API
4.5
For C++ developers
|
A base class for modeling a muscle-tendon actuator. More...
OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (single-value) | |
double | max_isometric_force |
"Maximum isometric force that the fibers can generate" More... | |
double | optimal_fiber_length |
"Optimal length of the muscle fibers" More... | |
double | tendon_slack_length |
"Resting length of the tendon" More... | |
double | pennation_angle_at_optimal |
"Angle between tendon and fibers at optimal fiber length expressed in radians" More... | |
double | max_contraction_velocity |
"Maximum contraction velocity of the fibers, in optimal fiberlengths/second" More... | |
bool | ignore_tendon_compliance |
"Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid." More... | |
bool | ignore_activation_dynamics |
"Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation." More... | |
Outputs | |
double | excitation |
Provides the value of getExcitation() and is available at stage SimTK::Stage::Dynamics . More... | |
double | activation |
Provides the value of getActivation() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_length |
Provides the value of getFiberLength() and is available at stage SimTK::Stage::Position . More... | |
double | pennation_angle |
Provides the value of getPennationAngle() and is available at stage SimTK::Stage::Position . More... | |
double | cos_pennation_angle |
Provides the value of getCosPennationAngle() and is available at stage SimTK::Stage::Position . More... | |
double | tendon_length |
Provides the value of getTendonLength() and is available at stage SimTK::Stage::Position . More... | |
double | normalized_fiber_length |
Provides the value of getNormalizedFiberLength() and is available at stage SimTK::Stage::Position . More... | |
double | fiber_length_along_tendon |
Provides the value of getFiberLengthAlongTendon() and is available at stage SimTK::Stage::Position . More... | |
double | tendon_strain |
Provides the value of getTendonStrain() and is available at stage SimTK::Stage::Position . More... | |
double | passive_force_multiplier |
Provides the value of getPassiveForceMultiplier() and is available at stage SimTK::Stage::Position . More... | |
double | active_force_length_multiplier |
Provides the value of getActiveForceLengthMultiplier() and is available at stage SimTK::Stage::Position . More... | |
double | fiber_velocity |
Provides the value of getFiberVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
double | normalized_fiber_velocity |
Provides the value of getNormalizedFiberVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
double | fiber_velocity_along_tendon |
Provides the value of getFiberVelocityAlongTendon() and is available at stage SimTK::Stage::Velocity . More... | |
double | tendon_velocity |
Provides the value of getTendonVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
double | force_velocity_multiplier |
Provides the value of getForceVelocityMultiplier() and is available at stage SimTK::Stage::Velocity . More... | |
double | pennation_angular_velocity |
Provides the value of getPennationAngularVelocity() and is available at stage SimTK::Stage::Velocity . More... | |
double | fiber_force |
Provides the value of getFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_force_along_tendon |
Provides the value of getFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
double | active_fiber_force |
Provides the value of getActiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
double | passive_fiber_force |
Provides the value of getPassiveFiberForce() and is available at stage SimTK::Stage::Dynamics . More... | |
double | active_fiber_force_along_tendon |
Provides the value of getActiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
double | passive_fiber_force_along_tendon |
Provides the value of getPassiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
double | tendon_force |
Provides the value of getTendonForce() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_stiffness |
Provides the value of getFiberStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_stiffness_along_tendon |
Provides the value of getFiberStiffnessAlongTendon() and is available at stage SimTK::Stage::Dynamics . More... | |
double | tendon_stiffness |
Provides the value of getTendonStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
double | muscle_stiffness |
Provides the value of getMuscleStiffness() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_active_power |
Provides the value of getFiberActivePower() and is available at stage SimTK::Stage::Dynamics . More... | |
double | fiber_passive_power |
Provides the value of getFiberPassivePower() and is available at stage SimTK::Stage::Dynamics . More... | |
double | tendon_power |
Provides the value of getTendonPower() and is available at stage SimTK::Stage::Dynamics . More... | |
double | muscle_power |
Provides the value of getMusclePower() and is available at stage SimTK::Stage::Dynamics . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::PathActuator | |
AbstractGeometryPath | path |
"The path of the actuator which defines length and lengthening speed." More... | |
double | optimal_force |
"The maximum force this actuator can produce." More... | |
double | tension |
Provides the value of computeActuation() and is available at stage SimTK::Stage::Acceleration . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::ScalarActuator | |
double | min_control |
"Minimum allowed value for control signal. Used primarily when solving " "for control values." More... | |
double | max_control |
"Maximum allowed value for control signal. Used primarily when solving " "for control values." More... | |
double | actuation |
Provides the value of getActuation() and is available at stage SimTK::Stage::Velocity . More... | |
double | speed |
Provides the value of getSpeed() and is available at stage SimTK::Stage::Velocity . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Actuator | |
double | power |
Provides the value of getPower() and is available at stage SimTK::Stage::Dynamics . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Force | |
bool | appliesForce |
"Flag indicating whether the force is applied or not. If true the force" "is applied to the MultibodySystem otherwise the force is not applied." "NOTE: Prior to OpenSim 4.0, this behavior was controlled by the " "'isDisabled' property, where 'true' meant that force was not being " "applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false." More... | |
double | potential_energy |
Provides the value of computePotentialEnergy() and is available at stage SimTK::Stage::Velocity . More... | |
OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Component | |
Component | components |
"List of components that this component owns and serializes." More... | |
Public Member Functions | |
double | computeActuation (const SimTK::State &s) const override=0 |
Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e. More... | |
Property-related functions | |
const double & | get_max_isometric_force () const |
Get the value of the max_isometric_force property. More... | |
double & | upd_max_isometric_force () |
Get a writable reference to the max_isometric_force property. More... | |
void | set_max_isometric_force (const double &value) |
Set the value of the max_isometric_force property. More... | |
const double & | get_optimal_fiber_length () const |
Get the value of the optimal_fiber_length property. More... | |
double & | upd_optimal_fiber_length () |
Get a writable reference to the optimal_fiber_length property. More... | |
void | set_optimal_fiber_length (const double &value) |
Set the value of the optimal_fiber_length property. More... | |
const double & | get_tendon_slack_length () const |
Get the value of the tendon_slack_length property. More... | |
double & | upd_tendon_slack_length () |
Get a writable reference to the tendon_slack_length property. More... | |
void | set_tendon_slack_length (const double &value) |
Set the value of the tendon_slack_length property. More... | |
const double & | get_pennation_angle_at_optimal () const |
Get the value of the pennation_angle_at_optimal property. More... | |
double & | upd_pennation_angle_at_optimal () |
Get a writable reference to the pennation_angle_at_optimal property. More... | |
void | set_pennation_angle_at_optimal (const double &value) |
Set the value of the pennation_angle_at_optimal property. More... | |
const double & | get_max_contraction_velocity () const |
Get the value of the max_contraction_velocity property. More... | |
double & | upd_max_contraction_velocity () |
Get a writable reference to the max_contraction_velocity property. More... | |
void | set_max_contraction_velocity (const double &value) |
Set the value of the max_contraction_velocity property. More... | |
const bool & | get_ignore_tendon_compliance () const |
Get the value of the ignore_tendon_compliance property. More... | |
bool & | upd_ignore_tendon_compliance () |
Get a writable reference to the ignore_tendon_compliance property. More... | |
void | set_ignore_tendon_compliance (const bool &value) |
Set the value of the ignore_tendon_compliance property. More... | |
const bool & | get_ignore_activation_dynamics () const |
Get the value of the ignore_activation_dynamics property. More... | |
bool & | upd_ignore_activation_dynamics () |
Get a writable reference to the ignore_activation_dynamics property. More... | |
void | set_ignore_activation_dynamics (const bool &value) |
Set the value of the ignore_activation_dynamics property. More... | |
