Inheritance diagram for MusclePennestriReflexiveCL:

Collaboration diagram for MusclePennestriReflexiveCL:

Public Member Functions
	MusclePennestriReflexiveCL (const TplDriveCaller< doublereal > pTplDC, doublereal dPreStress, doublereal Li, doublereal L0, doublereal V0, doublereal F0, const DriveCaller pAct, bool bActivationOverflow, doublereal dKp, doublereal dKd, const DriveCaller *pReferenceLength)

virtual	~MusclePennestriReflexiveCL (void)

virtual ConstitutiveLaw < doublereal, doublereal > *	pCopy (void) const

virtual void	Update (const doublereal &Eps, const doublereal &EpsPrime)

Public Member Functions inherited from MusclePennestriCL
	MusclePennestriCL (const TplDriveCaller< doublereal > pTplDC, doublereal dPreStress, doublereal Li, doublereal L0, doublereal V0, doublereal F0, const DriveCaller pAct, bool bActivationOverflow)

virtual	~MusclePennestriCL (void)

virtual ConstLawType::Type	GetConstLawType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual std::ostream &	OutputAppend (std::ostream &out) const

Public Member Functions inherited from ElasticConstitutiveLaw< doublereal, doublereal >
	ElasticConstitutiveLaw (const TplDriveCaller< doublereal > *pDC, const doublereal &PStress)

virtual	~ElasticConstitutiveLaw (void)

ConstLawType::Type	GetConstLawType (void) const

void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

Public Member Functions inherited from ConstitutiveLaw< doublereal, doublereal >
	ConstitutiveLaw (void)

virtual	~ConstitutiveLaw (void)

virtual void	AfterConvergence (const doublereal &Eps, const doublereal &EpsPrime=mb_zero< doublereal >())

virtual const doublereal &	GetEpsilon (void) const

virtual const doublereal &	GetEpsilonPrime (void) const

virtual const doublereal &	GetF (void) const

virtual const doublereal &	GetFDE (void) const

virtual const doublereal &	GetFDEPrime (void) const

virtual unsigned int	iGetNumDof (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from TplDriveOwner< doublereal >
	TplDriveOwner (const TplDriveCaller< doublereal > *pDC=0)

virtual	~TplDriveOwner (void)

void	Set (const TplDriveCaller< doublereal > *pDC)

TplDriveCaller< doublereal > *	pGetDriveCaller (void) const

doublereal	Get (const doublereal &dVar) const

doublereal	Get (void) const

virtual bool	bIsDifferentiable (void) const

virtual doublereal	GetP (void) const

Protected Member Functions
virtual std::ostream &	Restart_int (std::ostream &out) const

Protected Attributes
doublereal	dKp

doublereal	dKd

DriveOwner	ReferenceLength

Protected Attributes inherited from MusclePennestriCL
doublereal	Li

doublereal	L0

doublereal	V0

doublereal	F0

DriveOwner	Activation

bool	bActivationOverflow

doublereal	a

Protected Attributes inherited from ElasticConstitutiveLaw< doublereal, doublereal >
doublereal	PreStress

Protected Attributes inherited from ConstitutiveLaw< doublereal, doublereal >
doublereal	Epsilon

doublereal	EpsilonPrime

doublereal	F

doublereal	FDE

doublereal	FDEPrime

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from TplDriveOwner< doublereal >
TplDriveCaller< doublereal > *	pTplDriveCaller

Additional Inherited Members
Public Types inherited from ConstitutiveLaw< doublereal, doublereal >
typedef ConstitutiveLaw < doublereal, doublereal > ::ErrNotAvailable	Err

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Detailed Description

Definition at line 188 of file module-muscles.cc.

Constructor & Destructor Documentation

MusclePennestriReflexiveCL::MusclePennestriReflexiveCL	(	const TplDriveCaller< doublereal > *	pTplDC,
		doublereal	dPreStress,
		doublereal	Li,
		doublereal	L0,
		doublereal	V0,
		doublereal	F0,
		const DriveCaller *	pAct,
		bool	bActivationOverflow,
		doublereal	dKp,
		doublereal	dKd,
		const DriveCaller *	pReferenceLength
	)

inline

Definition at line 196 of file module-muscles.cc.

References NO_OP.

Referenced by pCopy().

         : MusclePennestriCL(pTplDC, dPreStress, Li, L0, V0, F0, pAct, bActivationOverflow),
         dKp(dKp), dKd(dKd), ReferenceLength(pReferenceLength)
         {
                 NO_OP;
         };

virtual MusclePennestriReflexiveCL::~MusclePennestriReflexiveCL ( void )

inlinevirtual

Definition at line 206 of file module-muscles.cc.

References NO_OP.

                                                   {
                 NO_OP;
         };

Member Function Documentation

virtual ConstitutiveLaw<doublereal, doublereal>* MusclePennestriReflexiveCL::pCopy ( void ) const

inlinevirtual

Reimplemented from MusclePennestriCL.

Definition at line 210 of file module-muscles.cc.

