API  4.5.1
For C++ developers
OpenSim::Thelen2003Muscle Class Reference


Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors. More...

+ Inheritance diagram for OpenSim::Thelen2003Muscle:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
double FmaxTendonStrain
 "tendon strain at maximum isometric muscle force" More...
 
double FmaxMuscleStrain
 "passive muscle strain at maximum isometric muscle force" More...
 
double KshapeActive
 "shape factor for Gaussian active muscle force-length relationship" More...
 
double KshapePassive
 "exponential shape factor for passive force-length relationship" More...
 
double Af
 "force-velocity shape factor" More...
 
double Flen
 "maximum normalized lengthening force" More...
 
double fv_linear_extrap_threshold
 "fv threshold where linear extrapolation is used" More...
 
double maximum_pennation_angle
 "Maximum pennation angle, in radians" More...
 
double activation_time_constant
 "Activation time constant, in seconds" More...
 
double deactivation_time_constant
 "Deactivation time constant, in seconds" More...
 
double minimum_activation
 "Lower bound on activation" More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::ActivationFiberLengthMuscle
double default_activation
 "Assumed activation level if none is assigned." More...
 
double default_fiber_length
 "Assumed fiber length, unless otherwise assigned." More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::Muscle
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...
 
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

 Thelen2003Muscle ()
 
 Thelen2003Muscle (const std::string &aName, double aMaxIsometricForce, double aOptimalFiberLength, double aTendonSlackLength, double aPennationAngle)
 
double getMinimumFiberLength () const
 
More...
 
const MuscleFirstOrderActivationDynamicModelgetActivationModel () const
 
More...
 
const MuscleFixedWidthPennationModelgetPennationModel () const
 
More...
 
void printCurveToCSVFile (const CurveType ctype, const std::string &path) const
 
double computeActuation (const SimTK::State &s) const override
 Actuator interface for a muscle computes the tension in the muscle and applied by the tendon to bones (i.e. More...
 
void computeInitialFiberEquilibrium (SimTK::State &s) const override
 Compute initial fiber length (velocity) such that muscle fiber and tendon are in static equilibrium and update the state. More...
 
Property-related functions
const double & get_FmaxTendonStrain () const
 Get the value of the FmaxTendonStrain property. More...
 
double & upd_FmaxTendonStrain ()
 Get a writable reference to the FmaxTendonStrain property. More...
 
void set_FmaxTendonStrain (const double &value)
 Set the value of the FmaxTendonStrain property. More...
 
const double & get_FmaxMuscleStrain () const
 Get the value of the FmaxMuscleStrain property. More...
 
double & upd_FmaxMuscleStrain ()
 Get a writable reference to the FmaxMuscleStrain property. More...
 
void set_FmaxMuscleStrain (const double &value)
 Set the value of the FmaxMuscleStrain property. More...
 
const double & get_KshapeActive () const
 Get the value of the KshapeActive property. More...
 
double & upd_KshapeActive ()
 Get a writable reference to the KshapeActive property. More...
 
void set_KshapeActive (const double &value)
 Set the value of the KshapeActive property. More...
 
const double & get_KshapePassive () const
 Get the value of the KshapePassive property. More...
 
double & upd_KshapePassive ()
 Get a writable reference to the KshapePassive property. More...
 
void set_KshapePassive (const double &value)
 Set the value of the KshapePassive property. More...
 
const double & get_Af () const
 Get the value of the Af property. More...
 
double & upd_Af ()
 Get a writable reference to the Af property. More...
 
void set_Af (const double &value)
 Set the value of the Af property. More...
 
const double & get_Flen () const
 Get the value of the Flen property. More...
 
double & upd_Flen ()
 Get a writable reference to the Flen property. More...
 
void set_Flen (const double &value)
 Set the value of the Flen property. More...
 
const double & get_fv_linear_extrap_threshold () const
 Get the value of the fv_linear_extrap_threshold property. More...
 
double & upd_fv_linear_extrap_threshold ()
 Get a writable reference to the fv_linear_extrap_threshold property. More...
 
void set_fv_linear_extrap_threshold (const double &value)
 Set the value of the fv_linear_extrap_threshold property. More...
 
const double & get_maximum_pennation_angle () const
 Get the value of the maximum_pennation_angle property. More...
 
double & upd_maximum_pennation_angle ()
 Get a writable reference to the maximum_pennation_angle property. More...
 
void set_maximum_pennation_angle (const double &value)
 Set the value of the maximum_pennation_angle property. More...
 
const double & get_activation_time_constant () const
 Get the value of the activation_time_constant property. More...
 
double & upd_activation_time_constant ()
 Get a writable reference to the activation_time_constant property. More...
 
void set_activation_time_constant (const double &value)
 Set the value of the activation_time_constant property. More...
 
const double & get_deactivation_time_constant () const
 Get the value of the deactivation_time_constant property. More...
 
double & upd_deactivation_time_constant ()
 Get a writable reference to the deactivation_time_constant property. More...
 
void set_deactivation_time_constant (const double &value)
 Set the value of the deactivation_time_constant property. More...
 
const double & get_minimum_activation () const
 Get the value of the minimum_activation property. More...
 
double & upd_minimum_activation ()
 Get a writable reference to the minimum_activation property. More...
 
void set_minimum_activation (const double &value)
 Set the value of the minimum_activation property. More...
 