Constructors and Destructor | |
Muscle () | |
Default constructor. More... | |
Muscle Parameters Access Methods | |
double | getMaxIsometricForce () const |
get/set the maximum isometric force (in N) that the fibers can generate More... | |
void | setMaxIsometricForce (double maxIsometricForce) |
double | getOptimalFiberLength () const |
get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber) More... | |
void | setOptimalFiberLength (double optimalFiberLength) |
double | getTendonSlackLength () const |
get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber More... | |
void | setTendonSlackLength (double tendonSlackLength) |
double | getPennationAngleAtOptimalFiberLength () const |
get/set the angle (in radians) between fibers at their optimal fiber length and the tendon More... | |
void | setPennationAngleAtOptimalFiberLength (double pennationAngle) |
double | getMaxContractionVelocity () const |
get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second More... | |
void | setMaxContractionVelocity (double maxContractionVelocity) |
Muscle State Dependent Access Methods | |
Get quantities of interest common to all muscles | |
bool | getIgnoreTendonCompliance (const SimTK::State &s) const |
Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics. More... | |
void | setIgnoreTendonCompliance (SimTK::State &s, bool ignore) const |
bool | getIgnoreActivationDynamics (const SimTK::State &s) const |
Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics. More... | |
void | setIgnoreActivationDynamics (SimTK::State &s, bool ignore) const |
virtual double | getActivation (const SimTK::State &s) const |
get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles. More... | |
double | getFiberLength (const SimTK::State &s) const |
get the current working fiber length (m) for the muscle More... | |
double | getPennationAngle (const SimTK::State &s) const |
get the current pennation angle (radians) between the fiber and tendon at the current fiber length More... | |
double | getCosPennationAngle (const SimTK::State &s) const |
get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length More... | |
double | getTendonLength (const SimTK::State &s) const |
get the current tendon length (m) given the current joint angles and fiber length More... | |
double | getNormalizedFiberLength (const SimTK::State &s) const |
get the current normalized fiber length (fiber_length/optimal_fiber_length) More... | |
double | getFiberLengthAlongTendon (const SimTK::State &s) const |
get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction More... | |
double | getTendonStrain (const SimTK::State &s) const |
get the current tendon strain (delta_l/tendon_slack_length is dimensionless) More... | |
double | getFiberPotentialEnergy (const SimTK::State &s) const |
the potential energy (J) stored in the fiber due to its parallel elastic element More... | |
double | getTendonPotentialEnergy (const SimTK::State &s) const |
the potential energy (J) stored in the tendon More... | |
double | getMusclePotentialEnergy (const SimTK::State &s) const |
the total potential energy (J) stored in the muscle More... | |
double | getPassiveForceMultiplier (const SimTK::State &s) const |
get the passive fiber (parallel elastic element) force multiplier More... | |
double | getActiveForceLengthMultiplier (const SimTK::State &s) const |
get the active fiber (contractile element) force multiplier due to current fiber length More... | |
double | getFiberVelocity (const SimTK::State &s) const |
get current fiber velocity (m/s) positive is lengthening More... | |
double | getNormalizedFiberVelocity (const SimTK::State &s) const |
get normalized fiber velocity. More... | |
double | getFiberVelocityAlongTendon (const SimTK::State &s) const |
get the current fiber velocity (m/s) projected onto the tendon direction More... | |
double | getPennationAngularVelocity (const SimTK::State &s) const |
get pennation angular velocity (radians/s) More... | |
double | getTendonVelocity (const SimTK::State &s) const |
get the tendon velocity (m/s) positive is lengthening More... | |
double | getForceVelocityMultiplier (const SimTK::State &s) const |
get the dimensionless multiplier resulting from the fiber's force-velocity curve More... | |
double | getFiberForce (const SimTK::State &s) const |
get the current fiber force (N) applied to the tendon More... | |
double | getFiberForceAlongTendon (const SimTK::State &s) const |
get the force of the fiber (N/m) along the direction of the tendon More... | |
double | getActiveFiberForce (const SimTK::State &s) const |
get the current active fiber force (N) due to activation*force_length*force_velocity relationships More... | |
double | getPassiveFiberForce (const SimTK::State &s) const |
get the total force applied by all passive elements in the fiber (N) More... | |
double | getActiveFiberForceAlongTendon (const SimTK::State &s) const |
get the current active fiber force (N) projected onto the tendon direction More... | |
double | getPassiveFiberForceAlongTendon (const SimTK::State &s) const |
get the total force applied by all passive elements in the fiber (N) projected onto the tendon direction More... | |
double | getTendonForce (const SimTK::State &s) const |
get the current tendon force (N) applied to bones More... | |
double | getFiberStiffness (const SimTK::State &s) const |
get the current fiber stiffness (N/m) defined as the partial derivative of fiber force with respect to fiber length More... | |
double | getFiberStiffnessAlongTendon (const SimTK::State &s) const |
get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon More... | |
double | getTendonStiffness (const SimTK::State &s) const |
get the current tendon stiffness (N/m) defined as the partial derivative of tendon force with respect to tendon length More... | |
double | getMuscleStiffness (const SimTK::State &s) const |
get the current muscle stiffness (N/m) defined as the partial derivative of muscle force with respect to muscle length More... | |
double | getFiberActivePower (const SimTK::State &s) const |
get the current active fiber power (W) More... | |
double | getFiberPassivePower (const SimTK::State &s) const |
get the current passive fiber power (W) More... | |
double | getTendonPower (const SimTK::State &s) const |
get the current tendon power (W) More... | |
double | getMusclePower (const SimTK::State &s) const |
get the current muscle power (W) More... | |
double | getStress (const SimTK::State &s) const override |
get the stress in the muscle (part of the Actuator interface as well) More... | |
void | setExcitation (SimTK::State &s, double excitation) const |
set the excitation (control) for this muscle. More... | |
double | getExcitation (const SimTK::State &s) const |
virtual void | setActivation (SimTK::State &s, double activation) const =0 |
DEPRECATED: only for backward compatibility. More... | |
Muscle initialization | |
void | computeEquilibrium (SimTK::State &s) const override final |
Find and set the equilibrium state of the muscle (if any) More... | |
Public Member Functions inherited from OpenSim::PathActuator | |
PathActuator () | |
AbstractGeometryPath & | updPath () |
const AbstractGeometryPath & | getPath () const |
template<typename PathType > | |
PathType & | updPath () |
template<typename PathType > | |
const PathType & | getPath () const |
template<typename PathType > | |
PathType * | tryUpdPath () |
template<typename PathType > | |
const PathType * | tryGetPath () const |
GeometryPath & | updGeometryPath () |
const GeometryPath & | getGeometryPath () const |
bool | hasVisualPath () const override |
Return a flag indicating whether the Force is applied along a path that can be visualized. More... | |
void | setOptimalForce (double aOptimalForce) |
double | getOptimalForce () const override |
virtual double | getLength (const SimTK::State &s) const |
virtual double | getLengtheningSpeed (const SimTK::State &s) const |
double | getSpeed (const SimTK::State &s) const final |
double | getPower (const SimTK::State &s) const override |
double | getStress (const SimTK::State &s) const override |
void | addNewPathPoint (const std::string &proposedName, const PhysicalFrame &aBody, const SimTK::Vec3 &aPositionOnBody) |
double | computeActuation (const SimTK::State &s) const override |
virtual double | computeMomentArm (const SimTK::State &s, Coordinate &aCoord) const |
const AbstractGeometryPath & | get_path () const |
Get the value of the path property. More... | |
AbstractGeometryPath & | upd_path () |
Get a writable reference to the path property. More... | |
void | set_path (const AbstractGeometryPath &value) |
Set the value of the path property. More... | |
const double & | get_optimal_force () const |
Get the value of the optimal_force property. More... | |
double & | upd_optimal_force () |
Get a writable reference to the optimal_force property. More... | |
void | set_optimal_force (const double &value) |
Set the value of the optimal_force property. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
PathActuator * | clone () const override |
Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
const std::string & | getConcreteClassName () const override |
Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
Public Member Functions inherited from OpenSim::ScalarActuator | |
ScalarActuator () | |
virtual double | getControl (const SimTK::State &s) const |
Convenience method to get control given scalar (double) valued control. More... | |
int | numControls () const override |
virtual void | setActuation (const SimTK::State &s, double aActuation) const |
