A base class for modeling a muscle-tendon actuator. More...

Inheritance diagram for OpenSim::Muscle:

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 activationforce_lengthforce_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...

SimTK::ForceIndex	getForceIndex () const
	Return the index to the SimTK::Force in the underlying system. 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...

Array< std::string >	getDiscreteVariableNames () const
	Get the names of discrete state variables maintained by the Component and its subcomponents. More...

Array< std::string >	getModelingOptionNames () const
	Get the names of the modeling options maintained by the Component and its subcomponents. 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...

template<typename T >
const T &	getConnectee (const std::string &name, int index) const
	Get the "connectee" object at the provided index 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 Object &	getConnectee (const std::string &name, int index) const
	Get the connectee at the provided index as an Object. More...

const AbstractSocket *	tryGetSocket (const std::string &name) const
	Returns a pointer to the AbstractSocket with a given socket name, or `nullptr` if the socket with the given name does not exist on the component. More...

const AbstractSocket &	getSocket (const std::string &name) const
	Get an AbstractSocket for the given socket name. More...

const AbstractSocket *	tryUpdSocket (const std::string &name)
	Returns a writable pointer to the AbstractSocket with a given socket name, or `nullptr` if the socket with the given name does not exist on the component. 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...

int	getModelingOption (const SimTK::State &state, const std::string &path) const
	Based on a specified path, get the value of a modeling option. More...

int	getModelingOption (const SimTK::State &state, const ComponentPath &path) const

void	setModelingOption (SimTK::State &state, const std::string &path, int flag) const
	Based on a specified path, set the value of a modeling option. More...

void	setModelingOption (SimTK::State &state, const ComponentPath &path, int flag) const

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	getStateVariableDerivativeValue (const SimTK::State &state, const ComponentPath &path) const
	Get the value of a state variable derivative computed by this Component. 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 *	tryGetOutput (const std::string &name) const
	If it exists on the component, returns a pointer to the named `Output`; otherwise, returns a `nullptr`. More...

const AbstractOutput &	getOutput (const std::string &name) const
	Get the Output provided by this Component by name. More...

AbstractOutput *	tryUpdOutput (const std::string &name)
	If it exists on the component returns a writable pointer to the named `Output`; otherwise, returns a `nullptr` 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...

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

virtual double	calcMuscleStiffness (const SimTK::State &s) const
	Calculate muscle's stiffness. More...

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

void	extendSetPropertiesFromState (const SimTK::State &s) override

void	extendInitStateFromProperties (SimTK::State &state) const override

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
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

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::Actuator
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

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	extendInitStateFromProperties (SimTK::State &state) const override
	Subclass should override; be sure to invoke Super::extendInitStateFromProperties() at the beginning of the overriding method. More...

void	extendAddToSystem (SimTK::MultibodySystem &system) const override
	Default is to create a ForceAdapter which is a SimTK::Force::Custom as the underlying computational component. More...

void	extendSetPropertiesFromState (const SimTK::State &state) override
	Subclass should override; be sure to invoke Force::extendSetPropertiesFromState() at the beginning of the overriding method. 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

Protected Member Functions inherited from OpenSim::Component
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...

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 *)
	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 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...

Detailed Description

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.

Author: Ajay Seth, Matt Millard

(Based on earlier work by Peter Loan and Frank C. Anderson.)

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleMocoInverse.cpp, and exampleMocoTrack.cpp.

Member Typedef Documentation

◆ Self

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.

◆ Super

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.

Constructor & Destructor Documentation

◆ Muscle()

OpenSim::Muscle::Muscle ( )

Default constructor.

Member Function Documentation

◆ assign()

void OpenSim::Muscle::assign ( Object & aObject )

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type Muscle.

◆ calcFiberVelocityInfo()

virtual void OpenSim::Muscle::calcFiberVelocityInfo	(	const SimTK::State &	s,
		FiberVelocityInfo &	fvi
	)		const

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.