Convenience methods

These are convenience methods that get and set properties of the activation and pennation models.

double getActivationTimeConstant () const
 
void setActivationTimeConstant (double actTimeConstant)
 
double getDeactivationTimeConstant () const
 
void setDeactivationTimeConstant (double deactTimeConstant)
 
double getMinimumActivation () const
 
void setMinimumActivation (double minimumActivation)
 
double getMaximumPennationAngle () const
 
void setMaximumPennationAngle (double maximumPennationAngle)
 
- Public Member Functions inherited from OpenSim::ActivationFiberLengthMuscle
 ActivationFiberLengthMuscle ()
 
double getDefaultActivation () const
 
void setDefaultActivation (double activation)
 
double getDefaultFiberLength () const
 
void setDefaultFiberLength (double length)
 
void setActivation (SimTK::State &s, double activation) const override
 DEPRECATED: only for backward compatibility. More...
 
void setFiberLength (SimTK::State &s, double fiberLength) const
 
double getActivationRate (const SimTK::State &s) const
 
void extendPostScale (const SimTK::State &s, const ScaleSet &scaleSet) override
 Adjust the properties of the muscle after the model has been scaled. More...
 
const double & get_default_activation () const
 Get the value of the default_activation property. More...
 
double & upd_default_activation ()
 Get a writable reference to the default_activation property. More...
 
void set_default_activation (const double &value)
 Set the value of the default_activation property. More...
 
const double & get_default_fiber_length () const
 Get the value of the default_fiber_length property. More...
 
double & upd_default_fiber_length ()
 Get a writable reference to the default_fiber_length property. More...
 
void set_default_fiber_length (const double &value)
 Set the value of the default_fiber_length property. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Muscle
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...
 
 Muscle ()
 Default constructor. More...
 
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)
 
bool getIgnoreTendonCompliance (const SimTK::State &s) const
 Get/set Modeling (runtime) option to ignore tendon compliance when computing muscle dynamics. More...
 
void setIgnoreTendonCompliance (SimTK::State &s, bool ignore) const
 
bool getIgnoreActivationDynamics (const SimTK::State &s) const
 Get/set Modeling (runtime) option to ignore activation dynamics when computing muscle dynamics. More...
 
void setIgnoreActivationDynamics (SimTK::State &s, bool ignore) const
 
virtual double getActivation (const SimTK::State &s) const
 get the activation level of the muscle, which modulates the active force of the muscle and has a normalized (0 to 1) value Note: method remains virtual to permit override by deprecated muscles. More...
 
double getFiberLength (const SimTK::State &s) const
 get the current working fiber length (m) for the muscle More...
 
double getPennationAngle (const SimTK::State &s) const
 get the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
 
double getCosPennationAngle (const SimTK::State &s) const
 get the cosine of the current pennation angle (radians) between the fiber and tendon at the current fiber length More...
 
double getTendonLength (const SimTK::State &s) const
 get the current tendon length (m) given the current joint angles and fiber length More...
 
double getNormalizedFiberLength (const SimTK::State &s) const
 get the current normalized fiber length (fiber_length/optimal_fiber_length) More...
 
double getFiberLengthAlongTendon (const SimTK::State &s) const
 get the current fiber length (m) projected (*cos(pennationAngle)) onto the tendon direction More...
 
double getTendonStrain (const SimTK::State &s) const
 get the current tendon strain (delta_l/tendon_slack_length is dimensionless) More...
 
double getFiberPotentialEnergy (const SimTK::State &s) const
 the potential energy (J) stored in the fiber due to its parallel elastic element More...
 
double getTendonPotentialEnergy (const SimTK::State &s) const
 the potential energy (J) stored in the tendon More...
 
double getMusclePotentialEnergy (const SimTK::State &s) const
 the total potential energy (J) stored in the muscle More...
 
double getPassiveForceMultiplier (const SimTK::State &s) const
 get the passive fiber (parallel elastic element) force multiplier More...
 
double getActiveForceLengthMultiplier (const SimTK::State &s) const
 get the active fiber (contractile element) force multiplier due to current fiber length More...
 
double getFiberVelocity (const SimTK::State &s) const
 get current fiber velocity (m/s) positive is lengthening More...
 
double getNormalizedFiberVelocity (const SimTK::State &s) const
 get normalized fiber velocity. More...
 
double getFiberVelocityAlongTendon (const SimTK::State &s) const
 get the current fiber velocity (m/s) projected onto the tendon direction More...
 
double getPennationAngularVelocity (const SimTK::State &s) const
 get pennation angular velocity (radians/s) More...
 
double getTendonVelocity (const SimTK::State &s) const
 get the tendon velocity (m/s) positive is lengthening More...
 
double getForceVelocityMultiplier (const SimTK::State &s) const
 get the dimensionless multiplier resulting from the fiber's force-velocity curve More...
 
double getFiberForce (const SimTK::State &s) const
 get the current fiber force (N) applied to the tendon More...
 
double getFiberForceAlongTendon (const SimTK::State &s) const
 get the force of the fiber (N/m) along the direction of the tendon More...
 
double getActiveFiberForce (const SimTK::State &s) const
 get the current active fiber force (N) due to activation*force_length*force_velocity relationships More...
 
double getPassiveFiberForce (const SimTK::State &s) const
 get the total force applied by all passive elements in the fiber (N) More...
 
double getActiveFiberForceAlongTendon (const SimTK::State &s) const
 get the current active fiber force (N) projected onto the tendon direction More...
 
double getPassiveFiberForceAlongTendon (const SimTK::State &s) const
 get the total force applied by all passive elements in the fiber (N) projected onto the tendon direction More...
 
double getTendonForce (const SimTK::State &s) const
 get the current tendon force (N) applied to bones More...
 
double getFiberStiffness (const SimTK::State &s) const
 get the current fiber stiffness (N/m) defined as the partial derivative of fiber force with respect to fiber length More...
 
double getFiberStiffnessAlongTendon (const SimTK::State &s) const
 get the stiffness of the fiber (N/m) along the direction of the tendon, that is the partial derivative of the fiber force along the tendon with respect to small changes in fiber length along the tendon More...
 
double getTendonStiffness (const SimTK::State &s) const
 get the current tendon stiffness (N/m) defined as the partial derivative of tendon force with respect to tendon length More...
 
double getMuscleStiffness (const SimTK::State &s) const
 get the current muscle stiffness (N/m) defined as the partial derivative of muscle force with respect to muscle length More...
 
double getFiberActivePower (const SimTK::State &s) const
 get the current active fiber power (W) More...
 
double getFiberPassivePower (const SimTK::State &s) const
 get the current passive fiber power (W) More...
 
double getTendonPower (const SimTK::State &s) const
 get the current tendon power (W) More...
 
double getMusclePower (const SimTK::State &s) const
 get the current muscle power (W) More...
 
double getStress (const SimTK::State &s) const override
 get the stress in the muscle (part of the Actuator interface as well) More...
 
void setExcitation (SimTK::State &s, double excitation) const
 set the excitation (control) for this muscle. More...
 
double getExcitation (const SimTK::State &s) const
 
void computeEquilibrium (SimTK::State &s) const override final
 Find and set the equilibrium state of the muscle (if any) More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::PathActuator
 PathActuator ()
 
AbstractGeometryPathupdPath ()
 
const AbstractGeometryPathgetPath () 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
 
GeometryPathupdGeometryPath ()
 
const GeometryPathgetGeometryPath () 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 AbstractGeometryPathget_path () const
 Get the value of the path property. More...
 
AbstractGeometryPathupd_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...
 
PathActuatorclone () 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 ModelgetModel () const
 Get a const reference to the Model this component is part of. More...
 
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of. More...
 
bool hasModel () const
 Does this ModelComponent have a Model associated with it? More...
 
void preScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Perform any computations that must occur before ModelComponent::scale() is invoked on all ModelComponents in the Model. More...
 
void scale (const SimTK::State &s, const ScaleSet &scaleSet)
 Scale the ModelComponent. More...
 
void postScale (const SimTK::State &s, const ScaleSet &scaleSet)
 Perform any computations that must occur after ModelComponent::scale() has been invoked on all ModelComponents in the Model. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Component
 Component ()
 Default constructor. More...
 
 Component (const std::string &aFileName, bool aUpdateFromXMLNode=true)
 Construct Component from an XML file. More...
 
 Component (SimTK::Xml::Element &aNode)
 Construct Component from a specific node in an XML document. More...
 
 Component (const Component &)=default
 Use default copy constructor and assignment operator. More...
 
Componentoperator= (const Component &)=default
 
virtual ~Component ()=default
 Destructor is virtual to allow concrete Component to cleanup. More...
 
virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 Optional method for generating arbitrary display geometry that reflects this Component at the specified state. More...
 
const SimTK::MultibodySystem & getSystem () const
 Get the underlying MultibodySystem that this component is connected to. More...
 
bool hasSystem () const
 Check if this component has an underlying MultibodySystem. More...
 
bool isComponentInOwnershipTree (const Component *component) const
 Does the provided component already exist anywhere in the ownership tree (not just subcomponents of this component)? More...
 
void addComponent (Component *subcomponent)
 
Add a Component (as a subcomponent) of this component. More...
 
template<typename T = Component>
ComponentList< const T > getComponentList () const
 Get an iterator through the underlying subcomponents that this component is composed of. More...
 
template<typename T = Component>
ComponentList< T > updComponentList ()
 Similar to getComponentList(), except the resulting list allows one to modify the components. More...
 
template<typename T = Component>
unsigned countNumComponents () const
 Uses getComponentList<T>() to count the number of underlying subcomponents of the specified type. More...
 
std::string getAbsolutePathString () const
 Get the complete (absolute) pathname for this Component to its ancestral Component, which is the root of the tree to which this Component belongs. More...
 
ComponentPath getAbsolutePath () const
 Return a ComponentPath of the absolute path of this Component. More...
 
std::string getRelativePathString (const Component &wrt) const
 Get the relative path of this Component with respect to another Component, as a string. More...
 
ComponentPath getRelativePath (const Component &wrt) const
 Get the relative path of this Component with respect to another Component. More...
 
bool hasComponent (const std::string &pathname) const
 Query if there is a component (of any type) at the specified path name. More...
 
template<class C = Component>
bool hasComponent (const std::string &pathname) const
 Query if there is a component of a given type at the specified path name. More...
 
template<class C = Component>
const C & getComponent (const std::string &pathname) const
 Get a unique subcomponent of this Component by its path name and type 'C'. More...
 
template<class C = Component>
const C & getComponent (const ComponentPath &pathname) const
 
const ComponentgetComponent (const std::string &pathname) const
 Similar to the templatized getComponent(), except this returns the component as the generic Component type. More...
 
template<class C = Component>
C & updComponent (const std::string &name)
 Get a writable reference to a subcomponent. More...
 
template<class C = Component>
C & updComponent (const ComponentPath &name)
 
ComponentupdComponent (const std::string &pathname)
 Similar to the templatized updComponent(), except this returns the component as the generic Component type. More...
 
unsigned printComponentsMatching (const std::string &substring) const
 Print a list to the console of all components whose absolute path name contains the given string. More...
 
int getNumStateVariables () const
 Get the number of "continuous" state variables maintained by the Component and its subcomponents. More...
 
Array< std::string > getStateVariableNames () const
 Get the names of continuous state variables maintained by the Component and its subcomponents. More...
 
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 ObjectgetConnectee (const std::string &name) const
 Get the connectee as an Object. More...
 
const ObjectgetConnectee (const std::string &name, int index) const
 Get the connectee at the provided index as an Object. More...
 
const AbstractSockettryGetSocket (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 AbstractSocketgetSocket (const std::string &name) const
 Get an AbstractSocket for the given socket name. More...
 
const AbstractSockettryUpdSocket (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...
 
AbstractSocketupdSocket (const std::string &name)
 Get a writable reference to the AbstractSocket for the given socket name. More...
 
template<typename T >
const Socket< T > & getSocket (const std::string &name) const
 Get a const reference to the concrete Socket provided by this Component by name. More...
 
template<typename T >
Socket< T > & updSocket (const std::string &name)
 Get a writable reference to the concrete Socket provided by this Component by name. More...
 
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 AbstractInputgetInput (const std::string &name) const
 Get an Input provided by this Component by name. More...
 
AbstractInputupdInput (const std::string &name)
 Get a writable reference to an Input provided by this Component by name. More...
 
template<typename T >
const Input< T > & getInput (const std::string &name) const
 Get a concrete Input that you can directly ask for its values. More...
 
const AbstractOutputtryGetOutput (const std::string &name) const
 If it exists on the component, returns a pointer to the named Output; otherwise, returns a nullptr. More...
 
const AbstractOutputgetOutput (const std::string &name) const
 Get the Output provided by this Component by name. More...
 
AbstractOutputtryUpdOutput (const std::string &name)
 If it exists on the component returns a writable pointer to the named Output; otherwise, returns a nullptr More...
 
AbstractOutputupdOutput (const std::string &name)
 Get a writable reference to an Output provided by this Component by name. More...
 
SimTK::IteratorRange< OutputConstIteratorgetOutputs () const
 Iterate through all Outputs of this component. More...
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Public Types

enum  CurveType { FiberActiveForceLength, FiberPassiveForceLength, FiberForceVelocity, TendonForceLength }
 
typedef Thelen2003Muscle Self
 This typedef might be useful within the member functions of this class. More...
 
typedef ActivationFiberLengthMuscle Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::ActivationFiberLengthMuscle
typedef ActivationFiberLengthMuscle Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Muscle Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::Muscle
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

void calcMuscleLengthInfo (const SimTK::State &s, MuscleLengthInfo &mli) const override
 calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc... More...
 
void calcFiberVelocityInfo (const SimTK::State &s, FiberVelocityInfo &fvi) const override
 calculate muscle's velocity related values such fiber and tendon velocities,normalized velocities, pennation angular velocity, etc... More...
 
void calcMuscleDynamicsInfo (const SimTK::State &s, MuscleDynamicsInfo &mdi) const override
 calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values More...
 
void calcMusclePotentialEnergyInfo (const SimTK::State &s, MusclePotentialEnergyInfo &mpei) const override
 calculate muscle's fiber and tendon potential energy More...
 
double calcActivationRate (const SimTK::State &s) const override
 Calculate activation rate. More...
 
void extendFinalizeFromProperties () override
 Component interface. More...
 
void extendConnectToModel (Model &aModel) override
 Implement the ModelComponent interface. More...
 
void extendInitStateFromProperties (SimTK::State &s) const override
 
void extendSetPropertiesFromState (const SimTK::State &state) override
 
- Protected Member Functions inherited from OpenSim::ActivationFiberLengthMuscle
virtual void computeForce (const SimTK::State &state, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &generalizedForce) const override
 Subclasses must implement this method to compute the forces that should be applied to bodies and generalized speeds. More...
 
void extendConnectToModel (Model &aModel) override
 Model Component Interface. More...
 
void extendAddToSystem (SimTK::MultibodySystem &system) const override
 
void extendInitStateFromProperties (SimTK::State &s) const override
 
void extendSetPropertiesFromState (const SimTK::State &state) override
 
void computeStateVariableDerivatives (const SimTK::State &s) const override
 
- Protected Member Functions inherited from OpenSim::Muscle
const MuscleLengthInfogetMuscleLengthInfo (const SimTK::State &s) const
 Developer Access to intermediate values calculate by the muscle model. More...
 