virtual double | getActuation (const SimTK::State &s) const |
void | setMinControl (const double &aMinControl) |
Methods to manage the bounds on ScalarActuator's control. More... | |
double | getMinControl () const |
void | setMaxControl (const double &aMaxControl) |
double | getMaxControl () const |
void | overrideActuation (SimTK::State &s, bool flag) const |
Enable/disable a ScalarActuator's override actuation. More... | |
bool | isActuationOverridden (const SimTK::State &s) const |
return ScalarActuator's override status More... | |
void | setOverrideActuation (SimTK::State &s, double value) const |
set the actuation value used when the override is true More... | |
double | getOverrideActuation (const SimTK::State &s) const |
return override actuation More... | |
const double & | get_min_control () const |
Get the value of the min_control property. More... | |
double & | upd_min_control () |
Get a writable reference to the min_control property. More... | |
void | set_min_control (const double &value) |
Set the value of the min_control property. More... | |
const double & | get_max_control () const |
Get the value of the max_control property. More... | |
double & | upd_max_control () |
Get a writable reference to the max_control property. More... | |
void | set_max_control (const double &value) |
Set the value of the max_control property. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Public Member Functions inherited from OpenSim::Actuator | |
Actuator () | |
virtual const SimTK::Vector | getDefaultControls () |
Actuator default controls are zero. More... | |
virtual const SimTK::VectorView_< double > | getControls (const SimTK::State &s) const |
virtual void | getControls (const SimTK::Vector &modelControls, SimTK::Vector &actuatorControls) const |
Convenience methods for getting, setting and adding to actuator controls from/into the model controls. More... | |
virtual void | setControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
set actuator controls subvector into the right slot in the system-wide model controls More... | |
virtual void | addInControls (const SimTK::Vector &actuatorControls, SimTK::Vector &modelControls) const |
add actuator controls to the values already occupying the slot in the system-wide model controls More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Public Member Functions inherited from OpenSim::Force | |
virtual bool | shouldBeParallelized () const |
Tell SimBody to parallelize this force. More... | |
bool | appliesForce (const SimTK::State &s) const |
Return if the Force is applied (or enabled) or not. More... | |
void | setAppliesForce (SimTK::State &s, bool applyForce) const |
Set whether or not the Force is applied. More... | |
const bool & | get_appliesForce () const |
Get the value of the appliesForce property. More... | |
bool & | upd_appliesForce () |
Get a writable reference to the appliesForce property. More... | |
void | set_appliesForce (const bool &value) |
Set the value of the appliesForce property. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Public Member Functions inherited from OpenSim::ModelComponent | |
ModelComponent () | |
Default constructor. More... | |
ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) | |
Construct ModelComponent from an XML file. More... | |
ModelComponent (SimTK::Xml::Element &aNode) | |
Construct ModelComponent from a specific node in an XML document. More... | |
virtual | ~ModelComponent () |
Destructor is virtual to allow concrete model component cleanup. More... | |
void | connectToModel (Model &model) |
Connect this ModelComponent to its aggregate- a Model. More... | |
const Model & | getModel () const |
Get a const reference to the Model this component is part of. More... | |
Model & | updModel () |
Get a modifiable reference to the Model this component is part of. More... | |
bool | hasModel () const |
Does this ModelComponent have a Model associated with it? More... | |
void | preScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More... | |
void | scale (const SimTK::State &s, const ScaleSet &scaleSet) |
Scale the ModelComponent. More... | |
void | postScale (const SimTK::State &s, const ScaleSet &scaleSet) |
Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More... | |
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... | |
Component & | operator= (const Component &)=default |
virtual | ~Component ()=default |
Destructor is virtual to allow concrete Component to cleanup. More... | |
virtual void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More... | |
const SimTK::MultibodySystem & | getSystem () const |
Get the underlying MultibodySystem that this component is connected to. More... | |
bool | hasSystem () const |
Check if this component has an underlying MultibodySystem. More... | |
bool | isComponentInOwnershipTree (const Component *component) const |
Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More... | |
void | addComponent (Component *subcomponent) |
Add a Component (as a subcomponent) of this component. More... | |
template<typename T = Component> | |
ComponentList< const T > | getComponentList () const |
Get an iterator through the underlying subcomponents that this component is composed of. More... | |
template<typename T = Component> | |
ComponentList< T > | updComponentList () |
Similar to getComponentList(), except the resulting list allows one to modify the components. More... | |
template<typename T = Component> | |
unsigned | countNumComponents () const |
Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More... | |
std::string | getAbsolutePathString () const |
Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More... | |
ComponentPath | getAbsolutePath () const |
Return a ComponentPath of the absolute path of this Component. More... | |
std::string | getRelativePathString (const Component &wrt) const |
Get the relative path of this Component with respect to another Component, as a string. More... | |
ComponentPath | getRelativePath (const Component &wrt) const |
Get the relative path of this Component with respect to another Component. More... | |
bool | hasComponent (const std::string &pathname) const |
Query if there is a component (of any type) at the specified path name. More... | |
template<class C = Component> | |
bool | hasComponent (const std::string &pathname) const |
Query if there is a component of a given type at the specified path name. More... | |
template<class C = Component> | |
const C & | getComponent (const std::string &pathname) const |
Get a unique subcomponent of this Component by its path name and type 'C'. More... | |
template<class C = Component> | |
const C & | getComponent (const ComponentPath &pathname) const |
const Component & | getComponent (const std::string &pathname) const |
Similar to the templatized getComponent(), except this returns the component as the generic Component type. More... | |
template<class C = Component> | |
C & | updComponent (const std::string &name) |
Get a writable reference to a subcomponent. More... | |
template<class C = Component> | |
C & | updComponent (const ComponentPath &name) |
Component & | updComponent (const std::string &pathname) |
Similar to the templatized updComponent(), except this returns the component as the generic Component type. More... | |
unsigned | printComponentsMatching (const std::string &substring) const |
Print a list to the console of all components whose absolute path name contains the given string. More... | |
int | getNumStateVariables () const |
Get the number of "continuous" state variables maintained by the Component and its subcomponents. More... | |
Array< std::string > | getStateVariableNames () const |
Get the names of "continuous" state variables maintained by the Component and its subcomponents. More... | |
template<class C = Component> | |
const C * | findComponent (const ComponentPath &pathToFind) const |
Find a Component to which this Component is an ancestor—in other words, a Component that is directly owned by this Component or is owned by one of its sub-components, sub-sub-components, etc. More... | |
template<class C = Component> | |
const C * | findComponent (const std::string &pathToFind) const |
Same as findComponent(const ComponentPath&), but accepting a string (a path or just a name) as input. More... | |
const StateVariable * | traverseToStateVariable (const std::string &pathName) const |
Get a StateVariable anywhere in the Component tree, given a StateVariable path. More... | |
const StateVariable * | traverseToStateVariable (const ComponentPath &path) 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 () const |
Collect and return the names of the sockets in this component. More... | |
template<typename T > | |
const T & | getConnectee (const std::string &name) const |
Get the "connectee" object that the Component's Socket is bound to. More... | |
const Object & | getConnectee (const std::string &name) const |
Get the connectee as an Object. More... | |
const AbstractSocket & | getSocket (const std::string &name) const |
Get an AbstractSocket for the given socket name. More... | |
AbstractSocket & | updSocket (const std::string &name) |
Get a writable reference to the AbstractSocket for the given socket name. More... | |
template<typename T > | |
const Socket< T > & | getSocket (const std::string &name) const |
Get a const reference to the concrete Socket provided by this Component by name. More... | |
template<typename T > | |
Socket< T > & | updSocket (const std::string &name) |
