MusclePair Class Reference

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
dofthe joint where the muscles are attached
kshvedi implementazione_muscolo.lyx
tmaxvedi implementazione_muscolo.lyx
rlvedi implementazione_muscolo.lyx
lmaxvedi 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().

virtual ~MusclePair ( )
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.

void getActiveForces ( float &  ta1,
float &  ta2 
)
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
reduceFactorscale 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: