- Generated on Wed Jul 20 2022 12:57:44 for Rigid Body Dynamics Library by
1.9.3
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Rigid Body Dynamics Library
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#include <luastructs.h>
Public Member Functions | |
| Millard2016TorqueMuscleConfig () | |
Data Fields | |
| 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 |
| unsigned int | qdot_index |
| unsigned int | force_index |
| std::string | data_set |
| std::string | age_group |
| std::string | gender |
| 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 |
| RigidBodyDynamics::Math::Vector3d | fit_passive_torque_scale |
| RigidBodyDynamics::Math::Vector3d | fit_passive_torque_offset |
A structure that contains all of the information needed to make a joint specific Millard2016TorqueMuscle (MTG) using the Millard2016TorqueMuscle class and to correctly evaluate its torque and update the model's generalized force vector.
Many of these parameters are used to map the default sign conventions of the Millard2016TorqueMuscle (MTG) to the specific model that it is being applied to. These mappings currently have to be done manually by making use of the model's topology, the default sign conventions of the Millard2016TorqueMuscles (see the diagrams that accompany the doxygen) and the right hand rule. Please note that while the diagrams that appear in the Millard2016TorqueMuscle are in units of degrees this is for intuition and convenience: the curves are used in units of radians.
| name | : [Manditory field] The name of the Millard2016TorqueMuscle to choose from the data_set. This name must contain an entry that appears in the JointTorque enum that appears in Millard2016TOrqueMuscle. Extra text can be added to these names to give each MTG a distinct name. For example "HipExtension" is an MTG that appears in the JointTorque enum and so "HipExtension_R" and "HipExtension_L" are names that will pick out the HipExtention MTG from the data_set. |
| angle_sign | : [Manditory field] see signOfJointAngleRelativeToDoxygenFigures in Millard2016TorqueMuscle |
| torque_sign | [Manditory field] see signOfJointTorqueToDoxygenFigures in Millard2016TorqueMuscle |
| body | : [Manditory field] the MTG applies a torque to the parent joint of this body. For example, if the "thigh" segment has a parent of the "pelvis", then a hip torque would be applied to the "thigh". |
| joint_index | : The index of the joint (to the parent) that this MTG applies torque to. For example if the hip flexion MTG will apply torque to the 0th joint_index of the "thigh" segment if it is attached to the "pelvis" segment through a ball and socket joint with the 0th axis in the flexion/extension direction. |
| q_scale | Linear scaling applied to the generalized coordinate prior to evaluating the MTG torque. Please note that while the plots of the MTGs for |
| activation_index | Index of this MTG's activation signal in the state vector |
| q_index | [Internal parameter] Index of this MTG's generalized position coordinate in the state vector. |
| qdot_index | [Internal parameter] Index of this MTG's generalized velocity coordinate in the state vector |
| force_index | [Internal parameter] Index of this MTG's generalized force in the state vector |
| data_set | The data set that is used to make the curves : see the DataSet struct in Millard2016TorqueMuscle.h for details. By default the Gymnast data set (the most complete data set) is used. |
| joint_angle_offset | : see jointAngleOffsetRelativeToDoxygenFigures in Millard2016TorqueMuscle |
| activation_time_constant | the activatation time constaint of this MTG |
| deactivation_time_constant | the deactivatation time constaint of this MTG |
| passive_element_damping_coeff | Manually sets the damping coefficient used for the passive element |
| passive_element_torque_scale | Manually scales the passive curve |
| passive_element_angle_offset | Manually shifts the passive torque angle curve |
| max_isometric_torque | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| max_angular_velocity | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| active_torque_angle_blending | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| passive_torque_angle_blending | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| torque_velocity_blending | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| active_torque_angle_scale | An output parameter from the TorqueMuscleFittingToolkit::fitTorqueMuscleParameters |
| fit_passive_torque_scale | Pass in tuple (an q value, a passive torque, 0) and the passive curve will be scaled so that it passes through this point exactly by calling Millard2016TorqueMuscle::fitPassiveTorqueScale. |
Note: use fit_passive_torque_scale or fit_passive_torque_offset but not both
| fit_passive_torque_offset | Pass in tuple (an q value, a passive torque, 0) and the passive curve will be shifted so that it passes through this point exactly Millard2016TorqueMuscle::fitPassiveCurveAngleOffset |
Note: use fit_passive_torque_scale or fit_passive_torque_offset but not both
Definition at line 266 of file luastructs.h.
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inline |
Definition at line 267 of file luastructs.h.
| unsigned int activation_index |
Definition at line 310 of file luastructs.h.
| double activation_time_constant |
Definition at line 319 of file luastructs.h.
| double active_torque_angle_blending |
Definition at line 328 of file luastructs.h.
| double active_torque_angle_scale |
Definition at line 331 of file luastructs.h.
| std::string age_group |
Definition at line 315 of file luastructs.h.
| double angle_sign |
Definition at line 305 of file luastructs.h.
| std::string body |
Definition at line 307 of file luastructs.h.
| std::string data_set |
Definition at line 314 of file luastructs.h.
| double deactivation_time_constant |
Definition at line 320 of file luastructs.h.
| RigidBodyDynamics::Math::Vector3d fit_passive_torque_offset |
Definition at line 335 of file luastructs.h.
| RigidBodyDynamics::Math::Vector3d fit_passive_torque_scale |
Definition at line 334 of file luastructs.h.
| unsigned int force_index |
Definition at line 313 of file luastructs.h.
| std::string gender |
Definition at line 316 of file luastructs.h.
| double joint_angle_offset |
Definition at line 318 of file luastructs.h.
| unsigned int joint_index |
Definition at line 308 of file luastructs.h.
| double max_angular_velocity |
Definition at line 322 of file luastructs.h.
| double max_angular_velocity_scale |
Definition at line 324 of file luastructs.h.
| double max_isometric_torque |
Definition at line 321 of file luastructs.h.
| double max_isometric_torque_scale |
Definition at line 323 of file luastructs.h.
| std::string name |
Definition at line 304 of file luastructs.h.
| double passive_element_angle_offset |
Definition at line 327 of file luastructs.h.
| double passive_element_damping_coeff |
Definition at line 325 of file luastructs.h.
| double passive_element_torque_scale |
Definition at line 326 of file luastructs.h.
| double passive_torque_angle_blending |
Definition at line 329 of file luastructs.h.
| unsigned int q_index |
Definition at line 311 of file luastructs.h.
| double q_scale |
Definition at line 309 of file luastructs.h.
| unsigned int qdot_index |
Definition at line 312 of file luastructs.h.
| double torque_sign |
Definition at line 306 of file luastructs.h.
| double torque_velocity_blending |
Definition at line 330 of file luastructs.h.
1.9.3