luastructs.h

Go to the documentation of this file.

//==============================================================================
/* 
 * RBDL - Rigid Body Dynamics Library: Addon : luamodel structs
 * Copyright (c) 2020 Matthew Millard <millard.matthew@gmail.com>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */
 
#ifndef LUASTRUCTS_H
#define LUASTRUCTS_H
 
#include <iostream>
#include <sstream>
#include <assert.h>
#include <cstdlib>
#include <string>
#include <vector>
 
#include <limits>
#include <rbdl/rbdl_math.h>
 
#include <rbdl/rbdl_config.h>
#include <rbdl/rbdl_errors.h>
 
struct Point {
  Point() :
    name ("unknown"),
    body_id (std::numeric_limits<unsigned int>::signaling_NaN()),
    body_name (""),
    point_local (
      std::numeric_limits<double>::signaling_NaN(),
      std::numeric_limits<double>::signaling_NaN(),
      std::numeric_limits<double>::signaling_NaN()
      )
  { }
 
  std::string name;
  unsigned int body_id;
  std::string body_name;
  RigidBodyDynamics::Math::Vector3d point_local;
};
 
struct MotionCaptureMarker {
  MotionCaptureMarker() :
    name ("unknown"),
    body_id (std::numeric_limits<unsigned int>::signaling_NaN()),
    body_name (""),
    point_local (
      std::numeric_limits<double>::signaling_NaN(),
      std::numeric_limits<double>::signaling_NaN(),
      std::numeric_limits<double>::signaling_NaN()
      )
  { }
 
  std::string name;
  unsigned int body_id;
  std::string body_name;
  RigidBodyDynamics::Math::Vector3d point_local;
};
 
struct LocalFrame {
  LocalFrame() :
    name ("unknown"),
    body_id (std::numeric_limits<unsigned int>::signaling_NaN()),
    body_name (""),
    r ( std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN()),
    E ( std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN(),
        std::numeric_limits<double>::signaling_NaN())
  { }
  std::string name;
  unsigned int body_id;
  std::string body_name;
  RigidBodyDynamics::Math::Vector3d r;
  RigidBodyDynamics::Math::Matrix3d E;
};
 
struct HumanMetaData {
  HumanMetaData() :
    gender("nan"),
    age(std::numeric_limits<double>::signaling_NaN()),
    age_group("nan"),    
    height(std::numeric_limits<double>::signaling_NaN()),
    mass(std::numeric_limits<double>::signaling_NaN())    
  { }
  std::string   gender;
  std::string   age_group;
  double        age;
  double        height;
  double        mass;
};
 
#ifdef RBDL_BUILD_ADDON_MUSCLE
struct Millard2016TorqueMuscleConfig {
  Millard2016TorqueMuscleConfig() :
    name(""),
    angle_sign(std::numeric_limits<double>::signaling_NaN()),
    torque_sign(std::numeric_limits<double>::signaling_NaN()),
    body(""),
    joint_index(0),
    q_scale(1.0),
    activation_index(std::numeric_limits<unsigned int>::signaling_NaN()),
    q_index(0),
    qdot_index(0),
    force_index(0),
    data_set("Gymnast"),
    age_group(""),
    gender(""),
    joint_angle_offset(0.0),
    activation_time_constant(0.015), //Thelen 2003, Adjustment of muscle ...
    deactivation_time_constant(0.05),//Thelen 2003, Adjustment of muscle ...
    max_isometric_torque(std::numeric_limits<double>::signaling_NaN()),
    max_isometric_torque_scale(std::numeric_limits<double>::signaling_NaN()),
    max_angular_velocity(std::numeric_limits<double>::signaling_NaN()),
    max_angular_velocity_scale(std::numeric_limits<double>::signaling_NaN()),
    passive_element_damping_coeff(std::numeric_limits<double>::signaling_NaN()),
    passive_element_torque_scale(std::numeric_limits<double>::signaling_NaN()),
    passive_element_angle_offset(std::numeric_limits<double>::signaling_NaN()),
    active_torque_angle_blending(std::numeric_limits<double>::signaling_NaN()),
    passive_torque_angle_blending(std::numeric_limits<double>::signaling_NaN()),
    torque_velocity_blending(std::numeric_limits<double>::signaling_NaN()),
    active_torque_angle_scale(std::numeric_limits<double>::signaling_NaN()),
    fit_passive_torque_scale(RigidBodyDynamics::Math::Vector3d(
                             std::numeric_limits<double>::signaling_NaN(),
                             std::numeric_limits<double>::signaling_NaN(),
                             std::numeric_limits<double>::signaling_NaN())),
    fit_passive_torque_offset(RigidBodyDynamics::Math::Vector3d(
                              std::numeric_limits<double>::signaling_NaN(),
                              std::numeric_limits<double>::signaling_NaN(),
                              std::numeric_limits<double>::signaling_NaN())){
    }
  std::string   name;
  double        angle_sign;
  double        torque_sign;
  std::string   body;
  unsigned int  joint_index;
  double        q_scale;
  unsigned int  activation_index;
  unsigned int  q_index;      //internal parameter
  unsigned int  qdot_index;   //internal parameter
  unsigned int  force_index;  //internal parameter
  std::string   data_set;
  std::string   age_group;
  std::string   gender;
  //double        angle_scale;
  double        joint_angle_offset;
  double        activation_time_constant;
  double        deactivation_time_constant;
  double        max_isometric_torque;
  double        max_angular_velocity;
  double        max_isometric_torque_scale;
  double        max_angular_velocity_scale;
  double        passive_element_damping_coeff;
  double        passive_element_torque_scale;
  double        passive_element_angle_offset;
  double        active_torque_angle_blending;
  double        passive_torque_angle_blending;
  double        torque_velocity_blending;
  double        active_torque_angle_scale;
  //double        torque_velocity_scaling;
  //double        passive_torque_angle_scaling;
  RigidBodyDynamics::Math::Vector3d        fit_passive_torque_scale;
  RigidBodyDynamics::Math::Vector3d        fit_passive_torque_offset;
};
#endif
 
/* LUASTRUCTS_H */
#endif