Get a writable reference to the concrete Socket provided by this Component by name. More... | |
void | printSubcomponentInfo () const |
List all subcomponents by name and recurse into these components to list their subcomponents, and so on. More... | |
void | printSocketInfo () const |
List all the Sockets of this component and whether or not they are connected. More... | |
void | printInputInfo () const |
List all the inputs of this component and whether or not they are connected. More... | |
template<typename C > | |
void | printSubcomponentInfo () const |
void | printOutputInfo (const bool includeDescendants=true) const |
Print outputs of this component and optionally, those of all subcomponents. More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
int | getNumInputs () const |
Access the number of Inputs that this component has. More... | |
int | getNumOutputs () const |
Access the number of Outputs that this component has. More... | |
std::vector< std::string > | getInputNames () const |
Collect and return the names of Inputs in this component as an std::vector. More... | |
std::vector< std::string > | getOutputNames () const |
Collect and return the names of Outputs in this component as an std::vector. More... | |
const AbstractInput & | getInput (const std::string &name) const |
Get an Input provided by this Component by name. More... | |
AbstractInput & | updInput (const std::string &name) |
Get a writable reference to an Input provided by this Component by name. More... | |
template<typename T > | |
const Input< T > & | getInput (const std::string &name) const |
Get a concrete Input that you can directly ask for its values. More... | |
const AbstractOutput & | getOutput (const std::string &name) const |
Get the Output provided by this Component by name. More... | |
AbstractOutput & | updOutput (const std::string &name) |
Get a writable reference to an Output provided by this Component by name. More... | |
SimTK::IteratorRange< OutputConstIterator > | getOutputs () const |
Iterate through all Outputs of this component. More... | |
int | getModelingOption (const SimTK::State &state, const std::string &name) const |
Get a ModelingOption flag for this Component by name. More... | |
void | setModelingOption (SimTK::State &state, const std::string &name, int flag) const |
Set the value of a ModelingOption flag for this Component. More... | |
template<typename T > | |
const T & | getInputValue (const SimTK::State &state, const std::string &name) const |
Get the Input value that this component is dependent on. More... | |
template<typename T > | |
const T & | getOutputValue (const SimTK::State &state, const std::string &name) const |
Get the Output value provided by this Component by name. More... | |
double | getStateVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a state variable allocated by this Component. More... | |
double | getStateVariableValue (const SimTK::State &state, const ComponentPath &path) const |
Get the value of a state variable allocated by this Component. More... | |
void | setStateVariableValue (SimTK::State &state, const std::string &name, double value) const |
Set the value of a state variable allocated by this Component by name. More... | |
SimTK::Vector | getStateVariableValues (const SimTK::State &state) const |
Get all values of the state variables allocated by this Component. More... | |
void | setStateVariableValues (SimTK::State &state, const SimTK::Vector &values) const |
Set all values of the state variables allocated by this Component. More... | |
double | getStateVariableDerivativeValue (const SimTK::State &state, const std::string &name) const |
Get the value of a state variable derivative computed by this Component. More... | |
double | getDiscreteVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a discrete variable allocated by this Component by name. More... | |
void | setDiscreteVariableValue (SimTK::State &state, const std::string &name, double value) const |
Set the value of a discrete variable allocated by this Component by name. More... | |
template<class T > | |
SimTK::CacheEntryIndex | getCacheVariableIndex (const CacheVariable< T > &cv) const |
Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
SimTK::CacheEntryIndex | getCacheVariableIndex (const std::string &name) const |
Get the index of a Component's cache variable in the Subsystem for allocations. More... | |
template<class T > | |
const T & | getCacheVariableValue (const SimTK::State &state, const std::string &name) const |
Get the value of a cache variable allocated by this Component by name. More... | |
template<class T > | |
const T & | getCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
Get the value of a cache variable allocated by this Component. More... | |
template<typename T > | |
void | setCacheVariableValue (const SimTK::State &state, const std::string &k, T value) const |
Set the value of a cache variable, identified by name , to a new value and mark the cache variable as valid. More... | |
template<typename T > | |
void | setCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv, T value) const |
Set the value of a cache variable to a new value and mark the cache variable as valid. More... | |
template<typename T > | |
T & | updCacheVariableValue (const SimTK::State &state, const std::string &name) const |
Returns a mutable reference to the value of a cache variable identified by name . More... | |
template<typename T > | |
T & | updCacheVariableValue (const SimTK::State &state, const CacheVariable< T > &cv) const |
Returns a mutable reference to the value of a cache variable. More... | |
bool | isCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Returns true if the cache variable, identified by name , is valid. More... | |
template<class T > | |
bool | isCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Returns true if the cache variable is valid. More... | |
void | markCacheVariableValid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name , as valid. More... | |
template<typename T > | |
void | markCacheVariableValid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Marks the value of a cache variable as valid. More... | |
void | markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const |
Marks the value of a cache variable, identified by name , as invalid. More... | |
template<class T > | |
void | markCacheVariableInvalid (const SimTK::State &state, const CacheVariable< T > &cv) const |
Marks the value of a cache variable as invalid. More... | |
const Component & | getOwner () const |
Access the owner of this Component. More... | |
bool | hasOwner () const |
(For advanced users) Check if this Component has an owner. More... | |
const Component & | getRoot () const |
Obtain the root Component, which is this component if it is orphaned. More... | |
Public Member Functions inherited from OpenSim::Object | |
virtual | ~Object () |
Virtual destructor for cleanup. More... | |
bool | isEqualTo (const Object &aObject) const |
Equality operator wrapper for use from languages not supporting operator overloading. More... | |
Object & | operator= (const Object &aObject) |
Copy assignment copies he base class fields, including the properties. More... | |
virtual bool | operator== (const Object &aObject) const |
Determine if two objects are equal. More... | |
virtual bool | operator< (const Object &aObject) const |
Provide an ordering for objects so they can be put in sorted containers. More... | |
void | setName (const std::string &name) |
Set the name of the Object. More... | |
const std::string & | getName () const |
Get the name of this Object. More... | |
void | setDescription (const std::string &description) |
Set description, a one-liner summary. More... | |
const std::string & | getDescription () const |
Get description, a one-liner summary. More... | |
const std::string & | getAuthors () const |
Get Authors of this Object. More... | |
void | setAuthors (const std::string &authors) |
Set Authors of this object. More... | |
const std::string & | getReferences () const |
Get references or publications to cite if using this object. More... | |
void | setReferences (const std::string &references) |
Set references or publications to cite if using this object. More... | |
int | getNumProperties () const |
Determine how many properties are stored with this Object. More... | |
const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
Get a const reference to a property by its index number, returned as an AbstractProperty. More... | |
AbstractProperty & | updPropertyByIndex (int propertyIndex) |
Get a writable reference to a property by its index number, returned as an AbstractProperty. More... | |
bool | hasProperty (const std::string &name) const |
Return true if this Object has a property of any type with the given name, which must not be empty. More... | |
const AbstractProperty & | getPropertyByName (const std::string &name) const |
Get a const reference to a property by its name, returned as an AbstractProperty. More... | |
AbstractProperty & | updPropertyByName (const std::string &name) |
Get a writable reference to a property by its name, returned as an AbstractProperty. More... | |
template<class T > | |
bool | hasProperty () const |
Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More... | |
template<class T > | |
const Property< T > & | getProperty (const PropertyIndex &index) const |
Get property of known type Property<T> as a const reference; the property must be present and have the right type. More... | |
template<class T > | |
