 0 at x = minNormFiberLength. (This is not an issue for Thelen2003Muscle because the curve is not smooth and returns 0 for lengths less than optimal fiber length.)
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This is the derivative of the passive force-length curve with respect to the normalized fiber length.
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This is the integral of the passive force-length curve with respect to the normalized fiber length over the domain [minNormFiberLength normFiberLength], where minNormFiberLength is the value return by getMinNormalizedFiberLength().
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This is the inverse of the tendon force-length curve, and returns the normalized tendon length as a function of the normalized tendon force.
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This returns normalized tendon velocity given the derivative of normalized tendon force and normalized tendon length.
This is derived by taking the derivative of the tendon force multiplier curve with respect to time and then solving for normalized fiber velocity (see supplementary information for De Groote et al. 2016).
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The normalized tendon force as a function of normalized tendon length.
Note that this curve does not go through (1, 0); when normTendonLength=1, this function returns a slightly negative number.
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This is the derivative of the tendon-force length curve with respect to normalized tendon length.
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This is the integral of the tendon-force length curve with respect to normalized tendon length over the domain [minNormTendonLength normTendonLength].
The lower bound on the domain is computed by passing the value return by getMinNormalizedTendonForce() to calcTendonForceLengthInverseCurve().
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The stiffness of the tendon in the direction of the tendon.
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Create a new heap-allocated copy of the concrete object to which this Object refers.
It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.
Implements OpenSim::Muscle.
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Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e.
not the fiber force)
Implements OpenSim::Muscle.
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In this method, calcEquilibriumResidual() is used to find a value of the normalized tendon force state variable that produces muscle-tendon equilibrium.
This relies on the implicit form of tendon compliance since the explicit form uses the normalized tendon force state variable directly to compute fiber force, which always produces a zero muscle-tendon equilibrium residual. The derivative of normalized tendon force is set to zero since a value is required for the implicit form of the model.
Implements OpenSim::Muscle.
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If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.
Override to set the derivatives of state variables added to the system by this component. (also see extendAddToSystem()). If the component adds states and computeStateVariableDerivatives is not implemented by the component, an exception is thrown when the system tries to evaluate its derivatives.
Implement like this:
For subclasses, it is highly recommended that you first call Super::computeStateVariableDerivatives(state) to preserve the derivative computation of the parent class and to only specify the derivatives of the state variables added by name. One does have the option to override all the derivative values for the parent by accessing the derivatives by their state variable name. This is necessary, for example, if a newly added state variable is coupled to the dynamics (derivatives) of the states variables that were added by the parent.
Reimplemented from OpenSim::Component.
| DataTable OpenSim::DeGrooteFregly2016Muscle::exportFiberLengthCurvesToTable | ( | const SimTK::Vector & | normFiberLengths = SimTK::Vector() | ) | const |
Export the active force-length multiplier and passive force multiplier curves to a DataTable.
If the normFiberLengths argument is omitted, we use createVectorLinspace(200, minNormFiberLength, maxNormFiberLength).
| DataTable OpenSim::DeGrooteFregly2016Muscle::exportFiberVelocityMultiplierToTable | ( | const SimTK::Vector & | normFiberVelocities = SimTK::Vector() | ) | const |
Export the fiber force-velocity multiplier curve to a DataTable.
If the normFiberVelocities argument is omitted, we use createVectorLinspace(200, -1.1, 1.1).
| DataTable OpenSim::DeGrooteFregly2016Muscle::exportTendonForceMultiplierToTable | ( | const SimTK::Vector & | normTendonLengths = SimTK::Vector() | ) | const |
Export the fiber tendon force multiplier curve to a DataTable.
If the normFiberVelocities argument is omitted, we use createVectorLinspace(200, 0.95, 1 + <strain at 1 norm force>)
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Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.
extendAddToSystem() is called when the Simbody System is being created to represent a completed system (model) for computation. That is, connect() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within extendAddToSystem() only.
Note that this method is const; you may not modify your model component or the containing model during this call. Any modifications you need should instead be performed in finalizeFromProperties() or at the latest connect(), which are non-const. The only exception is that you may need to record access information for resources you create in the system, such as an index number. For most Components, OpenSim base classes either provide convenience methods or handle indices automatically. Otherwise, you must declare indices as mutable data members so that you can set them here.
If you override this method, be sure to invoke the base class method at the beginning, using code like this:
This method assumes that this Component's addToSystem will be invoked before its subcomponents. If you need your subcomponents to be added to the system, first (e.g. require of a Force to be anchored to a SimTK::MobilizedBody specified by subcomponents) then you must implement: extendAddToSystemAfterSubcomponents(). It is possible to implement both method to add system elements before and then after your subcomponents have added themselves. Caution is required that Simbody elements are not added twice especially when order is unimportant.
| [in,out] | system | The MultibodySystem being added to. |
Reimplemented from OpenSim::Component.
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Perform any time-invariant calculations, data structure initializations, or other configuration based on the component's properties to form a functioning (but not yet connected) component.
For example, each property should be checked to ensure that its value is within an acceptable range. When this method returns, the component will be marked as being up-to-date with its properties. Do not perform any configuration that depends on the SimTK::MultibodySystem; it is not available at this point.