References MusclePennestriCL::Activation, MusclePennestriCL::bActivationOverflow, dKd, dKp, MusclePennestriCL::F0, MusclePennestriCL::L0, MusclePennestriCL::Li, MusclePennestriReflexiveCL(), DriveCaller::pCopy(), TplDriveOwner< doublereal >::pGetDriveCaller(), DriveOwner::pGetDriveCaller(), ElasticConstitutiveLaw< doublereal, doublereal >::PreStress, ReferenceLength, SAFENEWWITHCONSTRUCTOR, and MusclePennestriCL::V0.

                                                                            {
                 ConstitutiveLaw<doublereal, doublereal>* pCL = 0;
 
                 // pass parameters to copy constructor
                 SAFENEWWITHCONSTRUCTOR(pCL, MusclePennestriReflexiveCL,
                         MusclePennestriReflexiveCL(pGetDriveCaller()->pCopy(),
                                 PreStress,
                                 Li, L0, V0, F0,
                                 Activation.pGetDriveCaller()->pCopy(),
                                 bActivationOverflow,
                                 dKp, dKd,
                                 ReferenceLength.pGetDriveCaller()->pCopy()));
                 return pCL;
         };

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virtual std::ostream& MusclePennestriReflexiveCL::Restart_int ( std::ostream & out ) const

inlineprotectedvirtual

Reimplemented from MusclePennestriCL.

Definition at line 265 of file module-muscles.cc.

References dKd, dKp, DriveOwner::pGetDriveCaller(), ReferenceLength, and DriveCaller::Restart().

                                                                {
                 out
                         << ", reflexive"
                         << ", proportional gain, " << dKp
                         << ", derivative gain, " << dKd
                         << ", reference length, ", ReferenceLength.pGetDriveCaller()->Restart(out);
                 return out;
         };

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virtual void MusclePennestriReflexiveCL::Update	(	const doublereal &	Eps,
		const doublereal &	EpsPrime
	)

inlinevirtual

Reimplemented from MusclePennestriCL.

Definition at line 225 of file module-muscles.cc.

References MusclePennestriCL::a, MusclePennestriCL::Activation, grad::atan(), MusclePennestriCL::bActivationOverflow, DriveOwner::dGet(), dKd, dKp, grad::exp(), MusclePennestriCL::F0, TplDriveOwner< T >::Get(), MusclePennestriCL::L0, MusclePennestriCL::Li, grad::pow(), ElasticConstitutiveLaw< doublereal, doublereal >::PreStress, ReferenceLength, and MusclePennestriCL::V0.

                                                                                {
                 ConstitutiveLaw<doublereal, doublereal>::Epsilon = Eps - ElasticConstitutiveLaw<doublereal, doublereal>::Get();
                 ConstitutiveLaw<doublereal, doublereal>::EpsilonPrime = EpsPrime;
 
                 doublereal dxdEps = Li/L0;
                 doublereal dvdEpsPrime = Li/V0;
                 doublereal x = (1. + ConstitutiveLaw<doublereal, doublereal>::Epsilon)*dxdEps;
                 doublereal v = ConstitutiveLaw<doublereal, doublereal>::EpsilonPrime*dvdEpsPrime;
 
                 doublereal dLRef = ReferenceLength.dGet()/L0;
 
                 doublereal aRef = Activation.dGet();
                 a = aRef + dKp*(x - dLRef) + dKd*v;
                 if (a < 0.) {
                         silent_cerr("MusclePennestriCL: activation underflow (a=" << a << ")" << std::endl);
                         if (bActivationOverflow) {
                                 a = 0.;
                         }
 
                 } else if (a > 1.) {
                         silent_cerr("MusclePennestriCL: activation overflow (a=" << a << ")" << std::endl);
                         if (bActivationOverflow) {
                                 a = 1.;
                         }
                 }
 
                 doublereal f1 = std::exp(std::pow(x - 0.95, 2) - 40*std::pow(x - 0.95, 4));
                 doublereal f2 = 1.6 - 1.6*std::exp(0.1/std::pow(v - 1., 2) - 1.1/std::pow(v - 1., 4));
                 doublereal f3 = 1.3*std::atan(0.1*std::pow(x - 0.22, 10));
 
                 doublereal df1dx = f1*(2*(x - 0.95) - 4*40.*std::pow(x - 0.95, 3));
                 doublereal df2dv = 1.6*std::exp(0.1/std::pow(v - 1., 2) - 1.1/std::pow(v - 1, 4))*(2*0.1/std::pow(v - 1., 3) - 4*1.1/std::pow(v - 1., 5));
                 doublereal df3dx = 1.3*std::pow(x - 0.22, 9)/(0.01*std::pow(x - 0.22, 20) + 1);
 
                 ConstitutiveLaw<doublereal, doublereal>::F = PreStress + F0*(f1*f2*a + f3);
                 ConstitutiveLaw<doublereal, doublereal>::FDE = F0*((df1dx*aRef + f1*dKp)*f2 + df3dx)*dxdEps;
                 ConstitutiveLaw<doublereal, doublereal>::FDEPrime = F0*f1*(df2dv*aRef + f2*dKd)*dvdEpsPrime;
         };