API  4.2 For C++ developers
OpenSim::Bhargava2004SmoothedMuscleMetabolics Class Reference

This class implements the metabolic energy model of Bhargava et al (2004) and provides an option to use smooth (i.e., twice continuously differentiable) approximations. More...

Inheritance diagram for OpenSim::Bhargava2004SmoothedMuscleMetabolics:

## OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
bool enforce_minimum_heat_rate_per_muscle
"Specify whether the total heat rate for a muscle will be clamped " "to a minimum value of 1.0 W/kg (default is true). When set to " "true, the sum of the reported individual heat rates + work rate " "will not equal the reported total metabolic rate if the total " "heat rate falls below 1.0 W/kg." More...

bool use_force_dependent_shortening_prop_constant
"Specify whether to use a force dependent shortening " "proportionality constant (default is false)." More...

double basal_coefficient
"Basal metabolic " "coefficient (default is 1.2)." More...

double basal_exponent
"Basal metabolic " "exponent (default is 1)." More...

double muscle_effort_scaling_factor
"Scale the excitation and activation values to compensate for " "solutions with excessive coactivation (e.g., when a suboptimal " "tracking strategy is used) (default is 1)." More...

bool include_negative_mechanical_work
"Specify whether negative mechanical work will be included in " "mechanicalWorkRate (default is true)." More...

bool forbid_negative_total_power
"Specify whether the total power for each muscle must remain " "positive (default is true)." More...

Properties (optional)
bool use_smoothing
"An optional flag that allows the user to explicitly specify " "whether a smooth approximation of the metabolic energy model " "should be used (default is false)." More...

std::string smoothing_type
"An optional flag that allows the user to explicitly specify " "what type of smoothing to use ('tanh' or 'huber'; default is " "'tanh')." More...

double velocity_smoothing
"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the conditions " "related to contraction type (concentric or eccentric). Note that " "when computing the shortening heat rate while using the force " "dependent shortening proportionality constant, a tanh " "approximation is used even when using the Huber loss smoothing " "approach. The larger the steeper the transition but the worse " "for optimization (default is 10)." More...

double power_smoothing
"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the condition " "enforcing non-negative total power. The larger the steeper the " "transition but the worse for optimization (default is 10)." More...

double heat_rate_smoothing
"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the condition " "enforcing total heat rate larger than 1 (W/kg) for a give muscle " ". The larger the steeper the transition but the worse for " "optimization (default is 10)." More...

Properties (list)
Bhargava2004SmoothedMuscleMetabolics_MuscleParameters muscle_parameters
"Metabolic parameters for each muscle." More...

Outputs
double total_metabolic_rate
Provides the value of getTotalMetabolicRate() and is available at stage SimTK::Stage::Dynamics . More...

double total_activation_rate
Provides the value of getTotalActivationRate() and is available at stage SimTK::Stage::Dynamics . More...

double total_maintenance_rate
Provides the value of getTotalMaintenanceRate() and is available at stage SimTK::Stage::Dynamics . More...

double total_shortening_rate
Provides the value of getTotalShorteningRate() and is available at stage SimTK::Stage::Dynamics . More...

double total_mechanical_work_rate
Provides the value of getTotalMechanicalWorkRate() and is available at stage SimTK::Stage::Dynamics . More...

Outputs (list)
double muscle_metabolic_rate
Provides the value of getMuscleMetabolicRate() and is available at stage SimTK::Stage::Dynamics . 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

Bhargava2004SmoothedMuscleMetabolics ()

int getNumMetabolicMuscles () const
Get the number of muscles added to the metabolics model by one of the addMuscle() overloads. More...

void addMuscle (const std::string &name, const Muscle &muscle, double muscle_mass=SimTK::NaN)
Specify a muscle that should be included when computing the total metabolic rate. More...

void addMuscle (const std::string &name, const Muscle &muscle, double ratio_slow_twitch_fibers, double specific_tension, double muscle_mass=SimTK::NaN)
Specify a muscle that should be included when computing the total metabolic rate, as well as its ratio of slow to fast twitch fibers and specific tension. More...

void addMuscle (const std::string &name, const Muscle &muscle, double ratio_slow_twitch_fibers, double specific_tension, double activation_constant_slow_twitch, double activation_constant_fast_twitch, double maintenance_constant_slow_twitch, double maintenance_constant_fast_twitch, double muscle_mass=SimTK::NaN)
Specify a muscle that should be included when computing the total metabolic rate, as well as its ratio of slow to fast twitch fibers and specific tension. More...

double getTotalMetabolicRate (const SimTK::State &s) const

double getTotalActivationRate (const SimTK::State &s) const

double getTotalMaintenanceRate (const SimTK::State &s) const

double getTotalShorteningRate (const SimTK::State &s) const

double getTotalMechanicalWorkRate (const SimTK::State &s) const

double getMuscleMetabolicRate (const SimTK::State &s, const std::string &channel) const

Property-related functions
const bool & get_enforce_minimum_heat_rate_per_muscle () const
Get the value of the enforce_minimum_heat_rate_per_muscle property. More...

bool & upd_enforce_minimum_heat_rate_per_muscle ()
Get a writable reference to the enforce_minimum_heat_rate_per_muscle property. More...

