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rdMuscle Class Reference

This class provides basic methods for activation and muscle-tendon dynamics. More...

#include <rdMuscle.h>

List of all members.

Static Public Member Functions
double	EstimateActivation (double aTRise, double aTFall, double aA0, double aX, double aDT)
	Estimate an new activation level given an initial activation level, an excitation level, and a time interval.
double	InvertActivation (double aTRise, double aTFall, double aA0, double aA, double aDT)
	Invert the equation for activation dynamics in order to compute an excitation value which will produce a given change in activation over a given time interval.
double	DADT (double aTRise, double aTFall, double aX, double aA)
	Compute the time derivative of an activation level given its excitation signal, a rise-time, and a fall-time.
double	DADTNonlinear (double aTRise, double aTFall, double aX, double aA)
	Compute the time derivative of an activation level given its excitation signal, a rise-time, and a fall-time.
double	f (double aFMax, double aA)
	Compute the force in an actuator given its maximum force and activation state.

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Detailed Description

This class provides basic methods for activation and muscle-tendon dynamics.

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Member Function Documentation

double rdMuscle::DADT (  double  aTRise, double  aTFall, double  aX, double  aA )  [static]

Compute the time derivative of an activation level given its excitation signal, a rise-time, and a fall-time. This method represents the rise or fall using a simple 1st order differential equation which is linear in x and a. The time constant is chosen based on whether x is greater than or less than a.

double rdMuscle::DADTNonlinear (  double  aTRise, double  aTFall, double  aX, double  aA )  [static]

Compute the time derivative of an activation level given its excitation signal, a rise-time, and a fall-time. This method represents the rise and fall using a 1st order differential equation which is non-linear in x. The advantange of this method is that a single equation is used. However, the equation is only valid if tFall is mutch greater than tRise.

double rdMuscle::EstimateActivation (  double  aTRise, double  aTFall, double  aA0, double  aX, double  aDT )  [static]

Estimate an new activation level given an initial activation level, an excitation level, and a time interval. The assumptions are that the excitation is constant over the interval and that activation dynamics is represented as a pure exponential. The equation for activation is at = x - (x-a0)*exp[-dt/tau] Parameters: aTRise  Activation rise time constant. aTFall  Activation fall time constant. aA0  Starting value of activation. aX  Excitation value. aDT  Time interval over which activation is to change. Returns: Estimated activation level.

double rdMuscle::InvertActivation (  double  aTRise, double  aTFall, double  aA0, double  aA, double  aDT )  [static]

Invert the equation for activation dynamics in order to compute an excitation value which will produce a given change in activation over a given time interval. The assumptions are that the excitation is constant over the interval and that activation dynamics is represented as a pure exponential. The equation which is inverted is at = x - (x-a0)*exp[-dt/tau] Parameters: Parameters: aTRise  The rise time constant. aTFall  The fall time constant. aA0  The starting value of activation aA  The final desired value of activation. aDT  The time interval over which a is to change. Returns: Excitation that will achieve the desired activation.

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The documentation for this class was generated from the following files:

• rdMuscle.h
• rdMuscle.cpp

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