This class serves as a serializable TendonForceLengthCurve for use in muscle models. More...

Inheritance diagram for OpenSim::TendonForceLengthCurve:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
double	strain_at_one_norm_force
	"Tendon strain at a tension of 1 normalized force" More...

Properties (optional)
double	stiffness_at_one_norm_force
	"Tendon stiffness at a tension of 1 normalized force" More...

double	norm_force_at_toe_end
	"Normalized force developed at the end of the toe region" More...

double	curviness
	"Tendon curve bend, from linear (0) to maximum bend (1)" More...

Public Member Functions
	TendonForceLengthCurve ()
	The default constructor creates a tendon-force-length curve using the default property values and assigns a default name. More...

	TendonForceLengthCurve (double strainAtOneNormForce, double stiffnessAtOneNormForce, double normForceAtToeEnd, double curviness)
	Constructs a tendon-force-length curve using the provided parameters and assigns a default name. More...

	TendonForceLengthCurve (double strainAtOneNormForce)
	This constructor will create a C2-continuous tendon-force-length curve that is fit to match the average dimensionless in-vivo tendon curve reported by Maganaris et al. More...

double	getStrainAtOneNormForce () const

double	getStiffnessAtOneNormForceInUse () const

double	getNormForceAtToeEndInUse () const

double	getCurvinessInUse () const

bool	isFittedCurveBeingUsed () const

void	setStrainAtOneNormForce (double aStrainAtOneNormForce)
	More...

void	setOptionalProperties (double stiffnessAtOneNormForce, double normForceAtToeEnd, double curviness)
	More...

double	calcValue (const SimTK::Vector &x) const override
	Implement the generic OpenSim::Function interface. More...

double	calcValue (double aNormLength) const
	Evaluates the tendon-force-length curve at a normalized tendon length of 'aNormLength'. More...

SmoothSegmentedFunction::ValueAndDerivative	calcValueAndDerivative (double aNormLength) const
	Evaluates the tendon-force-length curve value and derivative at a normalized tendon length of 'aNormLength'. More...

double	calcDerivative (double aNormLength, int order) const
	Calculates the derivative of the tendon-force-length multiplier with respect to the normalized tendon length. More...

double	calcDerivative (const std::vector< int > &derivComponents, const SimTK::Vector &x) const override
	If possible, use the simpler overload above. More...

double	calcIntegral (double aNormLength) const
	Calculates the normalized area under the curve. More...

SimTK::Vec2	getCurveDomain () const
	Returns a SimTK::Vec2 containing the lower (0th element) and upper (1st element) bounds on the domain of the curve. More...

void	printMuscleCurveToCSVFile (const std::string &path)
	Generates a .csv file with a name that matches the curve name (e.g., "bicepsfemoris_TendonForceLengthCurve.csv"). More...

void	ensureCurveUpToDate ()

Property-related functions
const double &	get_strain_at_one_norm_force () const
	Get the value of the strain_at_one_norm_force property. More...

double &	upd_strain_at_one_norm_force ()
	Get a writable reference to the strain_at_one_norm_force property. More...

void	set_strain_at_one_norm_force (const double &value)
	Set the value of the strain_at_one_norm_force property. More...

const double &	get_stiffness_at_one_norm_force () const
	Get the value of the stiffness_at_one_norm_force property. More...

double &	upd_stiffness_at_one_norm_force ()
	Get a writable reference to the stiffness_at_one_norm_force property. More...

void	set_stiffness_at_one_norm_force (const double &value)
	Set the value of the stiffness_at_one_norm_force property. More...

const double &	get_norm_force_at_toe_end () const
	Get the value of the norm_force_at_toe_end property. More...

double &	upd_norm_force_at_toe_end ()
	Get a writable reference to the norm_force_at_toe_end property. More...

void	set_norm_force_at_toe_end (const double &value)
	Set the value of the norm_force_at_toe_end property. More...

const double &	get_curviness () const
	Get the value of the curviness property. More...

double &	upd_curviness ()
	Get a writable reference to the curviness property. More...

void	set_curviness (const double &value)
	Set the value of the curviness property. More...

Public Member Functions inherited from OpenSim::Function
	Function ()

	Function (const Function &aFunction)

virtual	~Function ()

virtual void	init (Function *aFunction)

Function &	operator= (const Function &aFunction)

virtual int	getArgumentSize () const
	Get the number of components expected in the input vector. More...

virtual int	getMaxDerivativeOrder () const
	Get the maximum derivative order this Function object can calculate. More...

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

virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element. 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 TendonForceLengthCurve	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::Function
typedef Function	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...

Auto-generated functions
static TendonForceLengthCurve *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

TendonForceLengthCurve *	clone () const override
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::Function
static Function *	makeFunctionOfType (Function *aFunction, const std::string &aNewTypeName)

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

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

Protected Member Functions inherited from OpenSim::Function
void	resetFunction ()
	This should be called whenever this object has been modified. 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 inherited from OpenSim::Function
SimTK::Function *	_function

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

This class serves as a serializable TendonForceLengthCurve for use in muscle models.

The tendon-force-length curve is dimensionless: force is normalized to maximum isometric force and length is normalized to tendon slack length. The user can adjust the strain the tendon undergoes at 1 unit load (e0), its stiffness at a strain of e0, and the shape of the tendon curve (its 'curviness'):

Parameters

strainAtOneNormForce	The tendon strain at which the tendon develops 1 unit of normalized force. strainAtOneNormForce = 0.04 means that the tendon will develop a tension of 1 normalized force when it is strained by 4% of its slack length or, equivalently, is stretched to 1.04 times its resting length.
stiffnessAtOneNormForce	The normalized stiffness (slope of the tendon curve) when the tendon is strained by strainAtOneNormForce under a load of 1 normalized unit of force.
normForceAtToeEnd	The normalized force developed at the end of the 'toe' region. The toe region lies between 0 strain and some intermediate strain less than the strain required to develop 1 unit of normalized force. The toe region is nonlinear and more compliant than the rest of the tendon curve.
curviness	A dimensionless parameter between 0 and 1 that describes the shape of the curve: a value of 0 indicates that the curve is very close to a straight line segment and a value of 1 indicates a curve that smoothly fills the corner formed by the linear extrapolation of 'stiffnessAtOneNormForce' and the x-axis, as shown in the figure.

Note that we use the Cauchy or engineering definition of strain throughout: strain = (l-l0)/l0, where l is the current tendon length and l0 is its slack length.

Required Parameters

strainAtOneNormForce

Optional Parameters

stiffnessAtOneNormForce
normForceAtToeEnd
curviness

Conditions

strainAtOneNormForce > 0
stiffnessAtOneNormForce > 1/strainAtOneNormForce
0 < normForceAtToeEnd < 1
0 <= curviness <= 1

All parameters but the strain of the tendon at 1 unit load (e0) are optional. Note that filling in one optional parameter but not the others will throw an exception when the curve is built. The optional parameters can be used to vary the shape of the curve from a close approximation of a line to a sharply-bent curve.

This curve has the advantage of being C2-continuous, which results in faster simulations when compared to the popular method of using a linearly extrapolated exponential (C0-continuous) curve to parameterize the tendon-force-length relationship. See Millard et al. (2013) for details.

