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

virtual	~MusclePair ()
	Destructor.

float	apply ()
	return the Torque the muscles would apply calculating the Tension forces according with Hill muscle model

void	getActivation (float &act1, float &act2)
	Return the activation of muscles.

void	getActiveForces (float &ta1, float &ta2)
	Return the current extension of muscles.

float	getAsh ()
	Return the A_sh (shape factor) Automatically calculated by other parameters.

void	getExtension (float &l1, float &l2)
	Return the current extension of muscles.

float	getKsh ()
	Return the K_sh (shape factor)

float	getMaxLength ()
	Return the maximum length.

float	getMaxTension ()
	Return the max tension.

float	getMinLength ()
	Return the minimum length Automatically calculated by other parameters.

float	getRestLength ()
	Return the resting lenght of muscles.

float	getViscosity ()
	Return the Viscosity.

void	setActivation (float act1, float act2)
	Set the activation of muscles.

void	setAsh (float newash)
	override the automatically Ash parameter

void	setKsh (float ksh, float reduceFactor=1.0)
	Set the K_sh (passive shape factor)

void	setMaxLength (float lmax)
	Set the maximum length.

void	setMaxTension (float tmax)
	Set the max tension.

void	setRestLength (float rl)
	Set the resting lenght of muscles.

void	setViscosity (float b)
	Set the Viscosity.

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

dof	the joint where the muscles are attached
ksh	vedi implementazione_muscolo.lyx
tmax	vedi implementazione_muscolo.lyx
rl	vedi implementazione_muscolo.lyx
lmax	vedi 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 invLinearMap(), PhyDOF::limits(), 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.

Referenced by iCubArmMusclesMotor::update(), iCubHandMusclesMotor::update(), iCubTorsoMusclesMotor::update(), and iCubHeadMusclesMotor::update().

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

reduceFactor scale 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:

experiments/include/musclepair.h
experiments/src/musclepair.cpp

Experiments - 1.2.3

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation