API
4.3
For MATLAB, Python, Java, and C++ users
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This class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocities) curves can be employed.
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OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (single-value) | |
double | default_activation |
"assumed initial activation level if none is assigned." More... | |
double | default_fiber_length |
"assumed initial fiber length if none is assigned." More... | |
double | default_fiber_velocity |
"assumed initial fiber velocity if none is assigned." More... | |
double | fiber_damping |
"fiber damping coefficient" More... | |
double | fiber_force_length_damping |
"fiber force length damping coefficient" More... | |
double | fiber_compressive_force_length_damping |
"fiber compressive force length damping coefficient" More... | |
double | fiber_compressive_force_cos_pennation_damping |
"fiber compressive force cos(pennationAngle) damping coefficient" More... | |
double | tendon_force_length_damping |
"tendon force length damping coefficient" More... | |
double | mass |
"lumped mass" More... | |
Properties (unnamed) | |
MuscleFirstOrderActivationDynamicModel | MuscleFirstOrderActivationDynamicModel |
"activation dynamics model with a lower bound" More... | |
ActiveForceLengthCurve | ActiveForceLengthCurve |
"active force length curve" More... | |
ForceVelocityCurve | ForceVelocityCurve |
"force velocity curve" More... | |
FiberForceLengthCurve | FiberForceLengthCurve |
"fiber force length curve" More... | |
TendonForceLengthCurve | TendonForceLengthCurve |
"Tendon force length curve" More... | |
FiberCompressiveForceLengthCurve | FiberCompressiveForceLengthCurve |
"fiber compressive force length curve" More... | |
FiberCompressiveForceCosPennationCurve | FiberCompressiveForceCosPennationCurve |
"fiber compressive force cos(pennationAngle) curve" 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 | |
Millard2012AccelerationMuscle () | |
Default constructor: produces a non-functional empty muscle. More... | |
Millard2012AccelerationMuscle (const std::string &aName, double aMaxIsometricForce, double aOptimalFiberLength, double aTendonSlackLength, double aPennationAngle) | |
Constructs a functional muscle using all of the default curves and activation model. More... | |
double | getFiberCompressiveForceLengthMultiplier (SimTK::State &s) const |
More... | |
double | getFiberCompressiveForceCosPennationMultiplier (SimTK::State &s) const |
More... | |
double | getTendonForceMultiplier (SimTK::State &s) const |
More... | |
double | getMass () const |
More... | |
const MuscleFirstOrderActivationDynamicModel & | getActivationModel () const |
More... | |
const MuscleFixedWidthPennationModel & | getPennationModel () const |
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const ActiveForceLengthCurve & | getActiveForceLengthCurve () const |
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const ForceVelocityCurve & | getForceVelocityCurve () const |
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const FiberForceLengthCurve & | getFiberForceLengthCurve () const |
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const TendonForceLengthCurve & | getTendonForceLengthCurve () const |
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const FiberCompressiveForceLengthCurve & | getFiberCompressiveForceLengthCurve () const |
More... | |
const FiberCompressiveForceCosPennationCurve & | getFiberCompressiveForceCosPennationCurve () const |
More... | |
double | getFiberStiffnessAlongTendon (const SimTK::State &s) const |
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void | setActivationModel (MuscleFirstOrderActivationDynamicModel &aActivationMdl) |
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void | setActiveForceLengthCurve (ActiveForceLengthCurve &aActiveForceLengthCurve) |
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void | setForceVelocityCurve (ForceVelocityCurve &aForceVelocityCurve) |
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void | setFiberForceLengthCurve (FiberForceLengthCurve &aFiberForceLengthCurve) |
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void | setTendonForceLengthCurve (TendonForceLengthCurve &aTendonForceLengthCurve) |
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void | setFiberCompressiveForceLengthCurve (FiberCompressiveForceLengthCurve &aFiberCompressiveForceLengthCurve) |
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void | setFiberCompressiveForceCosPennationCurve (FiberCompressiveForceCosPennationCurve &aFiberCompressiveForceCosPennationCurve) |
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void | setMass (double mass) |
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double | getDefaultActivation () const |
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double | getDefaultFiberLength () const |
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double | getDefaultFiberVelocity () const |
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double | getActivationRate (const SimTK::State &s) const |
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double | getFiberVelocity (const SimTK::State &s) const |
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double | getFiberAcceleration (const SimTK::State &s) const |
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void | setDefaultActivation (double activation) |
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void | setDefaultFiberLength (double fiberLength) |
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void | setDefaultFiberVelocity (double fiberVelocity) |
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void | setActivation (SimTK::State &s, double activation) const override |
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void | setFiberLength (SimTK::State &s, double fiberLength) const |
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void | setFiberVelocity (SimTK::State &s, double fiberVelocity) const |
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double | computeActuation (const SimTK::State &s) const override final |
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void | computeInitialFiberEquilibrium (SimTK::State &s) const override final |
This function computes the fiber length such that muscle fiber and tendon are developing the same force, and so that the velocity of the entire muscle-tendon is spread between the fiber and the tendon according to their relative compliances. More... | |
void | extendPostScale (const SimTK::State &s, const ScaleSet &scaleSet) override |
Adjust the properties of the muscle after the model has been scaled. More... | |
Property-related functions | |
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_fiber_length () const |
Get the value of the default_fiber_length property. More... | |
double & | upd_default_fiber_length () |
Get a writable reference to the default_fiber_length property. More... | |
void | set_default_fiber_length (const double &value) |
Set the value of the default_fiber_length property. More... | |
const double & | get_default_fiber_velocity () const |
Get the value of the default_fiber_velocity property. More... | |
double & | upd_default_fiber_velocity () |
Get a writable reference to the default_fiber_velocity property. More... | |
void | set_default_fiber_velocity (const double &value) |
Set the value of the default_fiber_velocity property. More... | |
const MuscleFirstOrderActivationDynamicModel & | get_MuscleFirstOrderActivationDynamicModel () const |
Get the value of the MuscleFirstOrderActivationDynamicModel property. More... | |
MuscleFirstOrderActivationDynamicModel & | upd_MuscleFirstOrderActivationDynamicModel () |
Get a writable reference to the MuscleFirstOrderActivationDynamicModel property. More... | |
void | set_MuscleFirstOrderActivationDynamicModel (const MuscleFirstOrderActivationDynamicModel &value) |
Set the value of the MuscleFirstOrderActivationDynamicModel property. More... | |
const ActiveForceLengthCurve & | get_ActiveForceLengthCurve () const |
Get the value of the ActiveForceLengthCurve property. More... | |
ActiveForceLengthCurve & | upd_ActiveForceLengthCurve () |
Get a writable reference to the ActiveForceLengthCurve property. More... | |
void | set_ActiveForceLengthCurve (const ActiveForceLengthCurve &value) |
Set the value of the ActiveForceLengthCurve property. More... | |
const ForceVelocityCurve & | get_ForceVelocityCurve () const |
Get the value of the ForceVelocityCurve property. More... | |
ForceVelocityCurve & | upd_ForceVelocityCurve () |
Get a writable reference to the ForceVelocityCurve property. More... | |
void | set_ForceVelocityCurve (const ForceVelocityCurve &value) |
Set the value of the ForceVelocityCurve property. More... | |
const FiberForceLengthCurve & | get_FiberForceLengthCurve () const |