MuscleLengthInfoupdMuscleLengthInfo (const SimTK::State &s) const
 
const FiberVelocityInfogetFiberVelocityInfo (const SimTK::State &s) const
 
FiberVelocityInfoupdFiberVelocityInfo (const SimTK::State &s) const
 
const MuscleDynamicsInfogetMuscleDynamicsInfo (const SimTK::State &s) const
 
MuscleDynamicsInfoupdMuscleDynamicsInfo (const SimTK::State &s) const
 
const MusclePotentialEnergyInfogetMusclePotentialEnergyInfo (const SimTK::State &s) const
 
MusclePotentialEnergyInfoupdMusclePotentialEnergyInfo (const SimTK::State &s) const
 
virtual double calcMuscleStiffness (const SimTK::State &s) const
 Calculate muscle's stiffness. More...
 
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...
 
void extendFinalizeFromProperties () override
 
- Protected Member Functions inherited from OpenSim::Component
const Componentget_components (int i) const
 Get the value of the i-th element of the components property. More...
 
Componentupd_components (int i)
 Get a writable reference to the i-th element of the components property. More...
 
void set_components (int i, const Component &value)
 Set the value of the i-th element of components property. More...
 
int append_components (const Component &value)
 Append an element to the components property. More...
 
- 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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Auto-generated functions

static Thelen2003MusclesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Thelen2003Muscle". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
Thelen2003Muscleclone () 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::ActivationFiberLengthMuscle
static ActivationFiberLengthMusclesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ActivationFiberLengthMuscle". More...
 
- Static Public Member Functions inherited from OpenSim::Muscle
static MusclesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Muscle". More...
 
- Static Public Member Functions inherited from OpenSim::PathActuator
static PathActuatorsafeDownCast (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 ScalarActuatorsafeDownCast (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 ActuatorsafeDownCast (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 ForcesafeDownCast (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 ModelComponentsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "ModelComponent". More...
 
- Static Public Member Functions inherited from OpenSim::Component
static ComponentsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "Component". More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 
- Protected Attributes inherited from OpenSim::Muscle
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...
 
- Static Protected Attributes inherited from OpenSim::ActivationFiberLengthMuscle
static const std::string STATE_ACTIVATION_NAME
 
static const ComponentPath STATE_ACTIVATION_PATH
 
static const std::string STATE_FIBER_LENGTH_NAME
 
static const ComponentPath STATE_FIBER_LENGTH_PATH
 
- Static Protected Attributes inherited from OpenSim::ModelComponent
static const SimTK::Vec3 InvalidScaleFactors
 Returned by getScaleFactors() if the ScaleSet does not contain scale factors for the base Body associated with the specified Frame. More...
 

Detailed Description


Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors.

The Thelen2003Muscle model uses a standard equilibrium muscle equation

\[ (a(t) f_{AL}(l_{CE}) f_{V}(\dot{l}_{CE}) - f_{PE}(l_{CE}))\cos \phi - f_{SE}(l_{T}) = 0 \]

Rearranging the above equation and solving for \( f_{V}(\dot{l}_{CE}) \) yields

\[ f_{V}(\dot{l}_{CE}) = \frac{ \frac{f_{SE}(l_{T})}{\cos\phi} - f_{PE}(l_{CE}) }{ a(t) f_{AL}(l_{CE}) } \]

The force velocity curve is usually inverted to compute the fiber velocity,

\[ \dot{l}_{CE} = f_{V}^{-1}( \frac{ \frac{f_{SE}(l_{T})}{\cos\phi} - f_{PE}(l_{CE}) }{ a(t) f_{AL}(l_{CE}) } ) \]

which is then integrated to simulate the musculotendon dynamics. In general, the previous equation has 4 singularity conditions:

  1. \( a(t) \rightarrow 0 \)
  2. \( f_{AL}(l_{CE}) \rightarrow 0 \)
  3. \( \phi \rightarrow \frac{\pi}{2} \)
  4. \( f_{V}(\dot{l}_{CE}) \le 0 \) or \( f_{V}(\dot{l}_{CE}) \ge F^M_{len}\)

This implementation has been slightly modified from the model presented in the journal paper (marked with a *) to prevent some of these singularities:

  1. * \( a(t) \rightarrow a_{min} > 0 \) : A modified activation dynamic equation is used - MuscleFirstOrderActivationDynamicModel - which smoothly approaches some minimum value that is greater than zero.
  2. \( f_{AL}(l_{CE}) > 0 \) . The active force length curve of the Thelen muscle is a Gaussian, which is always greater than 0.
  3. \( \phi \rightarrow \frac{\pi}{2} \) . This singularity cannot be removed without changing the first equation, and still exists in the present Thelen2003Muscle formulation.
  4. * \( f_{V}(\dot{l}_{CE}) \le 0 \) or \( f_{V}(\dot{l}_{CE}) \ge F^M_{len}\): Equation 6 in Thelen 2003 has been modified so that \( V^M \) is linearly extrapolated when \( F^M < 0\) (during a concentric contraction), and when \( F^M > 0.95 F^M_{len}\) (during an eccentric contraction). These two modifications make the force velocity curve invertible. The original force velocity curve as published by Thelen was not invertible.
    -# A unilateral constraint has been implemented to prevent the fiber from approaching a fiber length that is smaller than 0.01*optimal fiber length, or a fiber length that creates a pennation angle greater than the maximum pennation angle specified by the pennation model. Note that this unilateral constraint does not prevent the muscle fiber from becoming shorter than is physiologically possible (that is shorter than approximately half a normalized fiber length).