void set_enforce_minimum_heat_rate_per_muscle (const bool &value)
Set the value of the enforce_minimum_heat_rate_per_muscle property. More...

const bool & get_use_force_dependent_shortening_prop_constant () const
Get the value of the use_force_dependent_shortening_prop_constant property. More...

bool & upd_use_force_dependent_shortening_prop_constant ()
Get a writable reference to the use_force_dependent_shortening_prop_constant property. More...

void set_use_force_dependent_shortening_prop_constant (const bool &value)
Set the value of the use_force_dependent_shortening_prop_constant property. More...

const double & get_basal_coefficient () const
Get the value of the basal_coefficient property. More...

double & upd_basal_coefficient ()
Get a writable reference to the basal_coefficient property. More...

void set_basal_coefficient (const double &value)
Set the value of the basal_coefficient property. More...

const double & get_basal_exponent () const
Get the value of the basal_exponent property. More...

double & upd_basal_exponent ()
Get a writable reference to the basal_exponent property. More...

void set_basal_exponent (const double &value)
Set the value of the basal_exponent property. More...

const double & get_muscle_effort_scaling_factor () const
Get the value of the muscle_effort_scaling_factor property. More...

double & upd_muscle_effort_scaling_factor ()
Get a writable reference to the muscle_effort_scaling_factor property. More...

void set_muscle_effort_scaling_factor (const double &value)
Set the value of the muscle_effort_scaling_factor property. More...

const bool & get_include_negative_mechanical_work () const
Get the value of the include_negative_mechanical_work property. More...

bool & upd_include_negative_mechanical_work ()
Get a writable reference to the include_negative_mechanical_work property. More...

void set_include_negative_mechanical_work (const bool &value)
Set the value of the include_negative_mechanical_work property. More...

const bool & get_forbid_negative_total_power () const
Get the value of the forbid_negative_total_power property. More...

bool & upd_forbid_negative_total_power ()
Get a writable reference to the forbid_negative_total_power property. More...

void set_forbid_negative_total_power (const bool &value)
Set the value of the forbid_negative_total_power property. More...

const bool & get_use_smoothing () const
Get the value of the use_smoothing property. More...

bool & upd_use_smoothing ()
Get a writable reference to the use_smoothing property. More...

void set_use_smoothing (const bool &value)
Set the value of the use_smoothing property. More...

const std::string & get_smoothing_type () const
Get the value of the smoothing_type property. More...

std::string & upd_smoothing_type ()
Get a writable reference to the smoothing_type property. More...

void set_smoothing_type (const std::string &value)
Set the value of the smoothing_type property. More...

const double & get_velocity_smoothing () const
Get the value of the velocity_smoothing property. More...

double & upd_velocity_smoothing ()
Get a writable reference to the velocity_smoothing property. More...

void set_velocity_smoothing (const double &value)
Set the value of the velocity_smoothing property. More...

const double & get_power_smoothing () const
Get the value of the power_smoothing property. More...

double & upd_power_smoothing ()
Get a writable reference to the power_smoothing property. More...

void set_power_smoothing (const double &value)
Set the value of the power_smoothing property. More...

const double & get_heat_rate_smoothing () const
Get the value of the heat_rate_smoothing property. More...

double & upd_heat_rate_smoothing ()
Get a writable reference to the heat_rate_smoothing property. More...

void set_heat_rate_smoothing (const double &value)
Set the value of the heat_rate_smoothing property. More...

const Bhargava2004SmoothedMuscleMetabolics_MuscleParametersget_muscle_parameters (int i) const
Get the value of the i-th element of the muscle_parameters property. More...

Bhargava2004SmoothedMuscleMetabolics_MuscleParametersupd_muscle_parameters (int i)
Get a writable reference to the i-th element of the muscle_parameters property. More...

void set_muscle_parameters (int i, const Bhargava2004SmoothedMuscleMetabolics_MuscleParameters &value)
Set the value of the i-th element of muscle_parameters property. More...

int append_muscle_parameters (const Bhargava2004SmoothedMuscleMetabolics_MuscleParameters &value)
Append an element to the muscle_parameters 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...

void assign (Object &aObject) override
This allows copy assignment in the Java GUI. 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...

void assign (Object &aObject) override
This allows copy assignment in the Java GUI. 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

## Public Types

typedef Bhargava2004SmoothedMuscleMetabolics Self
This typedef might be useful within the member functions of this class. More...

typedef ModelComponent Super
Use this typedef to refer to the superclass of this class. More...

Public Types inherited from OpenSim::ModelComponent
typedef ModelComponent Self
This typedef might be useful within the member functions of this class. More...

typedef Component Super
Use this typedef to refer to the superclass of this class. More...

Public Types inherited from OpenSim::Component
typedef Component Self
This typedef might be useful within the member functions of this class. More...

typedef Object Super
Use this typedef to refer to the superclass of this class. More...

typedef std::map< std::string, SimTK::ClonePtr< AbstractOutput > >::const_iterator OutputConstIterator
Define OutputConstIterator for convenience. More...

## Auto-generated functions

static Bhargava2004SmoothedMuscleMetabolicssafeDownCast (OpenSim::Object *obj)
For use in MATLAB and Python to access the concrete class. More...

static const std::string & getClassName ()
This returns "Bhargava2004SmoothedMuscleMetabolics". More...

void assign (Object &aObject) override
This allows copy assignment in the Java GUI. More...