Get the value of the FiberForceLengthCurve property. More... | |
FiberForceLengthCurve & | upd_FiberForceLengthCurve () |
Get a writable reference to the FiberForceLengthCurve property. More... | |
void | set_FiberForceLengthCurve (const FiberForceLengthCurve &value) |
Set the value of the FiberForceLengthCurve property. More... | |
const TendonForceLengthCurve & | get_TendonForceLengthCurve () const |
Get the value of the TendonForceLengthCurve property. More... | |
TendonForceLengthCurve & | upd_TendonForceLengthCurve () |
Get a writable reference to the TendonForceLengthCurve property. More... | |
void | set_TendonForceLengthCurve (const TendonForceLengthCurve &value) |
Set the value of the TendonForceLengthCurve property. More... | |
const FiberCompressiveForceLengthCurve & | get_FiberCompressiveForceLengthCurve () const |
Get the value of the FiberCompressiveForceLengthCurve property. More... | |
FiberCompressiveForceLengthCurve & | upd_FiberCompressiveForceLengthCurve () |
Get a writable reference to the FiberCompressiveForceLengthCurve property. More... | |
void | set_FiberCompressiveForceLengthCurve (const FiberCompressiveForceLengthCurve &value) |
Set the value of the FiberCompressiveForceLengthCurve property. More... | |
const FiberCompressiveForceCosPennationCurve & | get_FiberCompressiveForceCosPennationCurve () const |
Get the value of the FiberCompressiveForceCosPennationCurve property. More... | |
FiberCompressiveForceCosPennationCurve & | upd_FiberCompressiveForceCosPennationCurve () |
Get a writable reference to the FiberCompressiveForceCosPennationCurve property. More... | |
void | set_FiberCompressiveForceCosPennationCurve (const FiberCompressiveForceCosPennationCurve &value) |
Set the value of the FiberCompressiveForceCosPennationCurve 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 double & | get_fiber_force_length_damping () const |
Get the value of the fiber_force_length_damping property. More... | |
double & | upd_fiber_force_length_damping () |
Get a writable reference to the fiber_force_length_damping property. More... | |
void | set_fiber_force_length_damping (const double &value) |
Set the value of the fiber_force_length_damping property. More... | |
const double & | get_fiber_compressive_force_length_damping () const |
Get the value of the fiber_compressive_force_length_damping property. More... | |
double & | upd_fiber_compressive_force_length_damping () |
Get a writable reference to the fiber_compressive_force_length_damping property. More... | |
void | set_fiber_compressive_force_length_damping (const double &value) |
Set the value of the fiber_compressive_force_length_damping property. More... | |
const double & | get_fiber_compressive_force_cos_pennation_damping () const |
Get the value of the fiber_compressive_force_cos_pennation_damping property. More... | |
double & | upd_fiber_compressive_force_cos_pennation_damping () |
Get a writable reference to the fiber_compressive_force_cos_pennation_damping property. More... | |
void | set_fiber_compressive_force_cos_pennation_damping (const double &value) |
Set the value of the fiber_compressive_force_cos_pennation_damping property. More... | |
const double & | get_tendon_force_length_damping () const |
Get the value of the tendon_force_length_damping property. More... | |
double & | upd_tendon_force_length_damping () |
Get a writable reference to the tendon_force_length_damping property. More... | |
void | set_tendon_force_length_damping (const double &value) |
Set the value of the tendon_force_length_damping property. More... | |
const double & | get_mass () const |
Get the value of the mass property. More... | |
double & | upd_mass () |
Get a writable reference to the mass property. More... | |
void | set_mass (const double &value) |
Set the value of the mass property. More... | |
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 |
virtual double | getActivation (const SimTK::State &s) const |
get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles. More... | |
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 Millard2012AccelerationMuscle * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Millard2012AccelerationMuscle". More... | |
Millard2012AccelerationMuscle * | 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... | |
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 class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocities) curves can be employed.