Default Parameter Values If the optional parameters are not specified, the curve is fit to match the average dimensionless in-vivo tendon curve reported by Maganaris et al. and Magnusson et al. In addition, the generated curve will have a characteristic toe region that is fit to the in-vivo literature. Note that this curve is not being fit to the commonly used linearly extrapolated exponential curve documented by Thelen, as it makes the toe region about half as stiff as both the in-vitro and in-vivo data indicate is reasonable. Additionally, the linear section of the curve would be nearly twice as stiff as the data indicates is reasonable.

strainAtOneNormForce ....... 0.049
stiffnessAtOneNormForce .... 1.375/strainAtOneNormForce
normForceAtToeEnd .......... 2.0/3.0
curviness .................. 0.5

Example

TendonForceLengthCurve fseCurve(0.049, 28.1, 0.67, 0.5);
double fseVal   = fseCurve.calcValue(0.02);
double dfselVal = fseCurve.calcDerivative(0.02, 1);

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

References

Lewis, G., Shaw, K.M. (1997) Tensile properties of human tendo Achillis: effect of donor age and strain rate. The Journal of Foot and Ankle Surgery 36:435–445.
Maganaris, C.N., Paul, J.P. (2002) Tensile properties of the in vivo gastrocnemius tendon. Journal of Biomechanics 35:1639–1646.
Magnusson, S.P., Aagaard, P., Rosager, S., Dyhre-Poulsen, P., Kjaer, M. (2001) Load-displacement properties of the human triceps surae aponeurosis in vivo. Journal of Physiology 531:277–288.
Thelen, D.G. (2003) Adjustment of muscle mechanics model parameters to simulate dynamic contractions in older adults. ASME Journal of Biomechanical Engineering 125:70–77.

Author: Matt Millard

Member Typedef Documentation

◆ Self

typedef TendonForceLengthCurve OpenSim::TendonForceLengthCurve::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef Function OpenSim::TendonForceLengthCurve::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

◆ TendonForceLengthCurve() [1/3]

OpenSim::TendonForceLengthCurve::TendonForceLengthCurve ( )

The default constructor creates a tendon-force-length curve using the default property values and assigns a default name.

◆ TendonForceLengthCurve() [2/3]

OpenSim::TendonForceLengthCurve::TendonForceLengthCurve	(	double	strainAtOneNormForce,
		double	stiffnessAtOneNormForce,
		double	normForceAtToeEnd,
		double	curviness
	)

Constructs a tendon-force-length curve using the provided parameters and assigns a default name.

◆ TendonForceLengthCurve() [3/3]

OpenSim::TendonForceLengthCurve::TendonForceLengthCurve ( double strainAtOneNormForce )

This constructor will create a C2-continuous tendon-force-length curve that is fit to match the average dimensionless in-vivo tendon curve reported by Maganaris et al.

and Magnusson et al. In addition, the generated curve will have a characteristic toe region that is fit to the in-vivo literature.

Parameters

strainAtOneNormForce The tendon strain at which the tendon develops 1 unit of normalized force. strainAtOneNormForce = 0.04 means that the tendon will develop a tension of 1 normalized force when it is strained by 4% of its slack length or, equivalently, is stretched to 1.04 times its resting length.

Conditions

strainAtOneNormForce > 0

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type TendonForceLengthCurve.

◆ calcDerivative() [1/2]

double OpenSim::TendonForceLengthCurve::calcDerivative	(	double	aNormLength,
		int	order
	)		const

Calculates the derivative of the tendon-force-length multiplier with respect to the normalized tendon length.

Parameters

aNormLength	The normalized length of the tendon.
order	The order of the derivative. Only values of 0, 1, and 2 are acceptable.

Returns: The derivative of the tendon-force-length curve with respect to the normalized tendon length.

◆ calcDerivative() [2/2]

double OpenSim::TendonForceLengthCurve::calcDerivative	(	const std::vector< int > &	derivComponents,
		const SimTK::Vector &	x
	)		const

overridevirtual

If possible, use the simpler overload above.

Reimplemented from OpenSim::Function.

◆ calcIntegral()

double OpenSim::TendonForceLengthCurve::calcIntegral ( double aNormLength ) const

Calculates the normalized area under the curve.

Since it is expensive to construct, the curve is built only when necessary.

Parameters

aNormLength The normalized length of the tendon.