If you override this method, be sure to invoke the base class method first, using code like this:
Reimplemented from OpenSim::Component.
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Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.
This is called after a SimTK::System and State have been created for the Model (that is, after extendAddToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.
If you override this method, be sure to invoke the base class method first, using code like this:
| state | The state that will receive the new initial conditions. |
Reimplemented from OpenSim::Component.
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Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property.
Thus, state variable values can persist as part of the model component and be serialized as a property.
If you override this method, be sure to invoke the base class method first, using code like this:
| state | The State from which values may be extracted to set persistent property values. |
Reimplemented from OpenSim::Component.
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Get the value of the activation_time_constant property.
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Get the value of the active_force_width_scale property.
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Get the value of the deactivation_time_constant property.
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Get the value of the default_activation property.
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Get the value of the default_normalized_tendon_force property.
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Get the value of the fiber_damping property.
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Get the value of the ignore_passive_fiber_force property.
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Get the value of the passive_fiber_strain_at_one_norm_force property.
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Get the value of the tendon_compliance_dynamics_mode property.
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Get the value of the tendon_strain_at_one_norm_force property.
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If ignore_activation_dynamics is true, this gets excitation instead.
Reimplemented from OpenSim::Muscle.
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The first element of the Vec2 is the lower bound, and the second is the upper bound.
Note that since fiber length is not used as a state variable, these bounds cannot be enforced directly. It is upon the user to ensure the muscle fiber is operating within the specified domain.
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This returns "DeGrooteFregly2016Muscle".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
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Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.
This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.
Implements OpenSim::Muscle.
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The residual (i.e.
error) in the muscle-tendon equilibrium equation: residual = normTendonForce - normFiberForce * cosPennationAngle The residual is unitless (units of normalized force). This is computed using the muscle in implicit mode, since explicit mode uses the normalized tendon force state variable directly to compute fiber force, which always produces a zero muscle-tendon equilibrium residual. This calls calcEquilibriumResidual() using values from the provided SimTK::State as arguments. While is computed using implicit mode, the value of normalized tendon force derivative used is consistent with the property tendon_compliance_dynamics_mode (see getNormalizedTendonForceDerivative()).
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Get whether fiber dynamics is in implicit dynamics mode when using normalized tendon force as the state.
This is useful to indicate to solvers to handle the normalized tendon force derivative and muscle-tendon equilibrium variables, which are added to the State as discrete and cache variables, respectively. This function is intended primarily for the model Output 'implicitenabled_normalized_tendon_force'. We don't need the state, but the state parameter is a requirement of Output functions.
| double OpenSim::DeGrooteFregly2016Muscle::getImplicitResidualNormalizedTendonForce | ( | const SimTK::State & | s | ) | const |
Compute the muscle-tendon force equilibrium residual value when using implicit contraction dynamics with normalized tendon force as the state.
This function is intended primarily for the model Output 'implicitresidual_normalized_tendon_force'.
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The residual (i.e.
error) in the time derivative of the linearized muscle-tendon equilibrium equation (Millard et al. 2013, equation A6): residual = fiberStiffnessAlongTendon * fiberVelocityAlongTendon - tendonStiffness * (muscleTendonVelocity - fiberVelocityAlongTendon) This may be useful for finding equilibrium when there is velocity in the muscle-tendon actuator. Velocity is divided between the muscle and tendon based on their relative stiffnesses.
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If ignore_tendon_compliance is true, this gets normalized fiber force along the tendon instead.
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Obtain the time derivative of the normalized tendon force.
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| double OpenSim::DeGrooteFregly2016Muscle::getPassiveFiberDampingForce | ( | const SimTK::State & | s | ) | const |
Get the portion of the passive fiber force generated by the damping element only (N).
| double OpenSim::DeGrooteFregly2016Muscle::getPassiveFiberDampingForceAlongTendon | ( | const SimTK::State & | s | ) | const |
Get the portion of the passive fiber force generated by the damping element only, projected onto the tendon direction (N).
| double OpenSim::DeGrooteFregly2016Muscle::getPassiveFiberElasticForce | ( | const SimTK::State & | s | ) | const |
Get the portion of the passive fiber force generated by the elastic element only (N).
| double OpenSim::DeGrooteFregly2016Muscle::getPassiveFiberElasticForceAlongTendon | ( | const SimTK::State & | s | ) | const |
Get the portion of the passive fiber force generated by the elastic element only, projected onto the tendon direction (N).
| void OpenSim::DeGrooteFregly2016Muscle::printCurvesToSTOFiles | ( | const std::string & | directory = "." | ) | const |
Print the muscle curves to STO files.
The files will be named as <muscle-name>_<curve_type>.sto.
| directory | The directory to which the data files should be written. Do NOT include the filename. By default, the files are printed to the current working directory. |
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Replace muscles of other types in the model with muscles of this type.