const Property< T > & | getPropertyByName (const std::string &name) 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... | |
template<class T > | |
Property< T > & | updPropertyByName (const std::string &name) |
Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More... | |
bool | isObjectUpToDateWithProperties () const |
Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More... | |
void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
We're given an XML element from which we are to populate this Object. More... | |
void | updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const |
Serialize this object into the XML node that represents it. More... | |
bool | getInlined () const |
Inlined means an in-memory Object that is not associated with an XMLDocument. More... | |
void | setInlined (bool aInlined, const std::string &aFileName="") |
Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More... | |
std::string | getDocumentFileName () const |
If there is a document associated with this object then return the file name maintained by the document. More... | |
int | getDocumentFileVersion () const |
If there is a document associated with this object then return its version number. More... | |
void | setAllPropertiesUseDefault (bool aUseDefault) |
bool | print (const std::string &fileName) const |
Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More... | |
std::string | dump () const |
dump the XML representation of this Object into an std::string and return it. More... | |
virtual bool | isA (const char *type) const |
The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More... | |
const std::string & | toString () const |
Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More... | |
PropertySet & | getPropertySet () |
OBSOLETE: Get a reference to the PropertySet maintained by the Object. More... | |
const PropertySet & | getPropertySet () const |
Public Types | |
typedef Muscle | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef PathActuator | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::PathActuator | |
typedef PathActuator | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef ScalarActuator | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::ScalarActuator | |
typedef ScalarActuator | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef Actuator | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::Actuator | |
typedef Actuator | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef Force | Super |
Use this typedef to refer to the superclass of this class. More... | |
Public Types inherited from OpenSim::Force | |
typedef Force | 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... | |
Protected Member Functions | |
const MuscleLengthInfo & | getMuscleLengthInfo (const SimTK::State &s) const |
Developer Access to intermediate values calculate by the muscle model. More... | |
MuscleLengthInfo & | updMuscleLengthInfo (const SimTK::State &s) const |
const FiberVelocityInfo & | getFiberVelocityInfo (const SimTK::State &s) const |
FiberVelocityInfo & | updFiberVelocityInfo (const SimTK::State &s) const |
const MuscleDynamicsInfo & | getMuscleDynamicsInfo (const SimTK::State &s) const |
MuscleDynamicsInfo & | updMuscleDynamicsInfo (const SimTK::State &s) const |
const MusclePotentialEnergyInfo & | getMusclePotentialEnergyInfo (const SimTK::State &s) const |
MusclePotentialEnergyInfo & | updMusclePotentialEnergyInfo (const SimTK::State &s) const |
Muscle State Dependent Calculations | |
Developers must override these methods to implement the desired behavior of their muscle models. Unless you are augmenting the behavior of an existing muscle class or writing a new derived class, you do not have access to these methods. | |
virtual void | calcMuscleLengthInfo (const SimTK::State &s, MuscleLengthInfo &mli) const |
calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc... More... | |
virtual void | calcFiberVelocityInfo (const SimTK::State &s, FiberVelocityInfo &fvi) const |
calculate muscle's fiber velocity and pennation angular velocity, etc... More... | |
virtual void | calcMuscleDynamicsInfo (const SimTK::State &s, MuscleDynamicsInfo &mdi) const |
calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values More... | |
virtual void | calcMusclePotentialEnergyInfo (const SimTK::State &s, MusclePotentialEnergyInfo &mpei) const |
calculate muscle's fiber and tendon potential energy More... | |
virtual void | computeInitialFiberEquilibrium (SimTK::State &s) const =0 |
This function modifies the fiber length in the supplied state such that the fiber and tendon are developing the same force, taking activation and velocity into account. More... | |
Interfaces imposed by parent classes | |
void | computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForce) const override |
Force interface applies tension to bodies, and Muscle also checks that applied muscle tension is not negative. More... | |
double | computePotentialEnergy (const SimTK::State &state) const override |
Potential energy stored by the muscle. More... | |
SimTK::Vec3 | computePathColor (const SimTK::State &state) const override |
Override PathActuator virtual to calculate a preferred color for the muscle path based on activation. More... | |
void | extendConnectToModel (Model &aModel) override |
Model Component creation interface. More... | |
void | extendAddToSystem (SimTK::MultibodySystem &system) const override |
Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources. More... | |
void | extendSetPropertiesFromState (const SimTK::State &s) override |
Subclass should override; be sure to invoke Force::extendSetPropertiesFromState() at the beginning of the overriding method. More... | |
void | extendInitStateFromProperties (SimTK::State &state) const override |
Subclass should override; be sure to invoke Super::extendInitStateFromProperties() at the beginning of the overriding method. More... | |
virtual void | updateGeometry (const SimTK::State &s) |
Protected Member Functions inherited from OpenSim::PathActuator | |
void | extendRealizeDynamics (const SimTK::State &state) const override |
Extension of parent class method; derived classes may extend further. More... | |
Protected Member Functions inherited from OpenSim::ScalarActuator | |
double | computeOverrideActuation (const SimTK::State &s) const |
OpenSim::Array< std::string > | getRecordLabels () const override |
Methods to query a actuation for the value actually applied during simulation. More... | |
OpenSim::Array< double > | getRecordValues (const SimTK::State &state) const override |
Given SimTK::State object extract all the values necessary to report actuation, application location frame, etc. More... | |
Protected Member Functions inherited from OpenSim::Force | |
Force () | |
Default constructor sets up Force-level properties; can only be called from a derived class constructor. More... | |
Force (SimTK::Xml::Element &node) | |
Deserialization from XML, necessary so that derived classes can (de)serialize. More... | |
void | applyForceToPoint (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &point, const SimTK::Vec3 &force, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const |
Apply a force at a particular point (a "station") on a given body. More... | |
void | applyTorque (const SimTK::State &state, const PhysicalFrame &body, const SimTK::Vec3 &torque, SimTK::Vector_< SimTK::SpatialVec > &bodyForces) const |
Apply a torque to a particular body. More... | |
void | applyGeneralizedForce (const SimTK::State &state, const Coordinate &coord, double force, SimTK::Vector &generalizedForces) const |
Apply a generalized force. 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 | 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... | |
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 Component & | get_components (int i) const |
Get the value of the i-th element of the components property. More... | |
Component & | upd_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 | 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 | extendRealizeTopology (SimTK::State &state) const |
Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology. 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 | 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 XMLDocument * | getDocument () const |
Get a const pointer to the document (if any) associated with this object. More... | |
XMLDocument * | updDocument () |
Get a writable pointer to the document (if any) associated with this object. More... | |
Protected Attributes | |
double | _muscleWidth |
The assumed fixed muscle-width from which the fiber pennation angle can be calculated. More... | |
double | _maxIsometricForce |
to support deprecated muscles More... | |
double | _optimalFiberLength |
double | _pennationAngleAtOptimal |
double | _tendonSlackLength |
CacheVariable< Muscle::MuscleLengthInfo > | _lengthInfoCV |
CacheVariable< Muscle::FiberVelocityInfo > | _velInfoCV |
CacheVariable< Muscle::MuscleDynamicsInfo > | _dynamicsInfoCV |
CacheVariable< Muscle::MusclePotentialEnergyInfo > | _potentialEnergyInfoCV |
Protected Attributes inherited from OpenSim::Actuator | |
int | _controlIndex |
Protected Attributes inherited from OpenSim::Force | |
SimTK::ResetOnCopy< SimTK::ForceIndex > | _index |
ID for the force in Simbody. 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... | |
Auto-generated functions | |
static Muscle * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Muscle". More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
Muscle * | clone () const override=0 |
Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