◆ calcMuscleDynamicsInfo()

virtual void OpenSim::Muscle::calcMuscleDynamicsInfo	(	const SimTK::State &	s,
		MuscleDynamicsInfo &	mdi
	)		const

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.

◆ calcMuscleLengthInfo()

virtual void OpenSim::Muscle::calcMuscleLengthInfo	(	const SimTK::State &	s,
		MuscleLengthInfo &	mli
	)		const

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.

◆ calcMusclePotentialEnergyInfo()

virtual void OpenSim::Muscle::calcMusclePotentialEnergyInfo	(	const SimTK::State &	s,
		MusclePotentialEnergyInfo &	mpei
	)		const

protectedvirtual

calculate muscle's fiber and tendon potential energy

Reimplemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::Thelen2003Muscle, OpenSim::DeGrooteFregly2016Muscle, and OpenSim::RigidTendonMuscle.

◆ calcMuscleStiffness()

virtual double OpenSim::Muscle::calcMuscleStiffness ( const SimTK::State & s ) const

protectedvirtual

Calculate muscle's stiffness.

Muscle stiffness is defined as the partial derivative of muscle force with respect to changes in muscle length. This quantity can be computed by noting that the tendon and the fiber are in series, with the fiber at a pennation angle. Thus

Kmuscle = (Kfiber_along_tendon * Ktendon) /(Kfiber_along_tendon + Ktendon)

Reimplemented in OpenSim::DeGrooteFregly2016Muscle.

◆ clone()

Muscle* OpenSim::Muscle::clone ( ) const

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::DeGrooteFregly2016Muscle, OpenSim::Thelen2003Muscle, OpenSim::Delp1990Muscle_Deprecated, OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::Schutte1993Muscle_Deprecated, and OpenSim::Thelen2003Muscle_Deprecated.

◆ computeActuation()

double OpenSim::Muscle::computeActuation ( const SimTK::State & s ) const

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.

◆ computeEquilibrium()

void OpenSim::Muscle::computeEquilibrium ( SimTK::State & s ) const

inlinefinaloverridevirtual

Find and set the equilibrium state of the muscle (if any)

Reimplemented from OpenSim::Actuator.

◆ computeForce()

void OpenSim::Muscle::computeForce	(	const SimTK::State &	state,
		SimTK::Vector_< SimTK::SpatialVec > &	bodyForces,
		SimTK::Vector &	generalizedForce
	)		const

overrideprotectedvirtual

Force interface applies tension to bodies, and Muscle also checks that applied muscle tension is not negative.

Reimplemented from OpenSim::PathActuator.

◆ computeInitialFiberEquilibrium()

virtual void OpenSim::Muscle::computeInitialFiberEquilibrium ( SimTK::State & s ) const

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.

◆ computePathColor()

SimTK::Vec3 OpenSim::Muscle::computePathColor ( const SimTK::State & state ) const

overrideprotectedvirtual

Override PathActuator virtual to calculate a preferred color for the muscle path based on activation.

Reimplemented from OpenSim::PathActuator.

◆ computePotentialEnergy()

double OpenSim::Muscle::computePotentialEnergy ( const SimTK::State & state ) const

overrideprotectedvirtual

Potential energy stored by the muscle.

Reimplemented from OpenSim::Force.

◆ extendAddToSystem()

void OpenSim::Muscle::extendAddToSystem ( SimTK::MultibodySystem & system ) const

overrideprotected

◆ extendConnectToModel()

void OpenSim::Muscle::extendConnectToModel ( Model & aModel )

overrideprotectedvirtual

Model Component creation interface.

Reimplemented from OpenSim::ModelComponent.

◆ extendInitStateFromProperties()

void OpenSim::Muscle::extendInitStateFromProperties ( SimTK::State & state ) const

overrideprotected

◆ extendSetPropertiesFromState()

void OpenSim::Muscle::extendSetPropertiesFromState ( const SimTK::State & s )

overrideprotected

◆ get_ignore_activation_dynamics()

const bool& OpenSim::Muscle::get_ignore_activation_dynamics ( ) const

inline

Get the value of the ignore_activation_dynamics property.