The dynamic equation of the mass, constrained to move in direction \( \hat{i} \) is given by the scalar equation:
\[ m \ddot{x} = F_{SE} - F_{CE} \cdot \hat{i} \]
The kinematic expression for the acceleration of the mass, \( \ddot{s} \), expressed in terms of the fiber length, \(l_{CE}\), and pennation angle \(\phi\) is
\[ \ddot{x} = \Big(\ddot{l}_{CE} \cos \phi - 2 \dot{l}_{CE}\dot{\phi}\sin\phi - \dot{\phi}^2 l_{CE} \cos \phi - \ddot{\phi} l_{CE} \sin \phi\Big) \]
The kinematic expression for the angular acceleration of the pennation angle can be found by taking the second derivative of the pennation constraint equation
\[ l_{CE} \sin \phi = h \]
which yields
\[ \ddot{\phi} = -\Big( \ddot{l}_{CE}\sin\phi + 2 \dot{l}_{CE} \dot{\phi} \cos\phi - \dot{\phi}^2 l_{CE} \sin \phi \Big) / \Big( l_{CE} \cos \phi \Big) \]
An expression for \( \ddot{l}_{CE}\) can be obtained by substituting in the equations \( \ddot{\phi} \) into the equation for \(\ddot{x}\) and simplifying:
\[ \ddot{l}_{CE} = \frac{1}{m} \Big( F_{SE} - F_{CE} \cdot \hat{i} \Big) \cos \phi + l_{CE} \dot{\phi}^2 \]
Notice that the above equation for \(\ddot{l}_{CE}\) has no singularities, provided that there are no singularities in \( F_{SE}\) and \( F_{M}\cdot\hat{i}\). The force the fiber applies to the tendon (in N), \(F_{CE}\cdot\hat{i}\), is given by (+'ve is tension)
\[ F_{CE} \cdot \hat{i} = f_{ISO}\Big(\mathbf{a} \mathbf{f}_L(\hat{l}_{CE}) \mathbf{f}_V(\frac{\hat{v}_{CE}}{v_{MAX}}) + \beta_{CE}\hat{v}_{CE} + \mathbf{f}_{PE}(\hat{l}_{CE})(1+\beta_{PE}\hat{v}_{CE}) - \mathbf{f}_K(\hat{l}_{CE})(1-\beta_{K}\hat{v}_{CE}) \Big) \cos \phi - f_{ISO} \Big( \mathbf{f}_{c\phi}(\cos \phi) (1- \beta_{c \phi} \frac{d}{dt}(\frac{l_{CE}\cos\phi}{l_{CE,OPT}\cos\phi_{OPT}})) \Big) \]
The force the tendon generates (in N) is given by (+'ve is tension)
\[ F_{SE} = f_{ISO} \mathbf{f}_{SE}(\hat{l}_{SE})(1+\beta_{SE}\hat{v}_{SE}) \]
Every elastic element ( \(\mathbf{f}_{PE}\), \(\mathbf{f}_{K}\), \(\mathbf{f}_{c\phi}\), and \(\mathbf{f}_{SE}\)) is accompanied by a non-linear damping element of a form that is identical to the damping found in a Hunt-Crossley contact model. Additionally a linear damping element, \(\beta_{CE}\hat{v}_{CE}\), is located in the fiber as in J.He et al. Damping is necessary to include in this model to prevent the mass from oscillating in a non-physiologic manner. Nonlinear damping Hunt-Crossley damping (where the damping force is scaled by the elastic force) has been chosen because this form of damping doesn't increase the stiffness of the system equations (because it is gradually turned on).
As with the Hunt-Crossley contact model, the force generated by the nonlinear spring and damper saturated so that it is greater than or equal to zero. This saturation is necessary to ensure that tension elements can only generate tensile forces, and that compressive elements only generate compressive forces. Note that the sign conventions have been chosen so that damping forces are generated in the correct direction for each element.
\begin{eqnarray*} (1+\beta_{PE}\hat{v}_{CE}) > 0 \\ (1-\beta_{K}\hat{v}_{CE}) > 0 \\ (1- \beta_{c \phi} \frac{d}{dt}(\frac{l_{CE}\cos\phi}{l_{CE,OPT}\cos\phi_{OPT}})) > 0 \\ (1+\beta_{SE}\hat{v}_{SE}) > 0 \end{eqnarray*}
For more information on these new terms please see the doxygen for FiberCompressiveForceLengthCurve, FiberCompressiveForceCosPennationCurve, and MuscleFirstOrderActivationDynamicModel.
Caution
The Millard2012AccelerationMuscle class is experimental and has not been extensively tested in all operational conditions.
Usage
Note that this object should be updated through the set methods provided. These set methods will take care of rebuilding the muscle correctly. If you modify the properties directly, the curve will not be rebuilt, and upon calling a function that requires a state an exception will be thrown because the muscle is out of date with its properties.
Note that this muscle does not currently implement the ignore_tendon_compliance flag, nor the ignore_activation_dynamics flag.