Returns: The normalized area under the curve, which corresponds to the normalized potential energy stored in the tendon. To calculate the potential energy stored in the tendon in units of Joules, multiply the returned quantity by normForce*normLength (where normForce is the number of Newtons represented by a normalized force of 1.0 and normLength is the number of meters represented by a normalized length of 1.0).

◆ calcValue() [1/2]

double OpenSim::TendonForceLengthCurve::calcValue ( const SimTK::Vector & x ) const

inlineoverridevirtual

Implement the generic OpenSim::Function interface.

Reimplemented from OpenSim::Function.

◆ calcValue() [2/2]

double OpenSim::TendonForceLengthCurve::calcValue ( double aNormLength ) const

Evaluates the tendon-force-length curve at a normalized tendon length of 'aNormLength'.

◆ calcValueAndDerivative()

SmoothSegmentedFunction::ValueAndDerivative OpenSim::TendonForceLengthCurve::calcValueAndDerivative ( double aNormLength ) const

Evaluates the tendon-force-length curve value and derivative at a normalized tendon length of 'aNormLength'.

◆ clone()

TendonForceLengthCurve* OpenSim::TendonForceLengthCurve::clone ( ) const

inlineoverridevirtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Function.

◆ ensureCurveUpToDate()

void OpenSim::TendonForceLengthCurve::ensureCurveUpToDate ( )

◆ get_curviness()

const double& OpenSim::TendonForceLengthCurve::get_curviness ( ) const

inline

Get the value of the curviness property.

◆ get_norm_force_at_toe_end()

const double& OpenSim::TendonForceLengthCurve::get_norm_force_at_toe_end ( ) const

inline

Get the value of the norm_force_at_toe_end property.

◆ get_stiffness_at_one_norm_force()

const double& OpenSim::TendonForceLengthCurve::get_stiffness_at_one_norm_force ( ) const

inline

Get the value of the stiffness_at_one_norm_force property.

◆ get_strain_at_one_norm_force()

const double& OpenSim::TendonForceLengthCurve::get_strain_at_one_norm_force ( ) const

inline

Get the value of the strain_at_one_norm_force property.

◆ getClassName()

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

inlinestatic

This returns "TendonForceLengthCurve".

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::TendonForceLengthCurve::getConcreteClassName ( ) const

inlineoverridevirtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also: getClassName()

Implements OpenSim::Function.

◆ getCurveDomain()

SimTK::Vec2 OpenSim::TendonForceLengthCurve::getCurveDomain ( ) const

Returns a SimTK::Vec2 containing the lower (0th element) and upper (1st element) bounds on the domain of the curve.

Outside this domain, the curve is approximated using linear extrapolation.

Returns: The minimum and maximum value of the domain, x, of the curve y(x). Within this range, y(x) is a curve; outside this range, the function y(x) is a C2-continuous linear extrapolation.

◆ getCurvinessInUse()

double OpenSim::TendonForceLengthCurve::getCurvinessInUse ( ) const

Returns: A dimensionless parameter between 0 and 1 that describes the shape of the curve: a value of 0 indicates that the curve is very close to a straight line segment and a value of 1 indicates a curve that smoothly fills the corner formed by the linear extrapolation of 'stiffnessAtOneNormForce' and the x-axis, as shown in the figure in the class description. This property is set to 0.5 by default.

◆ getNormForceAtToeEndInUse()

double OpenSim::TendonForceLengthCurve::getNormForceAtToeEndInUse ( ) const

Returns: The normalized force developed at the end of the 'toe' region. The toe region lies between 0 strain and some intermediate strain less than the strain required to develop 1 unit of normalized force. The toe region is nonlinear and more compliant than the rest of the tendon curve. This property is set to 2.0/3.0 by default.

