API  4.3
For MATLAB, Python, Java, and C++ users
OpenSim::MuscleFixedWidthPennationModel Class Reference

This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model. More...

+ Inheritance diagram for OpenSim::MuscleFixedWidthPennationModel:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
double optimal_fiber_length
 "Optimal length of the muscle fibers, in meters (overridden when this is a subcomponent of a Muscle)" More...
 
double pennation_angle_at_optimal
 "Angle between tendon and fibers at optimal fiber length, in radians (overridden when this is a subcomponent of a Muscle)" More...
 
double maximum_pennation_angle
 "Maximum pennation angle, in radians (overridden when this is a subcomponent of a Muscle)" 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

 MuscleFixedWidthPennationModel ()
 The default constructor creates a fixed-width-parallelogram pennation model with the default property values. More...
 
 MuscleFixedWidthPennationModel (double optimalFiberLength, double optimalPennationAngle, double maximumPennationAngle)
 Creates a fixed-width-parallelogram pennation model using the provided parameters. More...
 
double getParallelogramHeight () const
 
double getMinimumFiberLength () const
 
double getMinimumFiberLengthAlongTendon () const
 
double calcPennationAngle (double fiberLength) const
 Calculates the pennation angle (the orientation of the parallelogram) given the fiber length. More...
 
double calcTendonLength (double cosPennationAngle, double fiberLength, double muscleLength) const
 Calculates the length of the tendon given the cosine of the pennation angle, the length of the fiber, and the length of the entire musculotendon actuator. More...
 
double calcFiberLengthAlongTendon (double fiberLength, double cosPennationAngle) const
 Calculates the length of the fiber projected onto the axis of the tendon. More...
 
double calcPennationAngularVelocity (double tanPennationAngle, double fiberLength, double fiberVelocity) const
 Calculates the angular velocity of the parallelogram (i.e., the time derivative of the pennation angle. More...
 
double calcTendonVelocity (double cosPennationAngle, double sinPennationAngle, double pennationAngularVelocity, double fiberLength, double fiberVelocity, double muscleVelocity) const
 
More...
 
double calcFiberVelocityAlongTendon (double fiberLength, double fiberVelocity, double sinPennationAngle, double cosPennationAngle, double pennationAngularVelocity) const
 
More...
 
double calcPennationAngularAcceleration (double fiberLength, double fiberVelocity, double fiberAcceleration, double sinPennationAngle, double cosPennationAngle, double pennationAngularVelocity) const
 
More...
 
double calcFiberAccelerationAlongTendon (double fiberLength, double fiberVelocity, double fiberAcceleration, double sinPennationAngle, double cosPennationAngle, double pennationAngularVelocity, double pennationAngularAcceleration) const
 
More...
 
double calc_DFiberLengthAlongTendon_DfiberLength (double fiberLength, double sinPennationAngle, double cosPennationAngle, double DpennationAngle_DfiberLength) const
 Calculates the partial derivative of the fiber length along the tendon with respect to the fiber length. More...
 
double calc_DPennationAngularVelocity_DfiberLength (double fiberLength, double fiberVelocity, double sinPennationAngle, double cosPennationAngle, double pennationAngularVelocity, double DpennationAngle_DfiberLength) const
 Calculates the partial derivative of the pennation angular velocity with respect to the fiber length. More...
 
double calc_DFiberVelocityAlongTendon_DfiberLength (double fiberLength, double fiberVelocity, double sinPennationAngle, double cosPennationAngle, double pennationAngularVelocity, double DpennationAngle_DfiberLength, double DpennationAngularVelocity_DfiberLength) const
 Calculates the partial derivative of the fiber velocity along the tendon with respect to the fiber length. More...
 
double calc_DPennationAngle_DfiberLength (double fiberLength) const
 Calculates the partial derivative of the pennation angle with respect to the fiber length. More...
 
double calc_DTendonLength_DfiberLength (double fiberLength, double sinPennationAngle, double cosPennationAngle, double DpennationAngle_DfiberLength) const
 Calculates the partial derivative of the tendon length with respect to the fiber length. More...
 
double calcFiberLength (double muscleLength, double tendonLength) const
 
More...
 
double calcFiberVelocity (double cosPennationAngle, double muscleVelocity, double tendonVelocity) const
 
More...
 