Bhargava2004SmoothedMuscleMetabolicsclone () 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...

Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
Name used for default objects when they are serialized. More...

Protected Member Functions inherited from OpenSim::ModelComponent
const SimTK::Vec3 & getScaleFactors (const ScaleSet &scaleSet, const Frame &frame) const
Get the scale factors corresponding to the base OpenSim::Body of the specified Frame. More...

virtual void extendPreScale (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...

virtual void extendScale (const SimTK::State &s, const ScaleSet &scaleSet)
Scale the ModelComponent. More...

virtual void extendPostScale (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...

void updateFromXMLNode (SimTK::Xml::Element &aNode, int versionNumber) override
Handle a change in XML syntax for Sockets. More...

void extendFinalizeFromProperties () override
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. More...

virtual void extendConnectToModel (Model &model)
Perform any necessary initializations required to connect the component into the Model, and check for error conditions. More...

Protected Member Functions inherited from OpenSim::Component
SimTK_DEFINE_UNIQUE_INDEX_TYPE (MemberSubcomponentIndex)

template<class C = Component>
MemberSubcomponentIndex constructSubcomponent (const std::string &name)
Construct a subcomponent as a data member of this Component. More...

template<class C = Component>
const C & getMemberSubcomponent (MemberSubcomponentIndex ix) const

template<class C = Component>
C & updMemberSubcomponent (MemberSubcomponentIndex ix)

void adoptSubcomponent (Component *subcomponent)
Adopt a component as a subcomponent of this Component. More...

size_t getNumImmediateSubcomponents () const
Get the number of Subcomponents immediately owned by this Component. More...

size_t getNumMemberSubcomponents () const
Get the number of Subcomponents that are data members of this Component. More...

size_t getNumPropertySubcomponents () const
Get the number of Subcomponents that are properties of this Component. More...

size_t getNumAdoptedSubcomponents () const
Get the number of Subcomponents adopted by this Component. More...

std::vector< SimTK::ReferencePtr< const Component > > getImmediateSubcomponents () const
Access this Component's immediate subcomponents (not those owned by subcomponents) More...

template<class C >
const C * traversePathToComponent (ComponentPath path) const

void setNextSubcomponentInSystem (const Component &sub) const
Helper method to enable Component makers to specify the order of their subcomponents to be added to the System during addToSystem(). More...

void resetSubcomponentOrder ()
resetSubcomponentOrder clears this Component's list of ordered subcomponents (but otherwise leaves subcomponents untouched). More...

const Componentget_components (int i) const
Get the value of the i-th element of the components property. More...

Componentupd_components (int i)
Get a writable reference to the i-th element of the components property. More...

void set_components (int i, const Component &value)
Set the value of the i-th element of components property. More...

int append_components (const Component &value)
Append an element to the components property. More...

virtual void extendAddComponent (Component *subcomponent)
Perform any secondary operations, e.g. More...

void initComponentTreeTraversal (const Component &root) const
Build the tree of Components from this component through its descendants. More...

virtual void extendAddToSystemAfterSubcomponents (SimTK::MultibodySystem &system) const
Add appropriate Simbody elements (if needed) to the System after your component's subcomponents have had a chance to add themselves to the system. More...

virtual void extendInitStateFromProperties (SimTK::State &state) const
Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument. More...

virtual void extendSetPropertiesFromState (const SimTK::State &state)
Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property. More...

virtual void computeStateVariableDerivatives (const SimTK::State &s) const
If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states. More...

void setStateVariableDerivativeValue (const SimTK::State &state, const std::string &name, double deriv) const
Set the derivative of a state variable by name when computed inside of this Component's computeStateVariableDerivatives() method. More...

virtual void extendRealizeModel (SimTK::State &state) const
Obtain and name state resources (like state variables allocated by an underlying Simbody component) that may be needed, depending on modeling options. More...

virtual void extendRealizeInstance (const SimTK::State &state) const
Perform computations that depend only on instance variables, like lengths and masses. More...

virtual void extendRealizeTime (const SimTK::State &state) const
Perform computations that depend only on time and earlier stages. More...

virtual void extendRealizePosition (const SimTK::State &state) const
Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time). More...

virtual void extendRealizeVelocity (const SimTK::State &state) const
Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time). More...

virtual void extendRealizeDynamics (const SimTK::State &state) const
Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces. More...

virtual void extendRealizeAcceleration (const SimTK::State &state) const
Perform computations that may depend on applied forces. More...

virtual void extendRealizeReport (const SimTK::State &state) const
Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior. More...

void addModelingOption (const std::string &optionName, int maxFlagValue) const
Add a modeling option (integer flag stored in the State) for use by this Component. More...

void addStateVariable (const std::string &stateVariableName, const SimTK::Stage &invalidatesStage=SimTK::Stage::Dynamics, bool isHidden=false) const
Add a continuous system state variable belonging to this Component, and assign a name by which to refer to it. More...

void addStateVariable (Component::StateVariable *stateVariable) const
The above method provides a convenient interface to this method, which automatically creates an 'AddedStateVariable' and allocates resources in the SimTK::State for this variable. More...

void addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
Add a system discrete variable belonging to this Component, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed. More...