const std::string & | getConcreteClassName () const override=0 |
Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
Nested Classes | |
struct | FiberVelocityInfo |
FiberVelocityInfo contains velocity quantities related to the velocity of the muscle (fiber + tendon) complex. More... | |
struct | MuscleDynamicsInfo |
MuscleDynamicsInfo contains quantities that are related to the forces that the muscle generates. More... | |
struct | MuscleLengthInfo |
The MuscleLengthInfo struct contains information about the muscle that is strictly a function of the length of the fiber and the tendon, and the orientation of the muscle fiber. More... | |
struct | MusclePotentialEnergyInfo |
MusclePotentialEnergyInfo contains quantities related to the potential energy of the muscle (fiber + tendon) complex. More... | |
Additional Inherited Members | |
Static Public Member Functions inherited from OpenSim::PathActuator | |
static PathActuator * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "PathActuator". More... | |
Static Public Member Functions inherited from OpenSim::ScalarActuator | |
static ScalarActuator * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "ScalarActuator". More... | |
Static Public Member Functions inherited from OpenSim::Actuator | |
static Actuator * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Actuator". More... | |
Static Public Member Functions inherited from OpenSim::Force | |
static Force * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Force". More... | |
Static Public Member Functions inherited from OpenSim::ModelComponent | |
static ModelComponent * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "ModelComponent". More... | |
Static Public Member Functions inherited from OpenSim::Component | |
static Component * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "Component". More... | |
Static Public Member Functions inherited from OpenSim::Object | |
static void | registerType (const Object &defaultObject) |
Register an instance of a class; if the class is already registered it will be replaced. More... | |
static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
Support versioning by associating the current Object type with an old name. More... | |
static const Object * | getDefaultInstanceOfType (const std::string &concreteClassName) |
Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More... | |
template<class T > | |
static bool | isObjectTypeDerivedFrom (const std::string &concreteClassName) |
Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More... | |
static Object * | newInstanceOfType (const std::string &concreteClassName) |
Create a new instance of the concrete Object type whose class name is given as concreteClassName. More... | |
static void | getRegisteredTypenames (Array< std::string > &typeNames) |
Retrieve all the typenames registered so far. More... | |
template<class T > | |
static void | getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray) |
Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More... | |
static bool | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true) |
Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More... | |
static bool | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true) |
Same as the other signature but the class name and property name are provided as two separate strings. More... | |
static Object * | makeObjectFromFile (const std::string &fileName) |
Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More... | |
static const std::string & | getClassName () |
Return the name of this class as a string; i.e., "Object". More... | |
static void | setSerializeAllDefaults (bool shouldSerializeDefaults) |
Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More... | |
static bool | getSerializeAllDefaults () |
Report the value of the "serialize all defaults" flag. More... | |
static bool | isKindOf (const char *type) |
Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More... | |
static void | setDebugLevel (int newLevel) |
Set the amount of logging output. More... | |
static int | getDebugLevel () |
Get the current setting of debug level. More... | |
static Object * | SafeCopy (const Object *aObject) |
Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More... | |
static void | RegisterType (const Object &defaultObject) |
OBSOLETE alternate name for registerType(). More... | |
static void | RenameType (const std::string &oldName, const std::string &newName) |
OBSOLETE alternate name for renameType(). More... | |
Static Public Attributes inherited from OpenSim::Object | |
static const std::string | DEFAULT_NAME |
Name used for default objects when they are serialized. More... | |
Static Protected Member Functions inherited from OpenSim::Component | |
static void | prependComponentPathToConnecteePath (Component &subcomponent) |
For internal use. 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... | |
Related Functions inherited from OpenSim::Object | |
#define | OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass) |
Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object. More... | |
#define | OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass) |
Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object. More... | |
#define | OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass) |
Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>. More... | |
#define | OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass) |
Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object. More... | |
A base class for modeling a muscle-tendon actuator.
It defines muscle parameters and methods to PathActuator, but does not implement all of the necessary methods, and remains an abstract class. The path information for a muscle is contained in PathActuator, and the force-generating behavior should be defined in the derived classes.
This class defines a subset of muscle models that include an active fiber (contractile element) in series with a tendon. This class defines common data members and handles the geometry of a unipennate fiber in connection with a tendon. No states are assumed, but concrete classes are free to add whatever states are necessary to describe the specific behavior of a muscle.
(Based on earlier work by Peter Loan and Frank C. Anderson.)
typedef Muscle OpenSim::Muscle::Self |
This typedef might be useful within the member functions of this class.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
typedef PathActuator OpenSim::Muscle::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.
OpenSim::Muscle::Muscle | ( | ) |
Default constructor.
|
inlineoverride |
|
protectedvirtual |
calculate muscle's fiber velocity and pennation angular velocity, etc...
Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, and OpenSim::RigidTendonMuscle.
|
protectedvirtual |
calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values
Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, and OpenSim::RigidTendonMuscle.
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protectedvirtual |
calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc...
Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, and OpenSim::RigidTendonMuscle.
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protectedvirtual |
calculate muscle's fiber and tendon potential energy
Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, and OpenSim::RigidTendonMuscle.
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overridepure virtual |
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::ScalarActuator.
Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::Delp1990Muscle_Deprecated, OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::Schutte1993Muscle_Deprecated, and OpenSim::Thelen2003Muscle_Deprecated.
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overridepure virtual |
Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e.
not the fiber force)
Implements OpenSim::ScalarActuator.
Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::Thelen2003Muscle_Deprecated, OpenSim::Delp1990Muscle_Deprecated, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::RigidTendonMuscle, and OpenSim::Schutte1993Muscle_Deprecated.
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inlinefinaloverridevirtual |
Find and set the equilibrium state of the muscle (if any)
Reimplemented from OpenSim::Actuator.
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overrideprotectedvirtual |
Force interface applies tension to bodies, and Muscle also checks that applied muscle tension is not negative.
Reimplemented from OpenSim::PathActuator.
|
protectedpure virtual |
This function modifies the fiber length in the supplied state such that
the fiber and tendon are developing the same force, taking activation and velocity into account.
This routine can assume that the state contains a meaningful estimate of muscle activation, joint positions, and joint velocities. For example, this can produce fiber lengths suited to beginning a forward dynamics simulation. computeFiberEquilibriumAtZeroVelocity().
Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::Thelen2003Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, and OpenSim::RigidTendonMuscle.
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overrideprotectedvirtual |
Override PathActuator virtual to calculate a preferred color for the muscle path based on activation.
Reimplemented from OpenSim::PathActuator.
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overrideprotectedvirtual |
Potential energy stored by the muscle.
Reimplemented from OpenSim::Force.