Nomenclature
Note that dot notation is used to denote time derivatives (units of \(m/s\) and \(m/s^2\) in this case), where as the hat symbol (as in \(\hat{l}\), \(\hat{v}\)) is used to denote time derivatives that have been scaled by a characteristic dimension (appear in units of \(1/s\) and \(1/s^2\) in this case)
References
Hunt,K., and Crossley,F. Coefficient of restitution interpreted as damping in vibroimpact. Transactions of the ASME Journal of Applied Mechanics, 42(E):440445, 1975.
J.He, W.S. Levine, and G.E. Leob."The Modelling of the Neuro-musculo-skeletal Control System of A Cat Hindlimb", Proceedings of the IEEE International Symposium on Intelligent Control, 1988.
OpenSim::Millard2012AccelerationMuscle::Millard2012AccelerationMuscle | ( | ) |
Default constructor: produces a non-functional empty muscle.
OpenSim::Millard2012AccelerationMuscle::Millard2012AccelerationMuscle | ( | const std::string & | aName, |
double | aMaxIsometricForce, | ||
double | aOptimalFiberLength, | ||
double | aTendonSlackLength, | ||
double | aPennationAngle | ||
) |
Constructs a functional muscle using all of the default curves and activation model.
aName | The name of the muscle. |
aMaxIsometricForce | The force generated by the muscle when it at its optimal resting length, has a contraction velocity of zero, and is fully activated (Newtons). |
aOptimalFiberLength | The optimal length of the muscle fiber (meters). |
aTendonSlackLength | The resting length of the tendon (meters). |
aPennationAngle | The angle of the fiber relative to the tendon when the fiber is at its optimal resting length (radians). |
|
protected |
s | the state of the model |
|
finaloverrideprotectedvirtual |
calculate muscle's velocity related values such fiber and tendon velocities,normalized velocities, pennation angular velocity, etc...
s | the state of the model |
fvi | the fiber velocity info struct that will hold updated information about the muscle that is available at the velocity stage |
Reimplemented from OpenSim::Muscle.
|
finaloverrideprotectedvirtual |
calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values
s | the state of the model |
mdi | the muscle dynamics info struct that will hold updated information about the muscle that is available at the dynamics stage |
Reimplemented from OpenSim::Muscle.
|
finaloverrideprotectedvirtual |
calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc...
s | the state of the model |
mli | the muscle length info struct that will hold updated information about the muscle that is available at the position stage |
Reimplemented from OpenSim::Muscle.
|
finaloverrideprotectedvirtual |
calculate muscle's fiber and tendon potential energy
Reimplemented from OpenSim::Muscle.
|
inlineoverridevirtual |
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.
|
finaloverridevirtual |
s | the state of the system |
Implements OpenSim::Muscle.
|
finaloverridevirtual |
This function computes the fiber length such that muscle fiber and tendon are developing the same force, and so that the velocity of the entire muscle-tendon is spread between the fiber and the tendon according to their relative compliances.
s | the state of the system |
MuscleCannotEquilibrate |
Implements OpenSim::Muscle.
|
finaloverrideprotectedvirtual |
computes state variable derivatives
s | the state of the model |
Reimplemented from OpenSim::Component.
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finaloverrideprotectedvirtual |
Creates the ModelComponent so that it can be used in simulation.
system | the multibody system |
Reimplemented from OpenSim::Component.
|
finaloverrideprotectedvirtual |
Initializes the state of the ModelComponent.
s | the state of the model |
Reimplemented from OpenSim::Component.
|
overridevirtual |
Adjust the properties of the muscle after the model has been scaled.
The optimal fiber length and tendon slack length are each multiplied by the ratio of the current path length and the path length before scaling.
Reimplemented from OpenSim::ModelComponent.
|
finaloverrideprotectedvirtual |
Sets the default state for ModelComponent.
s | the state of the model |
Reimplemented from OpenSim::Component.
|
inline |
Get the value of the ActiveForceLengthCurve property.
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inline |
Get the value of the default_activation property.
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inline |
Get the value of the default_fiber_length property.