SimTK::MultibodySystem & updSystem () const
Get writable reference to the MultibodySystem that this component is connected to. More...

int getStateIndex (const std::string &name) const
Get the index of a Component's continuous state variable in the Subsystem for allocations. More...

SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
Get the System Index of a state variable allocated by this Component. More...

const SimTK::DiscreteVariableIndex getDiscreteVariableIndex (const std::string &name) const
Get the index of a Component's discrete variable in the Subsystem for allocations. More...

template<typename T >
PropertyIndex constructSocket (const std::string &name, const std::string &propertyComment)
Construct a specialized Socket for this Component's dependence on another Component. More...

template<typename T , typename CompType = Component>
bool constructOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
Construct an output for a member function of the same component. More...

template<typename T , typename CompType = Component>
bool constructOutput (const std::string &name, const T &(CompType::*const memFunc)(const SimTK::State &) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
This variant handles component member functions that return the output value by const reference (const T&). More...

template<typename T , typename CompType >
bool constructListOutput (const std::string &name, T(CompType::*const memFunc)(const SimTK::State &, const std::string &channel) const, const SimTK::Stage &dependsOn=SimTK::Stage::Acceleration)
Construct an output that can have multiple channels. More...

bool constructOutputForStateVariable (const std::string &name)
Construct an Output for a StateVariable. More...

template<typename T >
PropertyIndex constructInput (const std::string &name, bool isList, const std::string &propertyComment, const SimTK::Stage &requiredAtStage=SimTK::Stage::Instance)
Construct an Input (socket) for this Component's dependence on an Output signal. More...

template<class T >
CacheVariable< T > addCacheVariable (std::string name, T variablePrototype, SimTK::Stage dependsOnStage) const
Add a state cache entry belonging to this Component to hold calculated values that must be automatically invalidated when certain state values change. More...

void setOwner (const Component &owner)
Set this Component's reference to its owning Component More...

Protected Member Functions inherited from OpenSim::Object
Object ()
The default constructor is only for use by constructors of derived types. More...

Object (const std::string &fileName, bool aUpdateFromXMLNode=true)
Constructor from a file, to be called from other constructors that take a file as input. More...

Object (const Object &source)
Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...

Object (SimTK::Xml::Element &aElement)
Construct the base class portion of an Object from a given Xml element that describes this Object. More...

template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
Add an optional property, meaning it can contain either no value or a single value. More...

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
Add an optional property, meaning it can contain either no value or a single value. More...

template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...

template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...

PropertyIndex getPropertyIndex (const std::string &name) const
Look up a property by name and return its PropertyIndex if it is found. More...

template<class T >
PropertyIndex getPropertyIndex () const
Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...

template<class T >
void checkPropertyValueIsPositive (const Property< T > &p) const
Throw an exception if any of the property's values are not positive. More...

template<class T >
void checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
Throw an exception if any of the property's values are not in the provided set. More...

template<class T >
void checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
Throw an exception if any of the property's values are neither in the provided range nor in the provided set. More...

void setObjectIsUpToDateWithProperties ()
When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date. More...

void clearObjectIsUpToDateWithProperties ()
For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...

void makeObjectNamesConsistentWithProperties ()
Make sure the name of an object is consistent with its property type. More...

void updateFromXMLDocument ()
Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input. More...

void setDocument (XMLDocument *doc)
Unconditionally set the XMLDocument associated with this object. More...

const XMLDocumentgetDocument () const
Get a const pointer to the document (if any) associated with this object. More...

XMLDocumentupdDocument ()
Get a writable pointer to the document (if any) associated with this object. More...

Static Protected Member Functions inherited from OpenSim::Component
static void prependComponentPathToConnecteePath (Component &subcomponent)
For internal use. More...

Protected Attributes inherited from OpenSim::ModelComponent
SimTK::ReferencePtr< Model_model
The model this component belongs to. More...

Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...

Static Protected Attributes inherited from OpenSim::ModelComponent
static const SimTK::Vec3 InvalidScaleFactors
Returned by getScaleFactors() if the ScaleSet does not contain scale factors for the base Body associated with the specified Frame. More...

## Detailed Description

This class implements the metabolic energy model of Bhargava et al (2004) and provides an option to use smooth (i.e., twice continuously differentiable) approximations.

These approximations might be better suited for gradient-based optimization algorithms.

We propose two smooth implementations.

In the first implementation, conditional if statements were approximated by using hyperbolic tangent functions (tanh). For example, the following if statement:

     y = a, if x <= d
     y = b, if x > d

can be approximated by:

     f = 0.5 + 0.5 tanh(b(x-d))
     y = a + (-a + b) f

where b is a parameter that determines the smoothness of the transition.

In the second implementation, conditional if statements were approximated by using Huber loss functions, which have the following form:

     L(f(x)) = 0.5 f(x)^2, if f(x) <= delta
     L(f(x)) = delta(f(x) - 0.5 delta), otherwise.

The Huber loss function is quadratic for f(x) <= delta and linear otherwise, with equal value and slopes of the different sections at the points where f(x) = delta (https://en.wikipedia.org/wiki/Huber_loss). In our implementation, we scaled this function with a parameter b that determines the smootheness of the transition between the quadratic and linear parts. Note that this approximation is piecewise but still continuous.

The metabolic energy model includes components for activation heat rate, maintenance heat rate, shortening heat rate, and mechanical work rate.

