TorqueMuscleFunctionFactory.h

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#ifndef TORQUEMUSCLEFUNCTIONFACTORY_H_
#define TORQUEMUSCLEFUNCTIONFACTORY_H_
/*-------------------------------------------------------------------------
                OpenSim:  SmoothSegmentedFunctionFactory.cpp
 --------------------------------------------------------------------------
 The OpenSim API is a toolkit for musculoskeletal modeling and simulation.
 See http:%opensim.stanford.edu and the NOTICE file for more information.
 OpenSim is developed at Stanford University and supported by the US
 National Institutes of Health (U54 GM072970, R24 HD065690) and by DARPA
 through the Warrior Web program.
 
 Copyright (c) 2005-2012 Stanford University and the Authors
 Author(s): Matthew Millard
 
 Licensed under the Apache License, Version 2.0 (the 'License'); you may
 not use this file except in compliance with the License. You may obtain a
 copy of the License at http:%www.apache.org/licenses/LICENSE-2.0.
 
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an 'AS IS' BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
 --------------------------------------------------------------------------
 
 Derivative work
 Date      : September 2016
 Authors(s): Millard
 Updates   : Made active torque-angle, passive-torque-angle, torque-velocity
             and tendon-torque-angle curves based on the equivalent line-type
             curves in OpenSim.
*/
 
#include "../geometry/SmoothSegmentedFunction.h"
#include "../geometry/SegmentedQuinticBezierToolkit.h"
 
#include <cstdio>
#include <iostream>
#include <fstream>
#include <cmath>
 
namespace RigidBodyDynamics {
  namespace Addons {
  namespace Muscle{
 
class TorqueMuscleFunctionFactory
{
  public:
 
 
static void createAnderson2007ActiveTorqueAngleCurve(
    double c2, 
    double c3,
    const std::string& curveName,
    RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
      smoothSegmentedFunctionToUpdate);
 
  static void createAnderson2007ActiveTorqueVelocityCurve(
      double c4, 
      double c5,
      double c6,
      double minEccentricMultiplier,
      double maxEccentricMultiplier,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate);
 
  static void createAnderson2007PassiveTorqueAngleCurve(
      double scale,
      double c1,
      double b1,
      double k1,
      double b2,
      double k2,      
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate);
 
 
  static void createTorqueVelocityCurve(
      double tvAtEccentricOmegaMax,
      double tvAtHalfConcentricOmegaMax,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate );
 
  static void createTorqueVelocityCurve(
      double tvAtEccentricOmegaMax,
      double tvAtHalfConcentricOmegaMax,
      double slopeAtConcentricOmegaMax,
      double slopeNearEccentricOmegaMax,
      double slopeAtEccentricOmegaMax,
      double eccentricCurviness,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate );
 
  static void createPassiveTorqueAngleCurve(
      double angleAtZeroTorque,    
      double angleAtOneNormTorque,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate );
 
 
  static void createPassiveTorqueAngleCurve(
      double angleAtZeroTorque,
      double angleAtOneNormTorque,
      double stiffnessAtLowTorque,      
      double stiffnessAtOneNormTorque,
      double curviness,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate );
 
 
  static void createGaussianShapedActiveTorqueAngleCurve(
      double angleAtOneNormTorque,
      double angularStandardDeviation,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate 
    );
 
 
  static void createGaussianShapedActiveTorqueAngleCurve(
      double angleAtOneNormTorque,
      double angularStandardDeviation,
      double minSlopeAtShoulders,
      double minValueAtShoulders,
      double curviness,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate 
    );
 
 
  static void createTendonTorqueAngleCurve(
      double angularStretchAtOneNormTorque,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate 
    );  
 
  static void createTendonTorqueAngleCurve(
      double angularStretchAtOneNormTorque,
      double stiffnessAtOneNormTorque,
      double normTorqueAtToeEnd,
      double curviness,
      const std::string& curveName,
      RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate 
    );  
 
  static void createDampingBlendingCurve(
        double normAngularVelocityAtMaximumDamping,
        const std::string& curveName,
        RigidBodyDynamics::Addons::Geometry::SmoothSegmentedFunction&
        smoothSegmentedFunctionToUpdate
      );
 
};
}
}
}
#endif //TORQUEMUSCLEFUNCTIONFACTORY_H_