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inline |
Get the value of the default_fiber_velocity property.
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inline |
Get the value of the fiber_compressive_force_cos_pennation_damping property.
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inline |
Get the value of the fiber_compressive_force_length_damping property.
|
inline |
Get the value of the fiber_damping property.
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inline |
Get the value of the fiber_force_length_damping property.
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inline |
Get the value of the FiberCompressiveForceCosPennationCurve property.
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inline |
Get the value of the FiberCompressiveForceLengthCurve property.
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inline |
Get the value of the FiberForceLengthCurve property.
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inline |
Get the value of the ForceVelocityCurve property.
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inline |
Get the value of the mass property.
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inline |
Get the value of the MuscleFirstOrderActivationDynamicModel property.
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inline |
Get the value of the tendon_force_length_damping property.
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inline |
Get the value of the TendonForceLengthCurve property.
const MuscleFirstOrderActivationDynamicModel& OpenSim::Millard2012AccelerationMuscle::getActivationModel | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getActivationRate | ( | const SimTK::State & | s | ) | const |
s | The state of the system |
const ActiveForceLengthCurve& OpenSim::Millard2012AccelerationMuscle::getActiveForceLengthCurve | ( | ) | const |
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inlinestatic |
This returns "Millard2012AccelerationMuscle".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
|
inlineoverridevirtual |
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.
double OpenSim::Millard2012AccelerationMuscle::getDefaultActivation | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getDefaultFiberLength | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getDefaultFiberVelocity | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getFiberAcceleration | ( | const SimTK::State & | s | ) | const |
s | The state of the system |
const FiberCompressiveForceCosPennationCurve& OpenSim::Millard2012AccelerationMuscle::getFiberCompressiveForceCosPennationCurve | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getFiberCompressiveForceCosPennationMultiplier | ( | SimTK::State & | s | ) | const |
s | the state of the system |
const FiberCompressiveForceLengthCurve& OpenSim::Millard2012AccelerationMuscle::getFiberCompressiveForceLengthCurve | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getFiberCompressiveForceLengthMultiplier | ( | SimTK::State & | s | ) | const |
s | the state of the system |
const FiberForceLengthCurve& OpenSim::Millard2012AccelerationMuscle::getFiberForceLengthCurve | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getFiberStiffnessAlongTendon | ( | const SimTK::State & | s | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getFiberVelocity | ( | const SimTK::State & | s | ) | const |
s | The state of the system |
const ForceVelocityCurve& OpenSim::Millard2012AccelerationMuscle::getForceVelocityCurve | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getMass | ( | ) | const |
const MuscleFixedWidthPennationModel& OpenSim::Millard2012AccelerationMuscle::getPennationModel | ( | ) | const |
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protected |
Get the derivative of an actuator state, by index.
s | the state |
aStateName | the name of the state to get. |
const TendonForceLengthCurve& OpenSim::Millard2012AccelerationMuscle::getTendonForceLengthCurve | ( | ) | const |
double OpenSim::Millard2012AccelerationMuscle::getTendonForceMultiplier | ( | SimTK::State & | s | ) | const |
s | the state of the system |
|
inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = Millard2012AccelerationMuscle.safeDownCast(obj)
. This is equivalent to dynamic_cast<Millard2012AccelerationMuscle*>(obj)
in C++.
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inline |
Set the value of the ActiveForceLengthCurve property.
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inline |
Set the value of the default_activation property.
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inline |
Set the value of the default_fiber_length property.
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inline |
Set the value of the default_fiber_velocity property.
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inline |
Set the value of the fiber_compressive_force_cos_pennation_damping property.
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inline |
Set the value of the fiber_compressive_force_length_damping property.
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inline |
Set the value of the fiber_damping property.
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inline |
Set the value of the fiber_force_length_damping property.
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inline |
Set the value of the FiberCompressiveForceCosPennationCurve property.
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inline |
Set the value of the FiberCompressiveForceLengthCurve property.
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inline |
Set the value of the FiberForceLengthCurve property.
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inline |
Set the value of the ForceVelocityCurve property.
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inline |
Set the value of the mass property.