The shortening heat rate model differs between concentric contractions and eccentric contractions. We smoothed the transition between both contraction types using our smoothing functions. Note that when using the force dependent shortening proportional constant, we only provide the tanh smoothing option for approximating the shortening heat rate. This is motivated by the fact that the shortening heat rate is defined by linear functions but with different non-zero constants of proportionality for concentric and eccentric contractions. It is therefore easier to smooth the transition between both contraction types with a tanh function than with a Huber loss function. The difference between the original (non-smooth) and the smooth implementations is illustrated in the following figure:

Curves produced using isometricTotalActiveForce=350, fiberForceTotal=250, velocity_smoothing=10

The mechanical work rate model includes negative mechanical work rate (i.e., work rate resulting from eccentric contraction) by default. However, if specified by the user, the model only takes positive mechanical work rate (i.e., work rate resulting from concentric contraction) into account. In such case, we smoothed the transition between positive rate and zero using our smoothing functions. The difference between the original (non-smooth) and the smooth implementations is illustrated in the following figure:

Curves produced using fiber_force_active=250, velocity_smoothing=10

The metabolic energy model implementation includes an optional clamping that prevents the total metabolic rate (i.e., total metabolic power) to be negative. This clamping is done by increasing the shortening heat rate. We smoothed the transition between positive and negative total metabolic rate using our smoothing functions. The difference between the original (non-smooth) and the smooth implementations is illustrated in the following figure:

Curves produced using shorteningHeatRate=totalRate/4, power_smoothing=10

The metabolic energy model implementation includes an optional clamping (see Umberger et al (2003), page 104) that prevents the total heat rate (i.e., activation heat rate + maintenance heat rate + shortening heat rate) for a given muscle to fall below 1.0 W/kg. Note that, if active, this clamping will cause the sum of the reported individual heat rates and work rate to differ from the reported metabolic rate. We smoothed the transition between total heat rate higher and lower than 1.0 W/kg using our smoothing functions. The difference between the original (non-smooth) and the smooth implementations is illustrated in the following figure:

Curves produced using muscle_mass=0.4, heat_rate_smoothing=10

Note that the maintenance heat rate implementation relies on a PiecewiseLinearFunction. The first and second order derivatives of this function can be evaluated but they are discontinuous. This might cause issues with gradient-based optimization algorithms. Problems using this discontinuous function have successfully converged; therefore, we have included it in this implementation of the model.

You can enable smoothing via the use_smoothing property. The smoothing type ('tanh' or 'huber') can be chosen via the smoothing_type property, and the level of smoothing can be controlled by the velocity_smoothing, power_smoothing, and heat_rate_smoothing properties.

Muscles to be included when computing the total metabolic rate should be specified using one of the three addMuscle() function overloads. See the properties of Bhargava2004SmoothedMuscleMetabolics_MuscleParameters() for the default parameter values used when not specified via the second or third addMuscle() overload.

metabolics->setName("metabolics");
metabolics->set_use_smoothing(true);
// The simplest way to add the muscle to the metabolics model: just provide the
// name of the muscle and a reference to Muscle component.
// Provide the ratio of slow to fast twitch fibers and the specific tension of
// muscle when adding it to the metabolics model. The values shown are also the
// default values.
double ratio_slow_twitch_fibers = 0.5;
double specific_tension = 0.25e6;
ratio_slow_twitch_fibers, specific_tension);
// Provide the slow and fast twitch fiber constants used to compute the
// activation and maintenance heat rates. The values shown are also the default
// values.
double activation_constant_slow_twitch = 40.0;
double activation_constant_fast_twitch = 133.0;
double maintenance_constant_slow_twitch = 74.0;
double maintenance_constant_fast_twitch = 111.0;
ratio_slow_twitch_fibers, specific_tension,
activation_constant_slow_twitch, activation_constant_fast_twitch,
maintenance_constant_slow_twitch, maintenance_constant_fast_twitch);
model.finalizeConnections();

The total metabolic rate output can be obtained using getTotalMetabolicRate(), which takes a SimTK::State as a argument. You can similarly obtain the individual heat rate and mechanical work rate components of the total metabolic cost via getTotalActivationRate(), getTotalMaintenanceRate(), getTotalShorteningRate(), and getTotalMechanicalWorkRate(). All outputs require realizing the passed SimTK::State to SimTK::Stage::Dynamics.

const auto& metabolics =
model.getComponent<Bhargava2004SmoothedMuscleMetabolics>("metabolics");
model.realizeDynamics(state);
double totalMetabolicRate = metabolics.getTotalMetabolicRate(state);
double activationHeatRate = metabolics.getTotalActivationRate(state);

Bhargava et al. 2004: https://doi.org/10.1016/s0021-9290(03)00239-2

Examples:
example2DWalkingMetabolics.cpp.

## ◆ Self

This typedef might be useful within the member functions of this class.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

## ◆ Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

## ◆ Bhargava2004SmoothedMuscleMetabolics()

 OpenSim::Bhargava2004SmoothedMuscleMetabolics::Bhargava2004SmoothedMuscleMetabolics ( )

## ◆ addMuscle() [1/3]

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::addMuscle ( const std::string & name, const Muscle & muscle, double muscle_mass = SimTK::NaN )

Specify a muscle that should be included when computing the total metabolic rate.