Property-related functions
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_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_maximum_pennation_angle () const
 Get the value of the maximum_pennation_angle property. More...
 
double & upd_maximum_pennation_angle ()
 Get a writable reference to the maximum_pennation_angle property. More...
 
void set_maximum_pennation_angle (const double &value)
 Set the value of the maximum_pennation_angle 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 ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 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...
 
Componentoperator= (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 ComponentgetComponent (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)
 
ComponentupdComponent (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 StateVariabletraverseToStateVariable (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 ObjectgetConnectee (const std::string &name) const
 Get the connectee as an Object. More...
 
const AbstractSocketgetSocket (const std::string &name) const
 Get an AbstractSocket for the given socket name. More...
 
AbstractSocketupdSocket (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 AbstractInputgetInput (const std::string &name) const
 Get an Input provided by this Component by name. More...
 
AbstractInputupdInput (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 AbstractOutputgetOutput (const std::string &name) const
 Get the Output provided by this Component by name. More...
 
AbstractOutputupdOutput (const std::string &name)
 Get a writable reference to an Output provided by this Component by name. More...
 
SimTK::IteratorRange< OutputConstIteratorgetOutputs () 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 ComponentgetOwner () const
 Access the owner of this Component. More...
 
bool hasOwner () const
 (For advanced users) Check if this Component has an owner. More...
 
const ComponentgetRoot () 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...
 
Objectoperator= (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 AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (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 AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Auto-generated functions

static MuscleFixedWidthPennationModelsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "MuscleFixedWidthPennationModel". More...
 
MuscleFixedWidthPennationModelclone () 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::ModelComponent
static ModelComponentsafeDownCast (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 ComponentsafeDownCast (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 ObjectgetDefaultInstanceOfType (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 ObjectnewInstanceOfType (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 ObjectmakeObjectFromFile (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 ObjectSafeCopy (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...
 

Detailed Description

This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model.

This pennation model makes several assumptions:

  • Fibers are straight, parallel, of equal length, and coplanar.
  • The area and height of the parallelogram remains constant.

The parallelogram maintains a constant area and height by shearing as the muscle fibers change length, as shown in the figure below. The constant-area assumption is intended to mimic the constant-volume property of incompressible biological muscle. For details, please refer to Zajac (1989) and Millard et al. (2013).

Parameters
optimalFiberLengthThe optimal length of the muscle fibers (meters).
optimalPennationAngleThe angle between the tendon and fibers at optimal fiber length (radians).
maximumPennationAngleThe maximum pennation angle permitted (radians). This parameter is particularly useful for avoiding a pennation angle singularity at Pi/2 radians.
fig_MuscleFixedWidthPennationModel.png

Conditions

optimalFiberLength > 0
0 <= optimalPennationAngle < Pi/2
0 <= maximumPennationAngle <= Pi/2

Default Parameter Values

optimalFiberLength ....... 0.1
optimalPennationAngle .... 0.0
maximumPennationAngle .... acos(0.1) = 84.3 degrees

Example

double optFibLen = 0.1;
double optPenAng = SimTK::Pi/4.0;
double maxPenAng = acos(0.001);
MuscleFixedWidthPennationModel fibKin = MuscleFixedWidthPennationModel(optFibLen, optPenAng, maxPenAng);

Note that this object should be updated through the set methods provided. These set methods will take care of rebuilding the object correctly. If you modify the properties directly, the object will not be rebuilt, and upon calling any function, an exception will be thrown because the object is out-of-date with its properties.

References

  • Zajac, F.E. (1989) Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. Critical Reviews in Biomedical Engineering 17(4):359–411.
  • Millard, M., Uchida, T., Seth, A., Delp, S.L. (2013) Flexing computational muscle: modeling and simulation of musculotendon dynamics. ASME Journal of Biomechanical Engineering 135(2):021005. http://dx.doi.org/10.1115/1.4023390.
Author
Matt Millard

Constructor & Destructor Documentation

◆ MuscleFixedWidthPennationModel() [1/2]

OpenSim::MuscleFixedWidthPennationModel::MuscleFixedWidthPennationModel ( )

The default constructor creates a fixed-width-parallelogram pennation model with the default property values.