◆ getStiffnessAtOneNormForceInUse()

double OpenSim::TendonForceLengthCurve::getStiffnessAtOneNormForceInUse ( ) const

Returns: The normalized stiffness (slope of the tendon curve) when the tendon is strained by strainAtOneNormForce under a load of 1 normalized unit of force. This property is set to 1.375/strainAtOneNormForce by default.

◆ getStrainAtOneNormForce()

double OpenSim::TendonForceLengthCurve::getStrainAtOneNormForce ( ) const

Returns: The tendon strain at which the tendon develops 1 unit of normalized force. strainAtOneNormForce = 0.04 means that the tendon will develop a tension of 1 normalized force when it is strained by 4% of its slack length or, equivalently, is stretched to 1.04 times its resting length. This property is set to 0.049 by default.

◆ isFittedCurveBeingUsed()

bool OpenSim::TendonForceLengthCurve::isFittedCurveBeingUsed ( ) const

Returns: True if the optional properties are empty and the fitted curve is being used, false if the optional properties are filled and are being used to construct the curve.

◆ printMuscleCurveToCSVFile()

void OpenSim::TendonForceLengthCurve::printMuscleCurveToCSVFile ( const std::string & path )

Generates a .csv file with a name that matches the curve name (e.g., "bicepsfemoris_TendonForceLengthCurve.csv").

This function is not const to permit the curve to be rebuilt if it is out-of-date with its properties.

Parameters

path	The full destination path. Note that forward slashes ('/') must be used and there should not be a slash after the last folder.

The file will contain the following data:

column: 1 | 2 |     3 |       4
  data: x | y | dy/dx | d2y/dx2

Samples will be taken from the zero-force region, through the curve, out to strains beyond which the tendon generates normalized forces greater than 1. The curve is sampled quite densely: the tendon-force-length .csv file will have 200+20 rows.

Example To read the .csv file into Matlab, you need to set csvread to ignore the header row. Since csvread is 0-indexed, the following example will begin reading the .csv file from the first column of the second row:

data = csvread('bicepsfemoris_TendonForceLengthCurve.csv', 1, 0);

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_curviness()

void OpenSim::TendonForceLengthCurve::set_curviness ( const double & value )

inline

Set the value of the curviness property.

◆ set_norm_force_at_toe_end()

void OpenSim::TendonForceLengthCurve::set_norm_force_at_toe_end ( const double & value )

inline

Set the value of the norm_force_at_toe_end property.

◆ set_stiffness_at_one_norm_force()

void OpenSim::TendonForceLengthCurve::set_stiffness_at_one_norm_force ( const double & value )

inline

Set the value of the stiffness_at_one_norm_force property.

◆ set_strain_at_one_norm_force()

void OpenSim::TendonForceLengthCurve::set_strain_at_one_norm_force ( const double & value )

inline

Set the value of the strain_at_one_norm_force property.

◆ setOptionalProperties()

void OpenSim::TendonForceLengthCurve::setOptionalProperties	(	double	stiffnessAtOneNormForce,
		double	normForceAtToeEnd,
		double	curviness
	)

Parameters

stiffnessAtOneNormForce	The normalized stiffness (slope of the tendon curve) when the tendon is strained by strainAtOneNormForce under a load of 1 normalized unit of force.
normForceAtToeEnd	The normalized force developed at the end of the 'toe' region. The toe region lies between 0 strain and some intermediate strain less than the strain required to develop 1 unit of normalized force. The toe region is nonlinear and more compliant than the rest of the tendon curve.
curviness	A dimensionless parameter between 0 and 1 that describes the shape of the curve: a value of 0 indicates that the curve is very close to a straight line segment and a value of 1 indicates a curve that smoothly fills the corner formed by the linear extrapolation of 'stiffnessAtOneNormForce' and the x-axis, as shown in the figure in the class description.

◆ setStrainAtOneNormForce()

void OpenSim::TendonForceLengthCurve::setStrainAtOneNormForce ( double aStrainAtOneNormForce )

Parameters

aStrainAtOneNormForce The tendon strain at which the tendon develops 1 unit of normalized force. strainAtOneNormForce = 0.04 means that the tendon will develop a tension of 1 normalized force when it is strained by 4% of its slack length or, equivalently, is stretched to 1.04 times its resting length.