◆ get_ignore_tendon_compliance()

const bool& OpenSim::Muscle::get_ignore_tendon_compliance ( ) const

inline

Get the value of the ignore_tendon_compliance property.

◆ get_max_contraction_velocity()

const double& OpenSim::Muscle::get_max_contraction_velocity ( ) const

inline

Get the value of the max_contraction_velocity property.

◆ get_max_isometric_force()

const double& OpenSim::Muscle::get_max_isometric_force ( ) const

inline

Get the value of the max_isometric_force property.

◆ get_optimal_fiber_length()

const double& OpenSim::Muscle::get_optimal_fiber_length ( ) const

inline

Get the value of the optimal_fiber_length property.

◆ get_pennation_angle_at_optimal()

const double& OpenSim::Muscle::get_pennation_angle_at_optimal ( ) const

inline

Get the value of the pennation_angle_at_optimal property.

◆ get_tendon_slack_length()

const double& OpenSim::Muscle::get_tendon_slack_length ( ) const

inline

Get the value of the tendon_slack_length property.

◆ getActivation()

virtual double OpenSim::Muscle::getActivation ( const SimTK::State & s ) const

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.

◆ getActiveFiberForce()

double OpenSim::Muscle::getActiveFiberForce ( const SimTK::State & s ) const

get the current active fiber force (N) due to activation*force_length*force_velocity relationships

◆ getActiveFiberForceAlongTendon()

double OpenSim::Muscle::getActiveFiberForceAlongTendon ( const SimTK::State & s ) const

get the current active fiber force (N) projected onto the tendon direction

◆ getActiveForceLengthMultiplier()

double OpenSim::Muscle::getActiveForceLengthMultiplier ( const SimTK::State & s ) const

get the active fiber (contractile element) force multiplier due to current fiber length

◆ getClassName()

static const std::string& OpenSim::Muscle::getClassName ( )

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.

◆ getConcreteClassName()

const std::string& OpenSim::Muscle::getConcreteClassName ( ) const

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.

See also: getClassName()

Implements OpenSim::ScalarActuator.

Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::Thelen2003Muscle, OpenSim::Delp1990Muscle_Deprecated, OpenSim::RigidTendonMuscle, OpenSim::ActivationFiberLengthMuscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::Schutte1993Muscle_Deprecated, and OpenSim::Thelen2003Muscle_Deprecated.

◆ getCosPennationAngle()

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

◆ getExcitation()

double OpenSim::Muscle::getExcitation ( const SimTK::State & s ) const

◆ getFiberActivePower()

double OpenSim::Muscle::getFiberActivePower ( const SimTK::State & s ) const

get the current active fiber power (W)

◆ getFiberForce()

double OpenSim::Muscle::getFiberForce ( const SimTK::State & s ) const

get the current fiber force (N) applied to the tendon

◆ getFiberForceAlongTendon()

double OpenSim::Muscle::getFiberForceAlongTendon ( const SimTK::State & s ) const

get the force of the fiber (N/m) along the direction of the tendon

◆ getFiberLength()

double OpenSim::Muscle::getFiberLength ( const SimTK::State & s ) const

get the current working fiber length (m) for the muscle

◆ getFiberLengthAlongTendon()

double OpenSim::Muscle::getFiberLengthAlongTendon ( const SimTK::State & s ) const

get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction

◆ getFiberPassivePower()

double OpenSim::Muscle::getFiberPassivePower ( const SimTK::State & s ) const

get the current passive fiber power (W)

◆ getFiberPotentialEnergy()

double OpenSim::Muscle::getFiberPotentialEnergy ( const SimTK::State & s ) const

the potential energy (J) stored in the fiber due to its parallel elastic element

◆ getFiberStiffness()

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

◆ getFiberStiffnessAlongTendon()

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

◆ getFiberVelocity()

double OpenSim::Muscle::getFiberVelocity ( const SimTK::State & s ) const

get current fiber velocity (m/s) positive is lengthening

◆ getFiberVelocityAlongTendon()

double OpenSim::Muscle::getFiberVelocityAlongTendon ( const SimTK::State & s ) const

get the current fiber velocity (m/s) projected onto the tendon direction

◆ getFiberVelocityInfo()

const FiberVelocityInfo& OpenSim::Muscle::getFiberVelocityInfo ( const SimTK::State & s ) const

protected

◆ getForceVelocityMultiplier()

double OpenSim::Muscle::getForceVelocityMultiplier ( const SimTK::State & s ) const

get the dimensionless multiplier resulting from the fiber's force-velocity curve

◆ getIgnoreActivationDynamics()

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.

◆ getIgnoreTendonCompliance()

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.

◆ getMaxContractionVelocity()

double OpenSim::Muscle::getMaxContractionVelocity ( ) const

get/set the maximum contraction velocity of the fibers, in optimal fiber-lengths per second

◆ getMaxIsometricForce()

double OpenSim::Muscle::getMaxIsometricForce ( ) const

get/set the maximum isometric force (in N) that the fibers can generate

◆ getMuscleDynamicsInfo()

const MuscleDynamicsInfo& OpenSim::Muscle::getMuscleDynamicsInfo ( const SimTK::State & s ) const

protected

◆ getMuscleLengthInfo()

const MuscleLengthInfo& OpenSim::Muscle::getMuscleLengthInfo ( const SimTK::State & s ) const

protected

Developer Access to intermediate values calculate by the muscle model.

◆ getMusclePotentialEnergy()

double OpenSim::Muscle::getMusclePotentialEnergy ( const SimTK::State & s ) const

the total potential energy (J) stored in the muscle

◆ getMusclePotentialEnergyInfo()

const MusclePotentialEnergyInfo& OpenSim::Muscle::getMusclePotentialEnergyInfo ( const SimTK::State & s ) const

protected

◆ getMusclePower()

double OpenSim::Muscle::getMusclePower ( const SimTK::State & s ) const

get the current muscle power (W)

◆ getMuscleStiffness()

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

◆ getNormalizedFiberLength()

double OpenSim::Muscle::getNormalizedFiberLength ( const SimTK::State & s ) const

get the current normalized fiber length (fiber_length/optimal_fiber_length)

◆ getNormalizedFiberVelocity()

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].

◆ getOptimalFiberLength()

double OpenSim::Muscle::getOptimalFiberLength ( ) const

get/set the optimal length (in m) of the muscle fibers (lumped as a single fiber)

◆ getPassiveFiberForce()

double OpenSim::Muscle::getPassiveFiberForce ( const SimTK::State & s ) const

get the total force applied by all passive elements in the fiber (N)

◆ getPassiveFiberForceAlongTendon()

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

◆ getPassiveForceMultiplier()

double OpenSim::Muscle::getPassiveForceMultiplier ( const SimTK::State & s ) const

get the passive fiber (parallel elastic element) force multiplier

◆ getPennationAngle()

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

◆ getPennationAngleAtOptimalFiberLength()

double OpenSim::Muscle::getPennationAngleAtOptimalFiberLength ( ) const

get/set the angle (in radians) between fibers at their optimal fiber length and the tendon

◆ getPennationAngularVelocity()

double OpenSim::Muscle::getPennationAngularVelocity ( const SimTK::State & s ) const

get pennation angular velocity (radians/s)

◆ getStress()

double OpenSim::Muscle::getStress ( const SimTK::State & s ) const

overridevirtual

get the stress in the muscle (part of the Actuator interface as well)

Reimplemented from OpenSim::ScalarActuator.