    References

    DG Thelen, Adjustment of muscle mechanics model parameters to simulate dynamic contractions in older adults. Journal of biomechanical engineering, 2003.

Author
Matt Millard
Ajay Seth
Peter Loan

Member Typedef Documentation

◆ Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

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

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Member Enumeration Documentation

◆ CurveType

Enumerator
FiberActiveForceLength 
FiberPassiveForceLength 
FiberForceVelocity 
TendonForceLength 

Constructor & Destructor Documentation

◆ Thelen2003Muscle() [1/2]

OpenSim::Thelen2003Muscle::Thelen2003Muscle ( )

◆ Thelen2003Muscle() [2/2]

OpenSim::Thelen2003Muscle::Thelen2003Muscle ( const std::string &  aName,
double  aMaxIsometricForce,
double  aOptimalFiberLength,
double  aTendonSlackLength,
double  aPennationAngle 
)

Member Function Documentation

◆ assign()

void OpenSim::Thelen2003Muscle::assign ( Object aObject)
inlineoverride

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type Thelen2003Muscle.

◆ calcActivationRate()

double OpenSim::Thelen2003Muscle::calcActivationRate ( const SimTK::State &  s) const
overrideprotectedvirtual

Calculate activation rate.

Implements OpenSim::ActivationFiberLengthMuscle.

◆ calcFiberVelocityInfo()

void OpenSim::Thelen2003Muscle::calcFiberVelocityInfo ( const SimTK::State &  s,
FiberVelocityInfo fvi 
) const
overrideprotectedvirtual

calculate muscle's velocity related values such fiber and tendon velocities,normalized velocities, pennation angular velocity, etc...

Reimplemented from OpenSim::Muscle.

◆ calcMuscleDynamicsInfo()

void OpenSim::Thelen2003Muscle::calcMuscleDynamicsInfo ( const SimTK::State &  s,
MuscleDynamicsInfo mdi 
) const
overrideprotectedvirtual

calculate muscle's active and passive force-length, force-velocity, tendon force, relationships and their related values

Reimplemented from OpenSim::Muscle.

◆ calcMuscleLengthInfo()

void OpenSim::Thelen2003Muscle::calcMuscleLengthInfo ( const SimTK::State &  s,
MuscleLengthInfo mli 
) const
overrideprotectedvirtual

calculate muscle's position related values such fiber and tendon lengths, normalized lengths, pennation angle, etc...

Reimplemented from OpenSim::Muscle.

◆ calcMusclePotentialEnergyInfo()

void OpenSim::Thelen2003Muscle::calcMusclePotentialEnergyInfo ( const SimTK::State &  s,
MusclePotentialEnergyInfo mpei 
) const
overrideprotectedvirtual

calculate muscle's fiber and tendon potential energy

Reimplemented from OpenSim::Muscle.

◆ clone()

Thelen2003Muscle* OpenSim::Thelen2003Muscle::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::ActivationFiberLengthMuscle.

◆ computeActuation()

double OpenSim::Thelen2003Muscle::computeActuation ( const SimTK::State &  s) const
overridevirtual

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::Muscle.

◆ computeInitialFiberEquilibrium()

void OpenSim::Thelen2003Muscle::computeInitialFiberEquilibrium ( SimTK::State &  s) const
overridevirtual

Compute initial fiber length (velocity) such that muscle fiber and tendon are in static equilibrium and update the state.

Part of the Muscle.h interface

Exceptions
MuscleCannotEquilibrate

Implements OpenSim::Muscle.

◆ extendConnectToModel()

void OpenSim::Thelen2003Muscle::extendConnectToModel ( Model aModel)
overrideprotectedvirtual

Implement the ModelComponent interface.

Reimplemented from OpenSim::ModelComponent.

◆ extendFinalizeFromProperties()

void OpenSim::Thelen2003Muscle::extendFinalizeFromProperties ( )
overrideprotected

Component interface.

◆ extendInitStateFromProperties()

void OpenSim::Thelen2003Muscle::extendInitStateFromProperties ( SimTK::State &  s) const
overrideprotected

◆ extendSetPropertiesFromState()

void OpenSim::Thelen2003Muscle::extendSetPropertiesFromState ( const SimTK::State &  state)
overrideprotected

◆ get_activation_time_constant()

const double& OpenSim::Thelen2003Muscle::get_activation_time_constant ( ) const
inline

Get the value of the activation_time_constant property.

◆ get_Af()

const double& OpenSim::Thelen2003Muscle::get_Af ( ) const
inline

Get the value of the Af property.

◆ get_deactivation_time_constant()

const double& OpenSim::Thelen2003Muscle::get_deactivation_time_constant ( ) const
inline

Get the value of the deactivation_time_constant property.

◆ get_Flen()

const double& OpenSim::Thelen2003Muscle::get_Flen ( ) const
inline

Get the value of the Flen property.