If the muscle_mass argument is not provided, it is estimated based on the max isometric force, specific tension, muscle density, and optimal fiber length.

Examples:
example2DWalkingMetabolics.cpp.

## ◆ addMuscle() [2/3]

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::addMuscle ( const std::string & name, const Muscle & muscle, double ratio_slow_twitch_fibers, double specific_tension, double muscle_mass = SimTK::NaN )

Specify a muscle that should be included when computing the total metabolic rate, as well as its ratio of slow to fast twitch fibers and specific tension.

If the muscle_mass argument is not provided, it is estimated based on the max isometric force, specific tension, muscle density, and optimal fiber length.

## ◆ addMuscle() [3/3]

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::addMuscle ( const std::string & name, const Muscle & muscle, double ratio_slow_twitch_fibers, double specific_tension, double activation_constant_slow_twitch, double activation_constant_fast_twitch, double maintenance_constant_slow_twitch, double maintenance_constant_fast_twitch, double muscle_mass = SimTK::NaN )

Specify a muscle that should be included when computing the total metabolic rate, as well as its ratio of slow to fast twitch fibers and specific tension.

This overload also allows you to specify the slow and fast twitch fiber constants used to compute the activation and maintenance heat rates. If the muscle_mass argument is not provided, it is estimated based on the max isometric force, specific tension, muscle density, and optimal fiber length.

## ◆ append_muscle_parameters()

 int OpenSim::Bhargava2004SmoothedMuscleMetabolics::append_muscle_parameters ( const Bhargava2004SmoothedMuscleMetabolics_MuscleParameters & value )
inline

Append an element to the muscle_parameters property.

## ◆ assign()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::assign ( Object & aObject )
inlineoverride

This allows copy assignment in the Java GUI.

Exceptions
 Exception if the argument is not of type Bhargava2004SmoothedMuscleMetabolics.

## ◆ clone()

 Bhargava2004SmoothedMuscleMetabolics* OpenSim::Bhargava2004SmoothedMuscleMetabolics::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.

## ◆ get_basal_coefficient()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_basal_coefficient ( ) const
inline

Get the value of the basal_coefficient property.

## ◆ get_basal_exponent()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_basal_exponent ( ) const
inline

Get the value of the basal_exponent property.

## ◆ get_enforce_minimum_heat_rate_per_muscle()

 const bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_enforce_minimum_heat_rate_per_muscle ( ) const
inline

Get the value of the enforce_minimum_heat_rate_per_muscle property.

## ◆ get_forbid_negative_total_power()

 const bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_forbid_negative_total_power ( ) const
inline

Get the value of the forbid_negative_total_power property.

## ◆ get_heat_rate_smoothing()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_heat_rate_smoothing ( ) const
inline

Get the value of the heat_rate_smoothing property.

## ◆ get_include_negative_mechanical_work()

 const bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_include_negative_mechanical_work ( ) const
inline

Get the value of the include_negative_mechanical_work property.

## ◆ get_muscle_effort_scaling_factor()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_muscle_effort_scaling_factor ( ) const
inline

Get the value of the muscle_effort_scaling_factor property.

## ◆ get_muscle_parameters()

 const Bhargava2004SmoothedMuscleMetabolics_MuscleParameters& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_muscle_parameters ( int i ) const
inline

Get the value of the i-th element of the muscle_parameters property.

## ◆ get_power_smoothing()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_power_smoothing ( ) const
inline

Get the value of the power_smoothing property.

## ◆ get_smoothing_type()

 const std::string& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_smoothing_type ( ) const
inline

Get the value of the smoothing_type property.

## ◆ get_use_force_dependent_shortening_prop_constant()

 const bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_use_force_dependent_shortening_prop_constant ( ) const
inline

Get the value of the use_force_dependent_shortening_prop_constant property.

## ◆ get_use_smoothing()

 const bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_use_smoothing ( ) const
inline

Get the value of the use_smoothing property.

## ◆ get_velocity_smoothing()

 const double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::get_velocity_smoothing ( ) const
inline

Get the value of the velocity_smoothing property.

## ◆ getClassName()

 static const std::string& OpenSim::Bhargava2004SmoothedMuscleMetabolics::getClassName ( )
inlinestatic

This returns "Bhargava2004SmoothedMuscleMetabolics".

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

## ◆ getConcreteClassName()

 const std::string& OpenSim::Bhargava2004SmoothedMuscleMetabolics::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.

getClassName()

Implements OpenSim::ModelComponent.

## ◆ getMuscleMetabolicRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getMuscleMetabolicRate ( const SimTK::State & s, const std::string & channel ) const

## ◆ getNumMetabolicMuscles()

 int OpenSim::Bhargava2004SmoothedMuscleMetabolics::getNumMetabolicMuscles ( ) const

Get the number of muscles added to the metabolics model by one of the addMuscle() overloads.