◆ MuscleFixedWidthPennationModel() [2/2]

OpenSim::MuscleFixedWidthPennationModel::MuscleFixedWidthPennationModel ( double  optimalFiberLength,
double  optimalPennationAngle,
double  maximumPennationAngle 
)

Creates a fixed-width-parallelogram pennation model using the provided parameters.

Member Function Documentation

◆ calc_DFiberLengthAlongTendon_DfiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calc_DFiberLengthAlongTendon_DfiberLength ( double  fiberLength,
double  sinPennationAngle,
double  cosPennationAngle,
double  DpennationAngle_DfiberLength 
) const

Calculates the partial derivative of the fiber length along the tendon with respect to the fiber length.

◆ calc_DFiberVelocityAlongTendon_DfiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calc_DFiberVelocityAlongTendon_DfiberLength ( double  fiberLength,
double  fiberVelocity,
double  sinPennationAngle,
double  cosPennationAngle,
double  pennationAngularVelocity,
double  DpennationAngle_DfiberLength,
double  DpennationAngularVelocity_DfiberLength 
) const

Calculates the partial derivative of the fiber velocity along the tendon with respect to the fiber length.

◆ calc_DPennationAngle_DfiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calc_DPennationAngle_DfiberLength ( double  fiberLength) const

Calculates the partial derivative of the pennation angle with respect to the fiber length.

◆ calc_DPennationAngularVelocity_DfiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calc_DPennationAngularVelocity_DfiberLength ( double  fiberLength,
double  fiberVelocity,
double  sinPennationAngle,
double  cosPennationAngle,
double  pennationAngularVelocity,
double  DpennationAngle_DfiberLength 
) const

Calculates the partial derivative of the pennation angular velocity with respect to the fiber length.

◆ calc_DTendonLength_DfiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calc_DTendonLength_DfiberLength ( double  fiberLength,
double  sinPennationAngle,
double  cosPennationAngle,
double  DpennationAngle_DfiberLength 
) const

Calculates the partial derivative of the tendon length with respect to the fiber length.

◆ calcFiberAccelerationAlongTendon()

double OpenSim::MuscleFixedWidthPennationModel::calcFiberAccelerationAlongTendon ( double  fiberLength,
double  fiberVelocity,
double  fiberAcceleration,
double  sinPennationAngle,
double  cosPennationAngle,
double  pennationAngularVelocity,
double  pennationAngularAcceleration 
) const


Parameters
fiberLengthThe length of the fiber (m).
fiberVelocityThe lengthening velocity of the fiber (m/s).
fiberAccelerationThe lengthening acceleration of the fiber (m/s^2).
sinPennationAngleThe sine of the pennation angle.
cosPennationAngleThe cosine of the pennation angle.
pennationAngularVelocityThe angular velocity of the parallelogram (rad/s).
pennationAngularAccelerationThe angular acceleration of the parallelogram (rad/s^2).
Returns
The acceleration of the fiber projected onto the axis of the tendon (m/s^2).

◆ calcFiberLength()

double OpenSim::MuscleFixedWidthPennationModel::calcFiberLength ( double  muscleLength,
double  tendonLength 
) const


Parameters
muscleLengthThe length of the musculotendon actuator (m).
tendonLengthThe length of the tendon (m).
Returns
The length of the fiber (m).

◆ calcFiberLengthAlongTendon()

double OpenSim::MuscleFixedWidthPennationModel::calcFiberLengthAlongTendon ( double  fiberLength,
double  cosPennationAngle 
) const

Calculates the length of the fiber projected onto the axis of the tendon.

◆ calcFiberVelocity()

double OpenSim::MuscleFixedWidthPennationModel::calcFiberVelocity ( double  cosPennationAngle,
double  muscleVelocity,
double  tendonVelocity 
) const


Parameters
cosPennationAngleThe cosine of the pennation angle.
muscleVelocityThe lengthening velocity of the musculotendon actuator (m/s).
tendonVelocityThe lengthening velocity of the tendon (m/s).
Returns
The lengthening velocity of the fiber (m/s).