◆ get_FmaxMuscleStrain()

const double& OpenSim::Thelen2003Muscle::get_FmaxMuscleStrain ( ) const
inline

Get the value of the FmaxMuscleStrain property.

◆ get_FmaxTendonStrain()

const double& OpenSim::Thelen2003Muscle::get_FmaxTendonStrain ( ) const
inline

Get the value of the FmaxTendonStrain property.

◆ get_fv_linear_extrap_threshold()

const double& OpenSim::Thelen2003Muscle::get_fv_linear_extrap_threshold ( ) const
inline

Get the value of the fv_linear_extrap_threshold property.

◆ get_KshapeActive()

const double& OpenSim::Thelen2003Muscle::get_KshapeActive ( ) const
inline

Get the value of the KshapeActive property.

◆ get_KshapePassive()

const double& OpenSim::Thelen2003Muscle::get_KshapePassive ( ) const
inline

Get the value of the KshapePassive property.

◆ get_maximum_pennation_angle()

const double& OpenSim::Thelen2003Muscle::get_maximum_pennation_angle ( ) const
inline

Get the value of the maximum_pennation_angle property.

◆ get_minimum_activation()

const double& OpenSim::Thelen2003Muscle::get_minimum_activation ( ) const
inline

Get the value of the minimum_activation property.

◆ getActivationModel()

const MuscleFirstOrderActivationDynamicModel& OpenSim::Thelen2003Muscle::getActivationModel ( ) const


Returns
the MuscleFirstOrderActivationDynamicModel that this muscle model uses

◆ getActivationTimeConstant()

double OpenSim::Thelen2003Muscle::getActivationTimeConstant ( ) const

◆ getClassName()

static const std::string& OpenSim::Thelen2003Muscle::getClassName ( )
inlinestatic

This returns "Thelen2003Muscle".

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::Thelen2003Muscle::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::ActivationFiberLengthMuscle.

◆ getDeactivationTimeConstant()

double OpenSim::Thelen2003Muscle::getDeactivationTimeConstant ( ) const

◆ getMaximumPennationAngle()

double OpenSim::Thelen2003Muscle::getMaximumPennationAngle ( ) const

◆ getMinimumActivation()

double OpenSim::Thelen2003Muscle::getMinimumActivation ( ) const

◆ getMinimumFiberLength()

double OpenSim::Thelen2003Muscle::getMinimumFiberLength ( ) const


Returns
the minimum fiber length, which is the maximum of two values: the smallest fiber length allowed by the pennation model, and the minimum fiber length in the active force length curve. When the fiber length reaches this value, it is constrained to this value until the fiber velocity goes positive.

◆ getPennationModel()

const MuscleFixedWidthPennationModel& OpenSim::Thelen2003Muscle::getPennationModel ( ) const


Returns
the MuscleFixedWidthPennationModel that this muscle model uses

◆ printCurveToCSVFile()

void OpenSim::Thelen2003Muscle::printCurveToCSVFile ( const CurveType  ctype,
const std::string &  path 
) const

◆ safeDownCast()

static Thelen2003Muscle* OpenSim::Thelen2003Muscle::safeDownCast ( OpenSim::Object obj)
inlinestatic

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

Example: cObj = Thelen2003Muscle.safeDownCast(obj). This is equivalent to dynamic_cast<Thelen2003Muscle*>(obj) in C++.

◆ set_activation_time_constant()

void OpenSim::Thelen2003Muscle::set_activation_time_constant ( const double &  value)
inline

Set the value of the activation_time_constant property.

◆ set_Af()

void OpenSim::Thelen2003Muscle::set_Af ( const double &  value)
inline

Set the value of the Af property.

◆ set_deactivation_time_constant()

void OpenSim::Thelen2003Muscle::set_deactivation_time_constant ( const double &  value)
inline

Set the value of the deactivation_time_constant property.

◆ set_Flen()

void OpenSim::Thelen2003Muscle::set_Flen ( const double &  value)
inline

Set the value of the Flen property.

◆ set_FmaxMuscleStrain()

void OpenSim::Thelen2003Muscle::set_FmaxMuscleStrain ( const double &  value)
inline

Set the value of the FmaxMuscleStrain property.

◆ set_FmaxTendonStrain()

void OpenSim::Thelen2003Muscle::set_FmaxTendonStrain ( const double &  value)
inline

Set the value of the FmaxTendonStrain property.

◆ set_fv_linear_extrap_threshold()

void OpenSim::Thelen2003Muscle::set_fv_linear_extrap_threshold ( const double &  value)
inline

Set the value of the fv_linear_extrap_threshold property.

◆ set_KshapeActive()

void OpenSim::Thelen2003Muscle::set_KshapeActive ( const double &  value)
inline

Set the value of the KshapeActive property.

◆ set_KshapePassive()

void OpenSim::Thelen2003Muscle::set_KshapePassive ( const double &  value)
inline

Set the value of the KshapePassive property.

◆ set_maximum_pennation_angle()

void OpenSim::Thelen2003Muscle::set_maximum_pennation_angle ( const double &  value)
inline

Set the value of the maximum_pennation_angle property.