## ◆ getTotalActivationRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getTotalActivationRate ( const SimTK::State & s ) const

## ◆ getTotalMaintenanceRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getTotalMaintenanceRate ( const SimTK::State & s ) const

## ◆ getTotalMechanicalWorkRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getTotalMechanicalWorkRate ( const SimTK::State & s ) const

## ◆ getTotalMetabolicRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getTotalMetabolicRate ( const SimTK::State & s ) const

## ◆ getTotalShorteningRate()

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::getTotalShorteningRate ( const SimTK::State & s ) const

## ◆ safeDownCast()

 static Bhargava2004SmoothedMuscleMetabolics* OpenSim::Bhargava2004SmoothedMuscleMetabolics::safeDownCast ( OpenSim::Object * obj )
inlinestatic

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

Example: cObj = Bhargava2004SmoothedMuscleMetabolics.safeDownCast(obj). This is equivalent to dynamic_cast<Bhargava2004SmoothedMuscleMetabolics*>(obj) in C++.

## ◆ set_basal_coefficient()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_basal_coefficient ( const double & value )
inline

Set the value of the basal_coefficient property.

## ◆ set_basal_exponent()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_basal_exponent ( const double & value )
inline

Set the value of the basal_exponent property.

## ◆ set_enforce_minimum_heat_rate_per_muscle()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_enforce_minimum_heat_rate_per_muscle ( const bool & value )
inline

Set the value of the enforce_minimum_heat_rate_per_muscle property.

## ◆ set_forbid_negative_total_power()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_forbid_negative_total_power ( const bool & value )
inline

Set the value of the forbid_negative_total_power property.

## ◆ set_heat_rate_smoothing()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_heat_rate_smoothing ( const double & value )
inline

Set the value of the heat_rate_smoothing property.

## ◆ set_include_negative_mechanical_work()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_include_negative_mechanical_work ( const bool & value )
inline

Set the value of the include_negative_mechanical_work property.

## ◆ set_muscle_effort_scaling_factor()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_muscle_effort_scaling_factor ( const double & value )
inline

Set the value of the muscle_effort_scaling_factor property.

## ◆ set_muscle_parameters()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_muscle_parameters ( int i, const Bhargava2004SmoothedMuscleMetabolics_MuscleParameters & value )
inline

Set the value of the i-th element of muscle_parameters property.

## ◆ set_power_smoothing()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_power_smoothing ( const double & value )
inline

Set the value of the power_smoothing property.

## ◆ set_smoothing_type()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_smoothing_type ( const std::string & value )
inline

Set the value of the smoothing_type property.

## ◆ set_use_force_dependent_shortening_prop_constant()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_use_force_dependent_shortening_prop_constant ( const bool & value )
inline

Set the value of the use_force_dependent_shortening_prop_constant property.

## ◆ set_use_smoothing()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_use_smoothing ( const bool & value )
inline

Set the value of the use_smoothing property.

Examples:
example2DWalkingMetabolics.cpp.

## ◆ set_velocity_smoothing()

 void OpenSim::Bhargava2004SmoothedMuscleMetabolics::set_velocity_smoothing ( const double & value )
inline

Set the value of the velocity_smoothing property.

## ◆ upd_basal_coefficient()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_basal_coefficient ( )
inline

Get a writable reference to the basal_coefficient property.

## ◆ upd_basal_exponent()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_basal_exponent ( )
inline

Get a writable reference to the basal_exponent property.

## ◆ upd_enforce_minimum_heat_rate_per_muscle()

 bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_enforce_minimum_heat_rate_per_muscle ( )
inline

Get a writable reference to the enforce_minimum_heat_rate_per_muscle property.

## ◆ upd_forbid_negative_total_power()

 bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_forbid_negative_total_power ( )
inline

Get a writable reference to the forbid_negative_total_power property.

## ◆ upd_heat_rate_smoothing()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_heat_rate_smoothing ( )
inline

Get a writable reference to the heat_rate_smoothing property.

## ◆ upd_include_negative_mechanical_work()

 bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_include_negative_mechanical_work ( )
inline

Get a writable reference to the include_negative_mechanical_work property.

## ◆ upd_muscle_effort_scaling_factor()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_muscle_effort_scaling_factor ( )
inline

Get a writable reference to the muscle_effort_scaling_factor property.

## ◆ upd_muscle_parameters()

 Bhargava2004SmoothedMuscleMetabolics_MuscleParameters& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_muscle_parameters ( int i )
inline

Get a writable reference to the i-th element of the muscle_parameters property.

## ◆ upd_power_smoothing()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_power_smoothing ( )
inline

Get a writable reference to the power_smoothing property.

## ◆ upd_smoothing_type()

 std::string& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_smoothing_type ( )
inline

Get a writable reference to the smoothing_type property.

## ◆ upd_use_force_dependent_shortening_prop_constant()

 bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_use_force_dependent_shortening_prop_constant ( )
inline

Get a writable reference to the use_force_dependent_shortening_prop_constant property.

## ◆ upd_use_smoothing()

 bool& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_use_smoothing ( )
inline

Get a writable reference to the use_smoothing property.

## ◆ upd_velocity_smoothing()

 double& OpenSim::Bhargava2004SmoothedMuscleMetabolics::upd_velocity_smoothing ( )
inline

Get a writable reference to the velocity_smoothing property.

## ◆ basal_coefficient

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::basal_coefficient

"Basal metabolic " "coefficient (default is 1.2)."

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

get_basal_coefficient(), upd_basal_coefficient(), set_basal_coefficient()

## ◆ basal_exponent

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::basal_exponent

"Basal metabolic " "exponent (default is 1)."