◆ calcFiberVelocityAlongTendon()

double OpenSim::MuscleFixedWidthPennationModel::calcFiberVelocityAlongTendon ( double  fiberLength,
double  fiberVelocity,
double  sinPennationAngle,
double  cosPennationAngle,
double  pennationAngularVelocity 
) const


Parameters
fiberLengthThe length of the fiber (m).
fiberVelocityThe lengthening velocity of the fiber (m/s).
sinPennationAngleThe sine of the pennation angle.
cosPennationAngleThe cosine of the pennation angle.
pennationAngularVelocityThe angular velocity of the parallelogram (rad/s).
Returns
The lengthening velocity of the fiber projected onto the axis of the tendon (m/s).

◆ calcPennationAngle()

double OpenSim::MuscleFixedWidthPennationModel::calcPennationAngle ( double  fiberLength) const

Calculates the pennation angle (the orientation of the parallelogram) given the fiber length.

◆ calcPennationAngularAcceleration()

double OpenSim::MuscleFixedWidthPennationModel::calcPennationAngularAcceleration ( double  fiberLength,
double  fiberVelocity,
double  fiberAcceleration,
double  sinPennationAngle,
double  cosPennationAngle,
double  pennationAngularVelocity 
) const


Parameters
fiberLengthThe length of the fiber (m).
fiberVelocityThe lengthening velocity of the fiber (m/s).
fiberAccelerationThe lengthening acceleration of the fiber (m/s^2).
sinPennationAngleThe sine of the pennation angle.
cosPennationAngleThe cosine of the pennation angle.
pennationAngularVelocityThe angular velocity of the parallelogram (rad/s).
Returns
The angular acceleration of the parallelogram (rad/s^2).

◆ calcPennationAngularVelocity()

double OpenSim::MuscleFixedWidthPennationModel::calcPennationAngularVelocity ( double  tanPennationAngle,
double  fiberLength,
double  fiberVelocity 
) const

Calculates the angular velocity of the parallelogram (i.e., the time derivative of the pennation angle.

Parameters
tanPennationAngleThe tangent of the pennation angle.
fiberLengthThe length of the fiber (m).
fiberVelocityThe lengthening velocity of the fiber (m/s).
Returns
The angular velocity of the parallelogram (rad/s).

◆ calcTendonLength()

double OpenSim::MuscleFixedWidthPennationModel::calcTendonLength ( double  cosPennationAngle,
double  fiberLength,
double  muscleLength 
) const

Calculates the length of the tendon given the cosine of the pennation angle, the length of the fiber, and the length of the entire musculotendon actuator.

◆ calcTendonVelocity()

double OpenSim::MuscleFixedWidthPennationModel::calcTendonVelocity ( double  cosPennationAngle,
double  sinPennationAngle,
double  pennationAngularVelocity,
double  fiberLength,
double  fiberVelocity,
double  muscleVelocity 
) const


Parameters
cosPennationAngleThe cosine of the pennation angle.
sinPennationAngleThe sine of the pennation angle.
pennationAngularVelocityThe angular velocity of the parallelogram (rad/s).
fiberLengthThe length of the fiber (m).
fiberVelocityThe lengthening velocity of the fiber (m/s).
muscleVelocityThe lengthening velocity of the muscle path (m/s).
Returns
The lengthening velocity of the tendon (m/s).

◆ clone()

MuscleFixedWidthPennationModel* OpenSim::MuscleFixedWidthPennationModel::clone ( ) const
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::ModelComponent.

◆ extendFinalizeFromProperties()

void OpenSim::MuscleFixedWidthPennationModel::extendFinalizeFromProperties ( )
overrideprotectedvirtual

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:

void MyComponent::extendFinalizeFromProperties() {
Super::extendFinalizeFromProperties(); // invoke parent class method
// ... your code goes here
// ... catch invalid property values
// ... initialize any internal data structures
}

Reimplemented from OpenSim::Component.

◆ get_maximum_pennation_angle()

const double& OpenSim::MuscleFixedWidthPennationModel::get_maximum_pennation_angle ( ) const
inline

Get the value of the maximum_pennation_angle property.