◆ set_minimum_activation()

void OpenSim::Thelen2003Muscle::set_minimum_activation ( const double &  value)
inline

Set the value of the minimum_activation property.

◆ setActivationTimeConstant()

void OpenSim::Thelen2003Muscle::setActivationTimeConstant ( double  actTimeConstant)

◆ setDeactivationTimeConstant()

void OpenSim::Thelen2003Muscle::setDeactivationTimeConstant ( double  deactTimeConstant)

◆ setMaximumPennationAngle()

void OpenSim::Thelen2003Muscle::setMaximumPennationAngle ( double  maximumPennationAngle)

◆ setMinimumActivation()

void OpenSim::Thelen2003Muscle::setMinimumActivation ( double  minimumActivation)

◆ upd_activation_time_constant()

double& OpenSim::Thelen2003Muscle::upd_activation_time_constant ( )
inline

Get a writable reference to the activation_time_constant property.

◆ upd_Af()

double& OpenSim::Thelen2003Muscle::upd_Af ( )
inline

Get a writable reference to the Af property.

◆ upd_deactivation_time_constant()

double& OpenSim::Thelen2003Muscle::upd_deactivation_time_constant ( )
inline

Get a writable reference to the deactivation_time_constant property.

◆ upd_Flen()

double& OpenSim::Thelen2003Muscle::upd_Flen ( )
inline

Get a writable reference to the Flen property.

◆ upd_FmaxMuscleStrain()

double& OpenSim::Thelen2003Muscle::upd_FmaxMuscleStrain ( )
inline

Get a writable reference to the FmaxMuscleStrain property.

◆ upd_FmaxTendonStrain()

double& OpenSim::Thelen2003Muscle::upd_FmaxTendonStrain ( )
inline

Get a writable reference to the FmaxTendonStrain property.

◆ upd_fv_linear_extrap_threshold()

double& OpenSim::Thelen2003Muscle::upd_fv_linear_extrap_threshold ( )
inline

Get a writable reference to the fv_linear_extrap_threshold property.

◆ upd_KshapeActive()

double& OpenSim::Thelen2003Muscle::upd_KshapeActive ( )
inline

Get a writable reference to the KshapeActive property.

◆ upd_KshapePassive()

double& OpenSim::Thelen2003Muscle::upd_KshapePassive ( )
inline

Get a writable reference to the KshapePassive property.

◆ upd_maximum_pennation_angle()

double& OpenSim::Thelen2003Muscle::upd_maximum_pennation_angle ( )
inline

Get a writable reference to the maximum_pennation_angle property.

◆ upd_minimum_activation()

double& OpenSim::Thelen2003Muscle::upd_minimum_activation ( )
inline

Get a writable reference to the minimum_activation property.

OpenSim Property, Socket, Output, Input Documentation

◆ activation_time_constant

double OpenSim::Thelen2003Muscle::activation_time_constant

"Activation time constant, in seconds"

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

See also
get_activation_time_constant(), upd_activation_time_constant(), set_activation_time_constant()

◆ Af

double OpenSim::Thelen2003Muscle::Af

"force-velocity shape factor"

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

See also
get_Af(), upd_Af(), set_Af()

◆ deactivation_time_constant

double OpenSim::Thelen2003Muscle::deactivation_time_constant

"Deactivation time constant, in seconds"

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

See also
get_deactivation_time_constant(), upd_deactivation_time_constant(), set_deactivation_time_constant()

◆ Flen

double OpenSim::Thelen2003Muscle::Flen

"maximum normalized lengthening force"

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

See also
get_Flen(), upd_Flen(), set_Flen()

◆ FmaxMuscleStrain

double OpenSim::Thelen2003Muscle::FmaxMuscleStrain

"passive muscle strain at maximum isometric muscle force"

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

See also
get_FmaxMuscleStrain(), upd_FmaxMuscleStrain(), set_FmaxMuscleStrain()

◆ FmaxTendonStrain

double OpenSim::Thelen2003Muscle::FmaxTendonStrain

"tendon strain at maximum isometric muscle force"

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

See also
get_FmaxTendonStrain(), upd_FmaxTendonStrain(), set_FmaxTendonStrain()

◆ fv_linear_extrap_threshold

double OpenSim::Thelen2003Muscle::fv_linear_extrap_threshold

"fv threshold where linear extrapolation is used"

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

See also
get_fv_linear_extrap_threshold(), upd_fv_linear_extrap_threshold(), set_fv_linear_extrap_threshold()

◆ KshapeActive

double OpenSim::Thelen2003Muscle::KshapeActive

"shape factor for Gaussian active muscle force-length relationship"

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

See also
get_KshapeActive(), upd_KshapeActive(), set_KshapeActive()

◆ KshapePassive

double OpenSim::Thelen2003Muscle::KshapePassive

"exponential shape factor for passive force-length relationship"

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

See also
get_KshapePassive(), upd_KshapePassive(), set_KshapePassive()

◆ maximum_pennation_angle

double OpenSim::Thelen2003Muscle::maximum_pennation_angle

"Maximum pennation angle, in radians"

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

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

◆ minimum_activation

double OpenSim::Thelen2003Muscle::minimum_activation

"Lower bound on activation"

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

See also
get_minimum_activation(), upd_minimum_activation(), set_minimum_activation()

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