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overrideprotectedvirtual |
Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.
extendAddToSystem() is called when the Simbody System is being created to represent a completed system (model) for computation. That is, connect() will already have been invoked on all components before any addToSystem() call is made. Helper methods for adding modeling options, state variables and their derivatives, discrete variables, and cache entries are available and can be called within extendAddToSystem() only.
Note that this method is const; you may not modify your model component or the containing model during this call. Any modifications you need should instead be performed in finalizeFromProperties() or at the latest connect(), which are non-const. The only exception is that you may need to record access information for resources you create in the system, such as an index number. For most Components, OpenSim base classes either provide convenience methods or handle indices automatically. Otherwise, you must declare indices as mutable data members so that you can set them here.
If you override this method, be sure to invoke the base class method at the beginning, using code like this:
This method assumes that this Component's addToSystem will be invoked before its subcomponents. If you need your subcomponents to be added to the system, first (e.g. require of a Force to be anchored to a SimTK::MobilizedBody specified by subcomponents) then you must implement: extendAddToSystemAfterSubcomponents(). It is possible to implement both method to add system elements before and then after your subcomponents have added themselves. Caution is required that Simbody elements are not added twice especially when order is unimportant.
[in,out] | system | The MultibodySystem being added to. |
Reimplemented from OpenSim::ScalarActuator.
|
overrideprotectedvirtual |
Model Component creation interface.
Reimplemented from OpenSim::ModelComponent.
|
overrideprotectedvirtual |
Subclass should override; be sure to invoke Super::extendInitStateFromProperties() at the beginning of the overriding method.
Reimplemented from OpenSim::Force.
|
overrideprotectedvirtual |
Subclass should override; be sure to invoke Force::extendSetPropertiesFromState() at the beginning of the overriding method.
Reimplemented from OpenSim::Force.
|
inline |
Get the value of the ignore_activation_dynamics property.
|
inline |
Get the value of the ignore_tendon_compliance property.
|
inline |
Get the value of the max_contraction_velocity property.
|
inline |
Get the value of the max_isometric_force property.
|
inline |
Get the value of the optimal_fiber_length property.
|
inline |
Get the value of the pennation_angle_at_optimal property.
|
inline |
Get the value of the tendon_slack_length property.
|
virtual |
get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles.
Reimplemented in OpenSim::DeGrooteFregly2016Muscle, and OpenSim::ActivationFiberLengthMuscle_Deprecated.
double OpenSim::Muscle::getActiveFiberForce | ( | const SimTK::State & | s | ) | const |
get the current active fiber force (N) due to activation*force_length*force_velocity relationships
double OpenSim::Muscle::getActiveFiberForceAlongTendon | ( | const SimTK::State & | s | ) | const |
get the current active fiber force (N) projected onto the tendon direction
double OpenSim::Muscle::getActiveForceLengthMultiplier | ( | const SimTK::State & | s | ) | const |
get the active fiber (contractile element) force multiplier due to current fiber length
|
inlinestatic |
This returns "Muscle".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
|
overridepure virtual |
Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.
This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.
Implements OpenSim::ScalarActuator.
Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::Delp1990Muscle_Deprecated, OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::Schutte1993Muscle_Deprecated, and OpenSim::Thelen2003Muscle_Deprecated.
double OpenSim::Muscle::getCosPennationAngle | ( | const SimTK::State & | s | ) | const |
get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length
double OpenSim::Muscle::getExcitation | ( | const SimTK::State & | s | ) | const |
double OpenSim::Muscle::getFiberActivePower | ( | const SimTK::State & | s | ) | const |
get the current active fiber power (W)
double OpenSim::Muscle::getFiberForce | ( | const SimTK::State & | s | ) | const |
get the current fiber force (N) applied to the tendon
double OpenSim::Muscle::getFiberForceAlongTendon | ( | const SimTK::State & | s | ) | const |
get the force of the fiber (N/m) along the direction of the tendon
double OpenSim::Muscle::getFiberLength | ( | const SimTK::State & | s | ) | const |
get the current working fiber length (m) for the muscle
double OpenSim::Muscle::getFiberLengthAlongTendon | ( | const SimTK::State & | s | ) | const |
get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction
double OpenSim::Muscle::getFiberPassivePower | ( | const SimTK::State & | s | ) | const |
get the current passive fiber power (W)
double OpenSim::Muscle::getFiberPotentialEnergy | ( | const SimTK::State & | s | ) | const |
the potential energy (J) stored in the fiber due to its parallel elastic element
double OpenSim::Muscle::getFiberStiffness | ( | const SimTK::State & | s | ) | const |
get the current fiber stiffness (N/m) defined as the partial derivative of fiber force with respect to fiber length
double OpenSim::Muscle::getFiberStiffnessAlongTendon | ( | const SimTK::State & | s | ) | const |
get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon
double OpenSim::Muscle::getFiberVelocity | ( | const SimTK::State & | s | ) | const |
get current fiber velocity (m/s) positive is lengthening
double OpenSim::Muscle::getFiberVelocityAlongTendon | ( | const SimTK::State & | s | ) | const |
get the current fiber velocity (m/s) projected onto the tendon direction
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protected |
double OpenSim::Muscle::getForceVelocityMultiplier | ( | const SimTK::State & | s | ) | const |
get the dimensionless multiplier resulting from the fiber's force-velocity curve
bool OpenSim::Muscle::getIgnoreActivationDynamics | ( | const SimTK::State & | s | ) | const |
Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics.
This does not directly modify the persistent property value.
bool OpenSim::Muscle::getIgnoreTendonCompliance | ( | const SimTK::State & | s | ) | const |
Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics.
This does not directly modify the persistent property value.
double OpenSim::Muscle::getMaxContractionVelocity | ( | ) | const |
get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second
double OpenSim::Muscle::getMaxIsometricForce | ( | ) | const |
get/set the maximum isometric force (in N) that the fibers can generate
|
protected |
|
protected |
Developer Access to intermediate values calculate by the muscle model.
double OpenSim::Muscle::getMusclePotentialEnergy | ( | const SimTK::State & | s | ) | const |
the total potential energy (J) stored in the muscle
|
protected |
double OpenSim::Muscle::getMusclePower | ( | const SimTK::State & | s | ) | const |
get the current muscle power (W)
double OpenSim::Muscle::getMuscleStiffness | ( | const SimTK::State & | s | ) | const |
get the current muscle stiffness (N/m) defined as the partial derivative of muscle force with respect to muscle length
double OpenSim::Muscle::getNormalizedFiberLength | ( | const SimTK::State & | s | ) | const |
get the current normalized fiber length (fiber_length/optimal_fiber_length)
double OpenSim::Muscle::getNormalizedFiberVelocity | ( | const SimTK::State & | s | ) | const |
get normalized fiber velocity.