◆ getTendonForce()

double OpenSim::Muscle::getTendonForce ( const SimTK::State & s ) const

get the current tendon force (N) applied to bones

◆ getTendonLength()

double OpenSim::Muscle::getTendonLength ( const SimTK::State & s ) const

get the current tendon length (m) given the current joint angles and fiber length

◆ getTendonPotentialEnergy()

double OpenSim::Muscle::getTendonPotentialEnergy ( const SimTK::State & s ) const

the potential energy (J) stored in the tendon

◆ getTendonPower()

double OpenSim::Muscle::getTendonPower ( const SimTK::State & s ) const

get the current tendon power (W)

◆ getTendonSlackLength()

double OpenSim::Muscle::getTendonSlackLength ( ) const

get/set the resting (slack) length (in m) of the tendon that is in series with the muscle fiber

◆ getTendonStiffness()

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

◆ getTendonStrain()

double OpenSim::Muscle::getTendonStrain ( const SimTK::State & s ) const

get the current tendon strain (delta_l/tendon_slack_length is dimensionless)

◆ getTendonVelocity()

double OpenSim::Muscle::getTendonVelocity ( const SimTK::State & s ) const

get the tendon velocity (m/s) positive is lengthening

◆ safeDownCast()

static Muscle* OpenSim::Muscle::safeDownCast ( OpenSim::Object * obj )

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++.

◆ set_ignore_activation_dynamics()

void OpenSim::Muscle::set_ignore_activation_dynamics ( const bool & value )

inline

Set the value of the ignore_activation_dynamics property.

◆ set_ignore_tendon_compliance()

void OpenSim::Muscle::set_ignore_tendon_compliance ( const bool & value )

inline

Set the value of the ignore_tendon_compliance property.

◆ set_max_contraction_velocity()

void OpenSim::Muscle::set_max_contraction_velocity ( const double & value )

inline

Set the value of the max_contraction_velocity property.

◆ set_max_isometric_force()

void OpenSim::Muscle::set_max_isometric_force ( const double & value )

inline

Set the value of the max_isometric_force property.

◆ set_optimal_fiber_length()

void OpenSim::Muscle::set_optimal_fiber_length ( const double & value )

inline

Set the value of the optimal_fiber_length property.

◆ set_pennation_angle_at_optimal()

void OpenSim::Muscle::set_pennation_angle_at_optimal ( const double & value )

inline

Set the value of the pennation_angle_at_optimal property.

◆ set_tendon_slack_length()

void OpenSim::Muscle::set_tendon_slack_length ( const double & value )

inline

Set the value of the tendon_slack_length property.

◆ setActivation()

virtual void OpenSim::Muscle::setActivation	(	SimTK::State &	s,
		double	activation
	)		const

pure virtual

DEPRECATED: only for backward compatibility.

Implemented in OpenSim::Millard2012AccelerationMuscle, OpenSim::Millard2012EquilibriumMuscle, OpenSim::DeGrooteFregly2016Muscle, OpenSim::ActivationFiberLengthMuscle_Deprecated, OpenSim::ActivationFiberLengthMuscle, and OpenSim::RigidTendonMuscle.

◆ setExcitation()

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.

◆ setIgnoreActivationDynamics()

void OpenSim::Muscle::setIgnoreActivationDynamics	(	SimTK::State &	s,
		bool	ignore
	)		const

◆ setIgnoreTendonCompliance()

void OpenSim::Muscle::setIgnoreTendonCompliance	(	SimTK::State &	s,
		bool	ignore
	)		const

◆ setMaxContractionVelocity()

void OpenSim::Muscle::setMaxContractionVelocity ( double maxContractionVelocity )

◆ setMaxIsometricForce()

void OpenSim::Muscle::setMaxIsometricForce ( double maxIsometricForce )

◆ setOptimalFiberLength()

void OpenSim::Muscle::setOptimalFiberLength ( double optimalFiberLength )

◆ setPennationAngleAtOptimalFiberLength()

void OpenSim::Muscle::setPennationAngleAtOptimalFiberLength ( double pennationAngle )

◆ setTendonSlackLength()

void OpenSim::Muscle::setTendonSlackLength ( double tendonSlackLength )

◆ upd_ignore_activation_dynamics()

bool& OpenSim::Muscle::upd_ignore_activation_dynamics ( )

inline

Get a writable reference to the ignore_activation_dynamics property.