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inline |
Set the value of the MuscleFirstOrderActivationDynamicModel property.
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inline |
Set the value of the tendon_force_length_damping property.
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inline |
Set the value of the TendonForceLengthCurve property.
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overridevirtual |
s | the state of the system |
activation | the desired activation level |
Implements OpenSim::Muscle.
void OpenSim::Millard2012AccelerationMuscle::setActivationModel | ( | MuscleFirstOrderActivationDynamicModel & | aActivationMdl | ) |
aActivationMdl | the MuscleFirstOrderActivationDynamicModel that this muscle model uses to simulate activation dynamics |
void OpenSim::Millard2012AccelerationMuscle::setActiveForceLengthCurve | ( | ActiveForceLengthCurve & | aActiveForceLengthCurve | ) |
aActiveForceLengthCurve | the ActiveForceLengthCurve that this muscle model uses to scale active fiber force as a function of length |
void OpenSim::Millard2012AccelerationMuscle::setDefaultActivation | ( | double | activation | ) |
activation | the default activation level that is used to initialize the muscle |
void OpenSim::Millard2012AccelerationMuscle::setDefaultFiberLength | ( | double | fiberLength | ) |
fiberLength | the default fiber length that is used to initialize the muscle |
void OpenSim::Millard2012AccelerationMuscle::setDefaultFiberVelocity | ( | double | fiberVelocity | ) |
fiberVelocity | the default fiber velocity that is used to initialize the muscle |
void OpenSim::Millard2012AccelerationMuscle::setFiberCompressiveForceCosPennationCurve | ( | FiberCompressiveForceCosPennationCurve & | aFiberCompressiveForceCosPennationCurve | ) |
aFiberCompressiveForceCosPennationCurve | the FiberCompressiveForceCosPennationCurve that this muscle model uses to prevent pennation angles from approaching 90 degrees, which is associated with a singularity in this model. |
void OpenSim::Millard2012AccelerationMuscle::setFiberCompressiveForceLengthCurve | ( | FiberCompressiveForceLengthCurve & | aFiberCompressiveForceLengthCurve | ) |
aFiberCompressiveForceLengthCurve | the FiberCompressiveForceLengthCurve that this muscle model uses to ensure the length of the fiber is always greater than a physically realistic lower bound. |
void OpenSim::Millard2012AccelerationMuscle::setFiberForceLengthCurve | ( | FiberForceLengthCurve & | aFiberForceLengthCurve | ) |
aFiberForceLengthCurve | the FiberForceLengthCurve that this muscle model uses to calculate the passive force the muscle fiber generates as the length of the fiber changes |
void OpenSim::Millard2012AccelerationMuscle::setFiberLength | ( | SimTK::State & | s, |
double | fiberLength | ||
) | const |
s | the state of the system |
fiberLength | the desired fiber length (m) |
void OpenSim::Millard2012AccelerationMuscle::setFiberVelocity | ( | SimTK::State & | s, |
double | fiberVelocity | ||
) | const |
s | the state of the system |
fiberVelocity | the desired fiber velocity (m/s) |
void OpenSim::Millard2012AccelerationMuscle::setForceVelocityCurve | ( | ForceVelocityCurve & | aForceVelocityCurve | ) |
aForceVelocityCurve | the ForceVelocityCurve that this muscle model uses to calculate the derivative of fiber length. |
void OpenSim::Millard2012AccelerationMuscle::setMass | ( | double | mass | ) |
mass | The size of the mass parameter between the fiber and the tendon. Making this parameter small will make the muscle model more rapidly converge to the results an equilibrium model would produce. |
Conditions
mass >= 0.001
|
protected |
Set the derivative of an actuator state, specified by name
s | the state |
aStateName | The name of the state to set. |
aValue | The value to set the state to. |
void OpenSim::Millard2012AccelerationMuscle::setTendonForceLengthCurve | ( | TendonForceLengthCurve & | aTendonForceLengthCurve | ) |
aTendonForceLengthCurve | the TendonForceLengthCurve that this muscle model uses to define the tendon force length curve |
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inline |
Get a writable reference to the ActiveForceLengthCurve property.