◆ get_optimal_fiber_length()

const double& OpenSim::MuscleFixedWidthPennationModel::get_optimal_fiber_length ( ) const
inline

Get the value of the optimal_fiber_length property.

◆ get_pennation_angle_at_optimal()

const double& OpenSim::MuscleFixedWidthPennationModel::get_pennation_angle_at_optimal ( ) const
inline

Get the value of the pennation_angle_at_optimal property.

◆ getClassName()

static const std::string& OpenSim::MuscleFixedWidthPennationModel::getClassName ( )
inlinestatic

This returns "MuscleFixedWidthPennationModel".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

◆ getConcreteClassName()

const std::string& OpenSim::MuscleFixedWidthPennationModel::getConcreteClassName ( ) const
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.

See also
getClassName()

Implements OpenSim::ModelComponent.

◆ getMinimumFiberLength()

double OpenSim::MuscleFixedWidthPennationModel::getMinimumFiberLength ( ) const
Returns
The minimum possible fiber length.

◆ getMinimumFiberLengthAlongTendon()

double OpenSim::MuscleFixedWidthPennationModel::getMinimumFiberLengthAlongTendon ( ) const
Returns
The minimum possible fiber length along the tendon.

◆ getParallelogramHeight()

double OpenSim::MuscleFixedWidthPennationModel::getParallelogramHeight ( ) const
Returns
The height of the fixed-width parallelogram.

◆ safeDownCast()

static MuscleFixedWidthPennationModel* OpenSim::MuscleFixedWidthPennationModel::safeDownCast ( OpenSim::Object obj)
inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = MuscleFixedWidthPennationModel.safeDownCast(obj). This is equivalent to dynamic_cast<MuscleFixedWidthPennationModel*>(obj) in C++.

◆ set_maximum_pennation_angle()

void OpenSim::MuscleFixedWidthPennationModel::set_maximum_pennation_angle ( const double &  value)
inline

Set the value of the maximum_pennation_angle property.

◆ set_optimal_fiber_length()

void OpenSim::MuscleFixedWidthPennationModel::set_optimal_fiber_length ( const double &  value)
inline

Set the value of the optimal_fiber_length property.

◆ set_pennation_angle_at_optimal()

void OpenSim::MuscleFixedWidthPennationModel::set_pennation_angle_at_optimal ( const double &  value)
inline

Set the value of the pennation_angle_at_optimal property.

◆ upd_maximum_pennation_angle()

double& OpenSim::MuscleFixedWidthPennationModel::upd_maximum_pennation_angle ( )
inline

Get a writable reference to the maximum_pennation_angle property.

◆ upd_optimal_fiber_length()

double& OpenSim::MuscleFixedWidthPennationModel::upd_optimal_fiber_length ( )
inline

Get a writable reference to the optimal_fiber_length property.

◆ upd_pennation_angle_at_optimal()

double& OpenSim::MuscleFixedWidthPennationModel::upd_pennation_angle_at_optimal ( )
inline

Get a writable reference to the pennation_angle_at_optimal property.

OpenSim Property, Socket, Output, Input Documentation

◆ maximum_pennation_angle

double OpenSim::MuscleFixedWidthPennationModel::maximum_pennation_angle

"Maximum pennation angle, in radians (overridden when this is a subcomponent of a Muscle)"

This property appears in XML files under the tag <maximum_pennation_angle>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_maximum_pennation_angle(), upd_maximum_pennation_angle(), set_maximum_pennation_angle()

◆ optimal_fiber_length

double OpenSim::MuscleFixedWidthPennationModel::optimal_fiber_length

"Optimal length of the muscle fibers, in meters (overridden when this is a subcomponent of a Muscle)"

This property appears in XML files under the tag <optimal_fiber_length>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_optimal_fiber_length(), upd_optimal_fiber_length(), set_optimal_fiber_length()

◆ pennation_angle_at_optimal

double OpenSim::MuscleFixedWidthPennationModel::pennation_angle_at_optimal

"Angle between tendon and fibers at optimal fiber length, in radians (overridden when this is a subcomponent of a Muscle)"

This property appears in XML files under the tag <pennation_angle_at_optimal>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_pennation_angle_at_optimal(), upd_pennation_angle_at_optimal(), set_pennation_angle_at_optimal()

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