MusclePair class. More...
Public Member Functions | |
| MusclePair (PhyDOF *dof, float ksh, float tmax, float rl, float lmax) | |
| construct a MusclePair The two muscles are identical and they generate opposite torques More... | |
| virtual | ~MusclePair () |
| Destructor. More... | |
| float | apply () |
| return the Torque the muscles would apply calculating the Tension forces according with Hill muscle model More... | |
| void | getActivation (float &act1, float &act2) |
| Return the activation of muscles. More... | |
| void | getActiveForces (float &ta1, float &ta2) |
| Return the current extension of muscles. More... | |
| float | getAsh () |
| Return the A_sh (shape factor) Automatically calculated by other parameters. More... | |
| void | getExtension (float &l1, float &l2) |
| Return the current extension of muscles. More... | |
| float | getKsh () |
| Return the K_sh (shape factor) More... | |
| float | getMaxLength () |
| Return the maximum length. More... | |
| float | getMaxTension () |
| Return the max tension. More... | |
| float | getMinLength () |
| Return the minimum length Automatically calculated by other parameters. More... | |
| float | getRestLength () |
| Return the resting lenght of muscles. More... | |
| float | getViscosity () |
| Return the Viscosity. More... | |
| void | setActivation (float act1, float act2) |
| Set the activation of muscles. More... | |
| void | setAsh (float newash) |
| override the automatically Ash parameter More... | |
| void | setKsh (float ksh, float reduceFactor=1.0) |
| Set the K_sh (passive shape factor) More... | |
| void | setMaxLength (float lmax) |
| Set the maximum length. More... | |
| void | setMaxTension (float tmax) |
| Set the max tension. More... | |
| void | setRestLength (float rl) |
| Set the resting lenght of muscles. More... | |
| void | setViscosity (float b) |
| Set the Viscosity. More... | |
Detailed Description
MusclePair class.
- Motivation
- A MusclePair emulate the muscle dynamics.
- Description
- Warnings
- Warnings
Definition at line 41 of file musclepair.h.
Constructor & Destructor Documentation
| MusclePair | ( | PhyDOF * | dof, |
| float | ksh, | ||
| float | tmax, | ||
| float | rl, | ||
| float | lmax | ||
| ) |
construct a MusclePair The two muscles are identical and they generate opposite torques
- Parameters
-
dof the joint where the muscles are attached ksh vedi implementazione_muscolo.lyx tmax vedi implementazione_muscolo.lyx rl vedi implementazione_muscolo.lyx lmax vedi implementazione_muscolo.lyx ash is automatically determineted by equation described in implementazione_muscolo.lyx
Definition at line 36 of file musclepair.cpp.
References MusclePair::getExtension().
|
inlinevirtual |
Destructor.
Definition at line 54 of file musclepair.h.
Member Function Documentation
| float apply | ( | ) |
return the Torque the muscles would apply calculating the Tension forces according with Hill muscle model
Definition at line 129 of file musclepair.cpp.
References MusclePair::getExtension(), PhyDOF::joint(), World::timeStep(), and PhyJoint::world().
| void getActivation | ( | float & | act1, |
| float & | act2 | ||
| ) |
Return the activation of muscles.
Definition at line 116 of file musclepair.cpp.
|
inline |
Return the current extension of muscles.
Definition at line 95 of file musclepair.h.
| float getAsh | ( | ) |
Return the A_sh (shape factor) Automatically calculated by other parameters.
Definition at line 84 of file musclepair.cpp.
| void getExtension | ( | float & | l1, |
| float & | l2 | ||
| ) |
Return the current extension of muscles.
Definition at line 121 of file musclepair.cpp.
References farsa::invLinearMap(), PhyDOF::limits(), farsa::linearMap(), and PhyDOF::position().
Referenced by MusclePair::apply(), and MusclePair::MusclePair().
| float getKsh | ( | ) |
Return the K_sh (shape factor)
Definition at line 97 of file musclepair.cpp.
| float getMaxLength | ( | ) |
Return the maximum length.
Definition at line 76 of file musclepair.cpp.
| float getMaxTension | ( | ) |
Return the max tension.
Definition at line 66 of file musclepair.cpp.
| float getMinLength | ( | ) |
Return the minimum length Automatically calculated by other parameters.
Definition at line 80 of file musclepair.cpp.
| float getRestLength | ( | ) |
Return the resting lenght of muscles.
Definition at line 58 of file musclepair.cpp.
| float getViscosity | ( | ) |
Return the Viscosity.
Definition at line 105 of file musclepair.cpp.
| void setActivation | ( | float | act1, |
| float | act2 | ||
| ) |
Set the activation of muscles.
Definition at line 109 of file musclepair.cpp.
| void setAsh | ( | float | newash | ) |
override the automatically Ash parameter
- Warning
- this value will be recalculated every time other properties will be changed
Definition at line 88 of file musclepair.cpp.
| void setKsh | ( | float | ksh, |
| float | reduceFactor = 1.0 |
||
| ) |
Set the K_sh (passive shape factor)
- Parameters
-
reduceFactor scale the passive curve determined by Ksh by this factor
Definition at line 92 of file musclepair.cpp.
| void setMaxLength | ( | float | lmax | ) |
Set the maximum length.
Definition at line 70 of file musclepair.cpp.
| void setMaxTension | ( | float | tmax | ) |
Set the max tension.
Definition at line 62 of file musclepair.cpp.
| void setRestLength | ( | float | rl | ) |
Set the resting lenght of muscles.
Definition at line 52 of file musclepair.cpp.
| void setViscosity | ( | float | b | ) |
Set the Viscosity.
Definition at line 101 of file musclepair.cpp.
The documentation for this class was generated from the following files:
- experiments/include/musclepair.h
- experiments/src/musclepair.cpp