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inline |
Get a writable reference to the default_activation property.
|
inline |
Get a writable reference to the default_fiber_length property.
|
inline |
Get a writable reference to the default_fiber_velocity property.
|
inline |
Get a writable reference to the fiber_compressive_force_cos_pennation_damping property.
|
inline |
Get a writable reference to the fiber_compressive_force_length_damping property.
|
inline |
Get a writable reference to the fiber_damping property.
|
inline |
Get a writable reference to the fiber_force_length_damping property.
|
inline |
Get a writable reference to the FiberCompressiveForceCosPennationCurve property.
|
inline |
Get a writable reference to the FiberCompressiveForceLengthCurve property.
|
inline |
Get a writable reference to the FiberForceLengthCurve property.
|
inline |
Get a writable reference to the ForceVelocityCurve property.
|
inline |
Get a writable reference to the mass property.
|
inline |
Get a writable reference to the MuscleFirstOrderActivationDynamicModel property.
|
inline |
Get a writable reference to the tendon_force_length_damping property.
|
inline |
Get a writable reference to the TendonForceLengthCurve property.
ActiveForceLengthCurve OpenSim::Millard2012AccelerationMuscle::ActiveForceLengthCurve |
"active force length curve"
This property appears in XML files under the tag <ActiveForceLengthCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::default_activation |
"assumed initial activation level if none is assigned."
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::Millard2012AccelerationMuscle::default_fiber_length |
"assumed initial fiber length if none is assigned."
This property appears in XML files under the tag <default_fiber_length>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::default_fiber_velocity |
"assumed initial fiber velocity if none is assigned."
This property appears in XML files under the tag <default_fiber_velocity>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::fiber_compressive_force_cos_pennation_damping |
"fiber compressive force cos(pennationAngle) damping coefficient"
This property appears in XML files under the tag <fiber_compressive_force_cos_pennation_damping>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::fiber_compressive_force_length_damping |
"fiber compressive force length damping coefficient"
This property appears in XML files under the tag <fiber_compressive_force_length_damping>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::fiber_damping |
"fiber damping coefficient"
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.
double OpenSim::Millard2012AccelerationMuscle::fiber_force_length_damping |
"fiber force length damping coefficient"
This property appears in XML files under the tag <fiber_force_length_damping>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
FiberCompressiveForceCosPennationCurve OpenSim::Millard2012AccelerationMuscle::FiberCompressiveForceCosPennationCurve |
"fiber compressive force cos(pennationAngle) curve"
This property appears in XML files under the tag <FiberCompressiveForceCosPennationCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
FiberCompressiveForceLengthCurve OpenSim::Millard2012AccelerationMuscle::FiberCompressiveForceLengthCurve |
"fiber compressive force length curve"
This property appears in XML files under the tag <FiberCompressiveForceLengthCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
FiberForceLengthCurve OpenSim::Millard2012AccelerationMuscle::FiberForceLengthCurve |
"fiber force length curve"
This property appears in XML files under the tag <FiberForceLengthCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
ForceVelocityCurve OpenSim::Millard2012AccelerationMuscle::ForceVelocityCurve |
"force velocity curve"
This property appears in XML files under the tag <ForceVelocityCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::mass |
"lumped mass"
This property appears in XML files under the tag <mass>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
MuscleFirstOrderActivationDynamicModel OpenSim::Millard2012AccelerationMuscle::MuscleFirstOrderActivationDynamicModel |
"activation dynamics model with a lower bound"
This property appears in XML files under the tag <MuscleFirstOrderActivationDynamicModel>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Millard2012AccelerationMuscle::tendon_force_length_damping |
"tendon force length damping coefficient"
This property appears in XML files under the tag <tendon_force_length_damping>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
TendonForceLengthCurve OpenSim::Millard2012AccelerationMuscle::TendonForceLengthCurve |
"Tendon force length curve"
This property appears in XML files under the tag <TendonForceLengthCurve>. This property was generated with the OpenSim_DECLARE_UNNAMED_PROPERTY macro; see Property to learn about the property system.