Currently, only Millard2012EquilibriumMuscles and Thelen2003Muscles are replaced. For these two muscle classes, we copy property values into equivalent properties of the newly created DeGrooteFregly2016Muscle. If the model has muscles of other types, an exception is thrown unless allowUnsupportedMuscles is true, in which a DeGrooteFregly2016Muscle is created using only the base Muscle class property values. Since the DeGrooteFregly2016Muscle implements tendon compliance dynamics with normalized tendon force as the state variable, this function ignores the 'default_fiber_length' property in replaced muscles.
Referenced by OpenSim::ModOpReplaceMusclesWithDeGrooteFregly2016::operate().
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For use in MATLAB and Python to access the concrete class.
Example: cObj = DeGrooteFregly2016Muscle.safeDownCast(obj). This is equivalent to dynamic_cast<DeGrooteFregly2016Muscle*>(obj) in C++.
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Set the value of the activation_time_constant property.
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Set the value of the active_force_width_scale property.
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Set the value of the deactivation_time_constant property.
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Set the value of the default_activation property.
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Set the value of the default_normalized_tendon_force property.
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Set the value of the fiber_damping property.
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Set the value of the ignore_passive_fiber_force property.
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Set the value of the passive_fiber_strain_at_one_norm_force property.
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Set the value of the tendon_compliance_dynamics_mode property.
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Set the value of the tendon_strain_at_one_norm_force property.
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If ignore_activation_dynamics is true, this sets excitation instead.
Implements OpenSim::Muscle.
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Get a writable reference to the activation_time_constant property.
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Get a writable reference to the active_force_width_scale property.
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Get a writable reference to the deactivation_time_constant property.
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Get a writable reference to the default_activation property.
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Get a writable reference to the default_normalized_tendon_force property.
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Get a writable reference to the fiber_damping property.
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Get a writable reference to the ignore_passive_fiber_force property.
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Get a writable reference to the passive_fiber_strain_at_one_norm_force property.
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Get a writable reference to the tendon_compliance_dynamics_mode property.
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Get a writable reference to the tendon_strain_at_one_norm_force property.
| double OpenSim::DeGrooteFregly2016Muscle::activation_time_constant |
"Smaller value means activation can increase more rapidly. " "Default: 0.015 seconds."
This property appears in XML files under the tag <activation_time_constant>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::active_force_width_scale |
"Scale factor for the width of the active force-length curve. " "Larger values make the curve wider. Default: 1.0."
This property appears in XML files under the tag <active_force_width_scale>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::deactivation_time_constant |
"Smaller value means activation can decrease more rapidly. " "Default: 0.060 seconds."
This property appears in XML files under the tag <deactivation_time_constant>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::default_activation |
"Value of activation in the default state returned by " "initSystem(). Default: 0.5."
This property appears in XML files under the tag <default_activation>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::default_normalized_tendon_force |
"Value of normalized tendon force in the default state returned by " "initSystem(). Default: 0.5."
This property appears in XML files under the tag <default_normalized_tendon_force>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::fiber_damping |
"Use this property to define the linear damping force that is " "added to the total muscle fiber force. It is computed by " "multiplying this damping parameter by the normalized fiber " "velocity and the max isometric force. Default: 0."
This property appears in XML files under the tag <fiber_damping>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| bool OpenSim::DeGrooteFregly2016Muscle::ignore_passive_fiber_force |
"Make the passive fiber force 0. Default: false."
This property appears in XML files under the tag <ignore_passive_fiber_force>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| bool OpenSim::DeGrooteFregly2016Muscle::implicitenabled_normalized_tendon_force |
Provides the value of getImplicitEnabledNormalizedTendonForce() and is available at stage SimTK::Stage::Model .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::implicitresidual_normalized_tendon_force |
Provides the value of getImplicitResidualNormalizedTendonForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::passive_fiber_damping_force |
Provides the value of getPassiveFiberDampingForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::passive_fiber_damping_force_along_tendon |
Provides the value of getPassiveFiberDampingForceAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::passive_fiber_elastic_force |
Provides the value of getPassiveFiberElasticForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::passive_fiber_elastic_force_along_tendon |
Provides the value of getPassiveFiberElasticForceAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| double OpenSim::DeGrooteFregly2016Muscle::passive_fiber_strain_at_one_norm_force |
"Fiber strain when the passive fiber force is 1 normalized force. " "Default: 0.6."
This property appears in XML files under the tag <passive_fiber_strain_at_one_norm_force>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| SimTK::Vec2 OpenSim::DeGrooteFregly2016Muscle::statebounds_normalized_tendon_force |
Provides the value of getBoundsNormalizedTendonForce() and is available at stage SimTK::Stage::Model .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
| std::string OpenSim::DeGrooteFregly2016Muscle::tendon_compliance_dynamics_mode |
"The dynamics method used to enforce tendon compliance dynamics. " "Options: 'explicit' or 'implicit'. Default: 'explicit'. "
This property appears in XML files under the tag <tendon_compliance_dynamics_mode>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
| double OpenSim::DeGrooteFregly2016Muscle::tendon_strain_at_one_norm_force |
"Tendon strain at a tension of 1 normalized force. " "Default: 0.049."
This property appears in XML files under the tag <tendon_strain_at_one_norm_force>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
1.8.14 