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

get_basal_exponent(), upd_basal_exponent(), set_basal_exponent()

## ◆ enforce_minimum_heat_rate_per_muscle

 bool OpenSim::Bhargava2004SmoothedMuscleMetabolics::enforce_minimum_heat_rate_per_muscle

"Specify whether the total heat rate for a muscle will be clamped " "to a minimum value of 1.0 W/kg (default is true). When set to " "true, the sum of the reported individual heat rates + work rate " "will not equal the reported total metabolic rate if the total " "heat rate falls below 1.0 W/kg."

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

get_enforce_minimum_heat_rate_per_muscle(), upd_enforce_minimum_heat_rate_per_muscle(), set_enforce_minimum_heat_rate_per_muscle()

## ◆ forbid_negative_total_power

 bool OpenSim::Bhargava2004SmoothedMuscleMetabolics::forbid_negative_total_power

"Specify whether the total power for each muscle must remain " "positive (default is true)."

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

get_forbid_negative_total_power(), upd_forbid_negative_total_power(), set_forbid_negative_total_power()

## ◆ heat_rate_smoothing

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::heat_rate_smoothing

"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the condition " "enforcing total heat rate larger than 1 (W/kg) for a give muscle " ". The larger the steeper the transition but the worse for " "optimization (default is 10)."

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

get_heat_rate_smoothing(), upd_heat_rate_smoothing(), set_heat_rate_smoothing()

## ◆ include_negative_mechanical_work

 bool OpenSim::Bhargava2004SmoothedMuscleMetabolics::include_negative_mechanical_work

"Specify whether negative mechanical work will be included in " "mechanicalWorkRate (default is true)."

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

get_include_negative_mechanical_work(), upd_include_negative_mechanical_work(), set_include_negative_mechanical_work()

## ◆ muscle_effort_scaling_factor

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::muscle_effort_scaling_factor

"Scale the excitation and activation values to compensate for " "solutions with excessive coactivation (e.g., when a suboptimal " "tracking strategy is used) (default is 1)."

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

get_muscle_effort_scaling_factor(), upd_muscle_effort_scaling_factor(), set_muscle_effort_scaling_factor()

## ◆ muscle_metabolic_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::muscle_metabolic_rate

Provides the value of getMuscleMetabolicRate() and is available at stage SimTK::Stage::Dynamics .

This output can have multiple channels. TODO This output was generated with the OpenSim_DECLARE_LIST_OUTPUT macro.

## ◆ muscle_parameters

 Bhargava2004SmoothedMuscleMetabolics_MuscleParameters OpenSim::Bhargava2004SmoothedMuscleMetabolics::muscle_parameters

"Metabolic parameters for each muscle."

This property appears in XML files under the tag <muscle_parameters>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.

get_muscle_parameters(), upd_muscle_parameters(), set_muscle_parameters(), append_muscle_parameters()

## ◆ power_smoothing

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::power_smoothing

"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the condition " "enforcing non-negative total power. The larger the steeper the " "transition but the worse for optimization (default is 10)."

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

get_power_smoothing(), upd_power_smoothing(), set_power_smoothing()

## ◆ smoothing_type

 std::string OpenSim::Bhargava2004SmoothedMuscleMetabolics::smoothing_type

"An optional flag that allows the user to explicitly specify " "what type of smoothing to use ('tanh' or 'huber'; default is " "'tanh')."

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

get_smoothing_type(), upd_smoothing_type(), set_smoothing_type()

## ◆ total_activation_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::total_activation_rate

Provides the value of getTotalActivationRate() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

## ◆ total_maintenance_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::total_maintenance_rate

Provides the value of getTotalMaintenanceRate() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

## ◆ total_mechanical_work_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::total_mechanical_work_rate

Provides the value of getTotalMechanicalWorkRate() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

## ◆ total_metabolic_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::total_metabolic_rate

Provides the value of getTotalMetabolicRate() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

## ◆ total_shortening_rate

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::total_shortening_rate

Provides the value of getTotalShorteningRate() and is available at stage SimTK::Stage::Dynamics .

This output was generated with the OpenSim_DECLARE_OUTPUT macro.

## ◆ use_force_dependent_shortening_prop_constant

 bool OpenSim::Bhargava2004SmoothedMuscleMetabolics::use_force_dependent_shortening_prop_constant

"Specify whether to use a force dependent shortening " "proportionality constant (default is false)."

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

get_use_force_dependent_shortening_prop_constant(), upd_use_force_dependent_shortening_prop_constant(), set_use_force_dependent_shortening_prop_constant()

## ◆ use_smoothing

 bool OpenSim::Bhargava2004SmoothedMuscleMetabolics::use_smoothing

"An optional flag that allows the user to explicitly specify " "whether a smooth approximation of the metabolic energy model " "should be used (default is false)."

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

get_use_smoothing(), upd_use_smoothing(), set_use_smoothing()

## ◆ velocity_smoothing

 double OpenSim::Bhargava2004SmoothedMuscleMetabolics::velocity_smoothing

"The parameter that determines the smoothness of the transition " "of the tanh or Huber loss function used to smooth the conditions " "related to contraction type (concentric or eccentric). Note that " "when computing the shortening heat rate while using the force " "dependent shortening proportionality constant, a tanh " "approximation is used even when using the Huber loss smoothing " "approach. The larger the steeper the transition but the worse " "for optimization (default is 10)."

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