◆ upd_curviness()

double& OpenSim::TendonForceLengthCurve::upd_curviness ( )

inline

Get a writable reference to the curviness property.

◆ upd_norm_force_at_toe_end()

double& OpenSim::TendonForceLengthCurve::upd_norm_force_at_toe_end ( )

inline

Get a writable reference to the norm_force_at_toe_end property.

◆ upd_stiffness_at_one_norm_force()

double& OpenSim::TendonForceLengthCurve::upd_stiffness_at_one_norm_force ( )

inline

Get a writable reference to the stiffness_at_one_norm_force property.

◆ upd_strain_at_one_norm_force()

double& OpenSim::TendonForceLengthCurve::upd_strain_at_one_norm_force ( )

inline

Get a writable reference to the strain_at_one_norm_force property.

OpenSim Property, Socket, Output, Input Documentation

◆ curviness

double OpenSim::TendonForceLengthCurve::curviness

"Tendon curve bend, from linear (0) to maximum bend (1)"

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

See also: get_curviness(), upd_curviness(), set_curviness()

◆ norm_force_at_toe_end

double OpenSim::TendonForceLengthCurve::norm_force_at_toe_end

"Normalized force developed at the end of the toe region"

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

See also: get_norm_force_at_toe_end(), upd_norm_force_at_toe_end(), set_norm_force_at_toe_end()

◆ stiffness_at_one_norm_force

double OpenSim::TendonForceLengthCurve::stiffness_at_one_norm_force

"Tendon stiffness at a tension of 1 normalized force"

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

See also: get_stiffness_at_one_norm_force(), upd_stiffness_at_one_norm_force(), set_stiffness_at_one_norm_force()

◆ strain_at_one_norm_force

double OpenSim::TendonForceLengthCurve::strain_at_one_norm_force

"Tendon strain at a tension of 1 normalized force"

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

See also: get_strain_at_one_norm_force(), upd_strain_at_one_norm_force(), set_strain_at_one_norm_force()

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

OpenSim/Actuators/TendonForceLengthCurve.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ TendonForceLengthCurve() [1/3]

◆ TendonForceLengthCurve() [2/3]

◆ TendonForceLengthCurve() [3/3]

Member Function Documentation

◆ assign()

◆ calcDerivative() [1/2]

◆ calcDerivative() [2/2]

◆ calcIntegral()

◆ calcValue() [1/2]

◆ calcValue() [2/2]

◆ calcValueAndDerivative()

◆ clone()

◆ ensureCurveUpToDate()

◆ get_curviness()

◆ get_norm_force_at_toe_end()

◆ get_stiffness_at_one_norm_force()

◆ get_strain_at_one_norm_force()

◆ getClassName()

◆ getConcreteClassName()

◆ getCurveDomain()

◆ getCurvinessInUse()

◆ getNormForceAtToeEndInUse()

◆ getStiffnessAtOneNormForceInUse()

◆ getStrainAtOneNormForce()

◆ isFittedCurveBeingUsed()

◆ printMuscleCurveToCSVFile()

◆ safeDownCast()

◆ set_curviness()

◆ set_norm_force_at_toe_end()

◆ set_stiffness_at_one_norm_force()

◆ set_strain_at_one_norm_force()

◆ setOptionalProperties()

◆ setStrainAtOneNormForce()

◆ upd_curviness()

◆ upd_norm_force_at_toe_end()

◆ upd_stiffness_at_one_norm_force()

◆ upd_strain_at_one_norm_force()

OpenSim Property, Socket, Output, Input Documentation

◆ curviness

◆ norm_force_at_toe_end

◆ stiffness_at_one_norm_force

◆ strain_at_one_norm_force