This is the fiber velocity in m/s divided by the maximum contraction velocity expressed in m/s; therefore, this quantity is dimensionless and generally lies in the range [-1, 1].
double OpenSim::Muscle::getOptimalFiberLength | ( | ) | const |
get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber)
double OpenSim::Muscle::getPassiveFiberForce | ( | const SimTK::State & | s | ) | const |
get the total force applied by all passive elements in the fiber (N)
double OpenSim::Muscle::getPassiveFiberForceAlongTendon | ( | const SimTK::State & | s | ) | const |
get the total force applied by all passive elements in the fiber (N) projected onto the tendon direction
double OpenSim::Muscle::getPassiveForceMultiplier | ( | const SimTK::State & | s | ) | const |
get the passive fiber (parallel elastic element) force multiplier
double OpenSim::Muscle::getPennationAngle | ( | const SimTK::State & | s | ) | const |
get the current pennation angle (radians) between the fiber and tendon at the current fiber length
double OpenSim::Muscle::getPennationAngleAtOptimalFiberLength | ( | ) | const |
get/set the angle (in radians) between fibers at their optimal fiber length and the tendon
double OpenSim::Muscle::getPennationAngularVelocity | ( | const SimTK::State & | s | ) | const |
get pennation angular velocity (radians/s)
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overridevirtual |
get the stress in the muscle (part of the Actuator interface as well)
Reimplemented from OpenSim::ScalarActuator.
double OpenSim::Muscle::getTendonForce | ( | const SimTK::State & | s | ) | const |
get the current tendon force (N) applied to bones
double OpenSim::Muscle::getTendonLength | ( | const SimTK::State & | s | ) | const |
get the current tendon length (m) given the current joint angles and fiber length
double OpenSim::Muscle::getTendonPotentialEnergy | ( | const SimTK::State & | s | ) | const |
the potential energy (J) stored in the tendon
double OpenSim::Muscle::getTendonPower | ( | const SimTK::State & | s | ) | const |
get the current tendon power (W)
double OpenSim::Muscle::getTendonSlackLength | ( | ) | const |
get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber
double OpenSim::Muscle::getTendonStiffness | ( | const SimTK::State & | s | ) | const |
get the current tendon stiffness (N/m) defined as the partial derivative of tendon force with respect to tendon length
double OpenSim::Muscle::getTendonStrain | ( | const SimTK::State & | s | ) | const |
get the current tendon strain (delta_l/tendon_slack_length is dimensionless)
double OpenSim::Muscle::getTendonVelocity | ( | const SimTK::State & | s | ) | const |
get the tendon velocity (m/s) positive is lengthening
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inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = Muscle.safeDownCast(obj)
. This is equivalent to dynamic_cast<Muscle*>(obj)
in C++.
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inline |
Set the value of the ignore_activation_dynamics property.
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inline |
Set the value of the ignore_tendon_compliance property.
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inline |
Set the value of the max_contraction_velocity property.
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inline |
Set the value of the max_isometric_force property.
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inline |
Set the value of the optimal_fiber_length property.
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inline |
Set the value of the pennation_angle_at_optimal property.
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inline |
Set the value of the tendon_slack_length property.
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pure virtual |
DEPRECATED: only for backward compatibility.
Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::ActivationFiberLengthMuscle, and OpenSim::RigidTendonMuscle.
void OpenSim::Muscle::setExcitation | ( | SimTK::State & | s, |
double | excitation | ||
) | const |
set the excitation (control) for this muscle.
NOTE if controllers are connected to the muscle and are adding in their controls, and setExcitation is called after the model's computeControls(), then setExcitation will override the controller values. If called before computeControls, then controller value(s) are added to the excitation set here.
void OpenSim::Muscle::setIgnoreActivationDynamics | ( | SimTK::State & | s, |
bool | ignore | ||
) | const |
void OpenSim::Muscle::setIgnoreTendonCompliance | ( | SimTK::State & | s, |
bool | ignore | ||
) | const |
void OpenSim::Muscle::setMaxContractionVelocity | ( | double | maxContractionVelocity | ) |
void OpenSim::Muscle::setMaxIsometricForce | ( | double | maxIsometricForce | ) |
void OpenSim::Muscle::setOptimalFiberLength | ( | double | optimalFiberLength | ) |
void OpenSim::Muscle::setPennationAngleAtOptimalFiberLength | ( | double | pennationAngle | ) |
void OpenSim::Muscle::setTendonSlackLength | ( | double | tendonSlackLength | ) |
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inline |
Get a writable reference to the ignore_activation_dynamics property.
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inline |
Get a writable reference to the ignore_tendon_compliance property.
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inline |
Get a writable reference to the max_contraction_velocity property.
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inline |
Get a writable reference to the max_isometric_force property.
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inline |
Get a writable reference to the optimal_fiber_length property.
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inline |
Get a writable reference to the pennation_angle_at_optimal property.
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inline |
Get a writable reference to the tendon_slack_length property.
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protectedvirtual |
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protected |
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protected |
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protected |
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protected |
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mutableprotected |
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mutableprotected |
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protected |
to support deprecated muscles
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protected |
The assumed fixed muscle-width from which the fiber pennation angle can be calculated.
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protected |
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protected |
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mutableprotected |
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protected |
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mutableprotected |
double OpenSim::Muscle::activation |
Provides the value of getActivation() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::active_fiber_force |
Provides the value of getActiveFiberForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::active_fiber_force_along_tendon |
Provides the value of getActiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::active_force_length_multiplier |
Provides the value of getActiveForceLengthMultiplier() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::cos_pennation_angle |
Provides the value of getCosPennationAngle() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::excitation |
Provides the value of getExcitation() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_active_power |
Provides the value of getFiberActivePower() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_force |
Provides the value of getFiberForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_force_along_tendon |
Provides the value of getFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_length |
Provides the value of getFiberLength() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_length_along_tendon |
Provides the value of getFiberLengthAlongTendon() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_passive_power |
Provides the value of getFiberPassivePower() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_stiffness |
Provides the value of getFiberStiffness() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_stiffness_along_tendon |
Provides the value of getFiberStiffnessAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_velocity |
Provides the value of getFiberVelocity() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::fiber_velocity_along_tendon |
Provides the value of getFiberVelocityAlongTendon() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::force_velocity_multiplier |
Provides the value of getForceVelocityMultiplier() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
bool OpenSim::Muscle::ignore_activation_dynamics |
"Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation."
This property appears in XML files under the tag <ignore_activation_dynamics>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
bool OpenSim::Muscle::ignore_tendon_compliance |
"Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid."
This property appears in XML files under the tag <ignore_tendon_compliance>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Muscle::max_contraction_velocity |
"Maximum contraction velocity of the fibers, in optimal fiberlengths/second"
This property appears in XML files under the tag <max_contraction_velocity>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Muscle::max_isometric_force |
"Maximum isometric force that the fibers can generate"
This property appears in XML files under the tag <max_isometric_force>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Muscle::muscle_power |
Provides the value of getMusclePower() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::muscle_stiffness |
Provides the value of getMuscleStiffness() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::normalized_fiber_length |
Provides the value of getNormalizedFiberLength() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::normalized_fiber_velocity |
Provides the value of getNormalizedFiberVelocity() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::optimal_fiber_length |
"Optimal length of the muscle fibers"
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.
double OpenSim::Muscle::passive_fiber_force |
Provides the value of getPassiveFiberForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::passive_fiber_force_along_tendon |
Provides the value of getPassiveFiberForceAlongTendon() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::passive_force_multiplier |
Provides the value of getPassiveForceMultiplier() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::pennation_angle |
Provides the value of getPennationAngle() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::pennation_angle_at_optimal |
"Angle between tendon and fibers at optimal fiber length expressed in radians"
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.
double OpenSim::Muscle::pennation_angular_velocity |
Provides the value of getPennationAngularVelocity() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_force |
Provides the value of getTendonForce() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_length |
Provides the value of getTendonLength() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_power |
Provides the value of getTendonPower() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_slack_length |
"Resting length of the tendon"
This property appears in XML files under the tag <tendon_slack_length>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::Muscle::tendon_stiffness |
Provides the value of getTendonStiffness() and is available at stage SimTK::Stage::Dynamics .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_strain |
Provides the value of getTendonStrain() and is available at stage SimTK::Stage::Position .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.
double OpenSim::Muscle::tendon_velocity |
Provides the value of getTendonVelocity() and is available at stage SimTK::Stage::Velocity .
This output was generated with the OpenSim_DECLARE_OUTPUT macro.