Rigid Body Dynamics Library
Public Member Functions | Data Fields
TorqueMuscleInfo Struct Reference

#include <Millard2016TorqueMuscle.h>

Public Member Functions

 TorqueMuscleInfo ()
 

Data Fields

double jointAngle
 
double jointAngularVelocity
 
double fiberAngle
 
double fiberAngularVelocity
 
double fiberPassiveTorqueAngleMultiplier
 
double DfiberPassiveTorqueAngleMultiplier_DblendingVariable
 
double DfiberPassiveTorqueAngleMultiplier_DangleOffset
 
double fiberActiveTorqueAngleMultiplier
 
double DfiberActiveTorqueAngleMultiplier_DblendingVariable
 
double fiberTorqueAngularVelocityMultiplier
 
double DfiberTorqueAngularVelocityMultiplier_DblendingVariable
 
double activation
 
double fiberActiveTorque
 
double fiberPassiveTorque
 
double fiberPassiveElasticTorque
 
double fiberDampingTorque
 
double fiberNormDampingTorque
 
double fiberTorque
 
double jointTorque
 
double fiberStiffness
 
double jointStiffness
 
double fiberActivePower
 
double fiberPassivePower
 
double fiberPower
 
double jointPower
 
double DjointTorque_Dactivation
 
double DjointTorque_DjointAngle
 
double DjointTorque_DjointAngularVelocity
 
double DjointTorque_DactiveTorqueAngleBlendingVariable
 First derivatives for the fitting algorithm. More...
 
double DjointTorque_DpassiveTorqueAngleBlendingVariable
 
double DjointTorque_DtorqueAngularVelocityBlendingVariable
 
double DjointTorque_DmaximumIsometricTorque
 
double DjointTorque_DpassiveTorqueAngleCurveAngleOffset
 
double DjointTorque_DactiveTorqueAngleAngleScaling
 
double DjointTorque_DmaximumAngularVelocity
 
RigidBodyDynamics::Math::VectorNd fittingInfo
 

Detailed Description

Definition at line 301 of file Millard2016TorqueMuscle.h.

Constructor & Destructor Documentation

◆ TorqueMuscleInfo()

TorqueMuscleInfo ( )
inline

Definition at line 433 of file Millard2016TorqueMuscle.h.

Field Documentation

◆ activation

double activation

The activation of the muscle

Definition at line 345 of file Millard2016TorqueMuscle.h.

◆ DfiberActiveTorqueAngleMultiplier_DblendingVariable

double DfiberActiveTorqueAngleMultiplier_DblendingVariable

Definition at line 335 of file Millard2016TorqueMuscle.h.

◆ DfiberPassiveTorqueAngleMultiplier_DangleOffset

double DfiberPassiveTorqueAngleMultiplier_DangleOffset

Definition at line 331 of file Millard2016TorqueMuscle.h.

◆ DfiberPassiveTorqueAngleMultiplier_DblendingVariable

double DfiberPassiveTorqueAngleMultiplier_DblendingVariable

Definition at line 330 of file Millard2016TorqueMuscle.h.

◆ DfiberTorqueAngularVelocityMultiplier_DblendingVariable

double DfiberTorqueAngularVelocityMultiplier_DblendingVariable

Definition at line 339 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_Dactivation

double DjointTorque_Dactivation

The partial derivative of joint torque w.r.t activation

Definition at line 407 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DactiveTorqueAngleAngleScaling

double DjointTorque_DactiveTorqueAngleAngleScaling

Definition at line 423 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DactiveTorqueAngleBlendingVariable

double DjointTorque_DactiveTorqueAngleBlendingVariable

First derivatives for the fitting algorithm.

Definition at line 417 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DjointAngle

double DjointTorque_DjointAngle

The partial derivative of joint torque w.r.t the joint angle

Definition at line 410 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DjointAngularVelocity

double DjointTorque_DjointAngularVelocity

The partial derivative of joint torque w.r.t the joint angular velocity

Definition at line 414 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DmaximumAngularVelocity

double DjointTorque_DmaximumAngularVelocity

Definition at line 424 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DmaximumIsometricTorque

double DjointTorque_DmaximumIsometricTorque

Definition at line 420 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DpassiveTorqueAngleBlendingVariable

double DjointTorque_DpassiveTorqueAngleBlendingVariable

Definition at line 418 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DpassiveTorqueAngleCurveAngleOffset

double DjointTorque_DpassiveTorqueAngleCurveAngleOffset

Definition at line 421 of file Millard2016TorqueMuscle.h.

◆ DjointTorque_DtorqueAngularVelocityBlendingVariable

double DjointTorque_DtorqueAngularVelocityBlendingVariable

Definition at line 419 of file Millard2016TorqueMuscle.h.

◆ fiberActivePower

double fiberActivePower

The power output of the active fiber element. A positive power means that the fiber is contracting concentrically. (Watts - Nm/s)

Definition at line 391 of file Millard2016TorqueMuscle.h.

◆ fiberActiveTorque

double fiberActiveTorque

The torque generated by the active element of the muscle fiber (Nm)

Definition at line 349 of file Millard2016TorqueMuscle.h.

◆ fiberActiveTorqueAngleMultiplier

double fiberActiveTorqueAngleMultiplier

The normalized value of the active-torque-angle curve. Here a value of 1 means 1 maximum-isometric-torque. (Nm/Nm)

Definition at line 334 of file Millard2016TorqueMuscle.h.

◆ fiberAngle

double fiberAngle

The angle that the muscle fiber spans (radians)

Definition at line 312 of file Millard2016TorqueMuscle.h.

◆ fiberAngularVelocity

double fiberAngularVelocity

The rate-of-angular-lengthening of the fiber. A positive sign is for a concentric contraction, that is where the fibers are shortening. (radians/sec)

Definition at line 320 of file Millard2016TorqueMuscle.h.

◆ fiberDampingTorque

double fiberDampingTorque

The torque generated by the damping element (Nm)

Definition at line 361 of file Millard2016TorqueMuscle.h.

◆ fiberNormDampingTorque

double fiberNormDampingTorque

The torque generated by the damping element (Nm)

Definition at line 364 of file Millard2016TorqueMuscle.h.

◆ fiberPassiveElasticTorque

double fiberPassiveElasticTorque

The torque generated by the passive elastic element of the muscle fiber (Nm)

Definition at line 358 of file Millard2016TorqueMuscle.h.

◆ fiberPassivePower

double fiberPassivePower

The power output of the passive fiber element. A positive power means that the passive element is recoiling concentrically (Watts - Nm/s)

Definition at line 396 of file Millard2016TorqueMuscle.h.

◆ fiberPassiveTorque

double fiberPassiveTorque

The total torque generated by the passive elements of the muscle fiber (Nm)

Definition at line 353 of file Millard2016TorqueMuscle.h.

◆ fiberPassiveTorqueAngleMultiplier

double fiberPassiveTorqueAngleMultiplier

The normalized value of the passive-torque-angle curve. Here a value of 1 means 1 maximum-isometric-torque. (Nm/Nm)

Definition at line 329 of file Millard2016TorqueMuscle.h.

◆ fiberPower

double fiberPower

The total power output of the fiber element.(Watts - Nm/s)

Definition at line 399 of file Millard2016TorqueMuscle.h.

◆ fiberStiffness

double fiberStiffness

The stiffness of the fiber (Nm/rad)

Definition at line 378 of file Millard2016TorqueMuscle.h.

◆ fiberTorque

double fiberTorque

The torque generated by the entire fiber (Nm)

Definition at line 367 of file Millard2016TorqueMuscle.h.

◆ fiberTorqueAngularVelocityMultiplier

double fiberTorqueAngularVelocityMultiplier

The normalized value of the torque-angular-velocity curve. Here a value of 1 means 1 maximum-isometric-torque. (Nm/Nm)

Definition at line 338 of file Millard2016TorqueMuscle.h.

◆ fittingInfo

RigidBodyDynamics::Math::VectorNd fittingInfo

This vector contains additional quantities that are needed by the fitting functions, and is not for external use. Use this vector at your own risk, as its definition/sizing etc may change.

Definition at line 431 of file Millard2016TorqueMuscle.h.

◆ jointAngle

double jointAngle

The angle of the joint (radians)

Definition at line 304 of file Millard2016TorqueMuscle.h.

◆ jointAngularVelocity

double jointAngularVelocity

The angular velocity of the joint, where the sign convention is chosen by the user at the time the torque muscle is created (radians/sec)

Definition at line 309 of file Millard2016TorqueMuscle.h.

◆ jointPower

double jointPower

The power output by this muscle at the joint. This is signed so that it is consistent with the sign convention of the joint chosen by the user. (Nm/rad)

Definition at line 404 of file Millard2016TorqueMuscle.h.

◆ jointStiffness

double jointStiffness

The stiffness of the joint. This is signed so that it is consistent with the sign convention of the joint chosen by the user. (Nm/rad)

Definition at line 386 of file Millard2016TorqueMuscle.h.

◆ jointTorque

double jointTorque

The joint torque developed by the muscle. This is signed so that it is consistent with the sign convention of the joint chosen by the user. (Nm)

Definition at line 375 of file Millard2016TorqueMuscle.h.

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