◆ upd_ignore_tendon_compliance()

bool& OpenSim::Muscle::upd_ignore_tendon_compliance ( )

inline

Get a writable reference to the ignore_tendon_compliance property.

◆ upd_max_contraction_velocity()

double& OpenSim::Muscle::upd_max_contraction_velocity ( )

inline

Get a writable reference to the max_contraction_velocity property.

◆ upd_max_isometric_force()

double& OpenSim::Muscle::upd_max_isometric_force ( )

inline

Get a writable reference to the max_isometric_force property.

◆ upd_optimal_fiber_length()

double& OpenSim::Muscle::upd_optimal_fiber_length ( )

inline

Get a writable reference to the optimal_fiber_length property.

◆ upd_pennation_angle_at_optimal()

double& OpenSim::Muscle::upd_pennation_angle_at_optimal ( )

inline

Get a writable reference to the pennation_angle_at_optimal property.

◆ upd_tendon_slack_length()

double& OpenSim::Muscle::upd_tendon_slack_length ( )

inline

Get a writable reference to the tendon_slack_length property.

◆ updateGeometry()

virtual void OpenSim::Muscle::updateGeometry ( const SimTK::State & s )

protectedvirtual

◆ updFiberVelocityInfo()

FiberVelocityInfo& OpenSim::Muscle::updFiberVelocityInfo ( const SimTK::State & s ) const

protected

◆ updMuscleDynamicsInfo()

MuscleDynamicsInfo& OpenSim::Muscle::updMuscleDynamicsInfo ( const SimTK::State & s ) const

protected

◆ updMuscleLengthInfo()

MuscleLengthInfo& OpenSim::Muscle::updMuscleLengthInfo ( const SimTK::State & s ) const

protected

◆ updMusclePotentialEnergyInfo()

MusclePotentialEnergyInfo& OpenSim::Muscle::updMusclePotentialEnergyInfo ( const SimTK::State & s ) const

protected

Member Data Documentation

◆ _dynamicsInfoCV

CacheVariable<Muscle::MuscleDynamicsInfo> OpenSim::Muscle::_dynamicsInfoCV

mutableprotected

◆ _lengthInfoCV

CacheVariable<Muscle::MuscleLengthInfo> OpenSim::Muscle::_lengthInfoCV

mutableprotected

◆ _maxIsometricForce

double OpenSim::Muscle::_maxIsometricForce

protected

to support deprecated muscles

◆ _muscleWidth

double OpenSim::Muscle::_muscleWidth

protected

The assumed fixed muscle-width from which the fiber pennation angle can be calculated.

◆ _optimalFiberLength

double OpenSim::Muscle::_optimalFiberLength

protected

◆ _pennationAngleAtOptimal

double OpenSim::Muscle::_pennationAngleAtOptimal

protected

◆ _potentialEnergyInfoCV

CacheVariable<Muscle::MusclePotentialEnergyInfo> OpenSim::Muscle::_potentialEnergyInfoCV

mutableprotected

◆ _tendonSlackLength

double OpenSim::Muscle::_tendonSlackLength

protected

◆ _velInfoCV

CacheVariable<Muscle::FiberVelocityInfo> OpenSim::Muscle::_velInfoCV

mutableprotected

OpenSim Property, Socket, Output, Input Documentation

◆ activation

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.

◆ active_fiber_force

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.

◆ active_fiber_force_along_tendon

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.

◆ active_force_length_multiplier

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.

◆ cos_pennation_angle

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.

◆ excitation

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.

◆ fiber_active_power

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.

◆ fiber_force

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.

◆ fiber_force_along_tendon

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.

◆ fiber_length

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.

◆ fiber_length_along_tendon

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.

◆ fiber_passive_power

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.

◆ fiber_stiffness

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.

◆ fiber_stiffness_along_tendon

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.

◆ fiber_velocity

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.

◆ fiber_velocity_along_tendon

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.

◆ force_velocity_multiplier

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.

◆ ignore_activation_dynamics

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.

See also: get_ignore_activation_dynamics(), upd_ignore_activation_dynamics(), set_ignore_activation_dynamics()

◆ ignore_tendon_compliance

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.

See also: get_ignore_tendon_compliance(), upd_ignore_tendon_compliance(), set_ignore_tendon_compliance()

◆ max_contraction_velocity

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.

See also: get_max_contraction_velocity(), upd_max_contraction_velocity(), set_max_contraction_velocity()

◆ max_isometric_force

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.

See also: get_max_isometric_force(), upd_max_isometric_force(), set_max_isometric_force()

◆ muscle_power

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.

◆ muscle_stiffness

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.

◆ normalized_fiber_length

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.

◆ normalized_fiber_velocity

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.

◆ optimal_fiber_length

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.

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

◆ passive_fiber_force

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.

◆ passive_fiber_force_along_tendon

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.

◆ passive_force_multiplier

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.

◆ pennation_angle

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.

◆ pennation_angle_at_optimal

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.

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

◆ pennation_angular_velocity

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.

◆ tendon_force

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.

◆ tendon_length

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.

◆ tendon_power

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.

◆ tendon_slack_length

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.

See also: get_tendon_slack_length(), upd_tendon_slack_length(), set_tendon_slack_length()

◆ tendon_stiffness

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.

◆ tendon_strain

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.

◆ tendon_velocity

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.

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

OpenSim/Simulation/Model/Muscle.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Auto-generated functions

Nested Classes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ Muscle()

Member Function Documentation

◆ assign()

◆ calcFiberVelocityInfo()

◆ calcMuscleDynamicsInfo()

◆ calcMuscleLengthInfo()

◆ calcMusclePotentialEnergyInfo()

◆ calcMuscleStiffness()

◆ clone()

◆ computeActuation()

◆ computeEquilibrium()

◆ computeForce()

◆ computeInitialFiberEquilibrium()

◆ computePathColor()

◆ computePotentialEnergy()

◆ extendAddToSystem()

◆ extendConnectToModel()

◆ extendInitStateFromProperties()

◆ extendSetPropertiesFromState()

◆ get_ignore_activation_dynamics()

◆ get_ignore_tendon_compliance()

◆ get_max_contraction_velocity()

◆ get_max_isometric_force()

◆ get_optimal_fiber_length()

◆ get_pennation_angle_at_optimal()

◆ get_tendon_slack_length()

◆ getActivation()

◆ getActiveFiberForce()

◆ getActiveFiberForceAlongTendon()

◆ getActiveForceLengthMultiplier()

◆ getClassName()

◆ getConcreteClassName()

◆ getCosPennationAngle()

◆ getExcitation()

◆ getFiberActivePower()

◆ getFiberForce()

◆ getFiberForceAlongTendon()

◆ getFiberLength()

◆ getFiberLengthAlongTendon()

◆ getFiberPassivePower()

◆ getFiberPotentialEnergy()

◆ getFiberStiffness()

◆ getFiberStiffnessAlongTendon()

◆ getFiberVelocity()

◆ getFiberVelocityAlongTendon()

◆ getFiberVelocityInfo()

◆ getForceVelocityMultiplier()

◆ getIgnoreActivationDynamics()

◆ getIgnoreTendonCompliance()

◆ getMaxContractionVelocity()

◆ getMaxIsometricForce()

◆ getMuscleDynamicsInfo()

◆ getMuscleLengthInfo()

◆ getMusclePotentialEnergy()

◆ getMusclePotentialEnergyInfo()

◆ getMusclePower()

◆ getMuscleStiffness()

◆ getNormalizedFiberLength()

◆ getNormalizedFiberVelocity()

◆ getOptimalFiberLength()

◆ getPassiveFiberForce()

◆ getPassiveFiberForceAlongTendon()

◆ getPassiveForceMultiplier()

◆ getPennationAngle()

◆ getPennationAngleAtOptimalFiberLength()

◆ getPennationAngularVelocity()

◆ getStress()