gait10dof18musc.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "mex.h"
#include "gait10dof18musc.h"

Macros
#define	EXTRACTINERTIAL(S, NUM)
#define	JACOBIANSIZING   0
#define	MAXCONTACTS   20
#define	MAXMUSCLES   18
#define	MAXPWR   4
#define	MAXSTATES   (2*NDOF+2*MAXMUSCLES+NCVAR*MAXCONTACTS)

Functions
double	extract (const mxArray *P, char *fieldname1, unsigned int i1)
double	extract2 (const mxArray *P, char *fieldname1, unsigned int i1, char *fieldname2, unsigned int i2)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
double	MuscleDynamics (muscleprop *m, double a, double s, double sdot, double Lm, double *df_da, double *df_ds, double *df_dsdot, double *df_dLm, double *force, double *dforce_dLm, double *dforce_ds, double *forceCE, double *dforceCE_da, double *dforceCE_ds, double *dforceCE_dsdot, double *powerCE)
void	MusclePaths (double q[NDOF], double Lm[MAXMUSCLES], double dLm_dq[MAXMUSCLES][NDOF], double dLm_dqdq[MAXMUSCLES][NDOF][NDOF], int derivatives)

Variables
static contactprop	contacts [MAXCONTACTS]
static int	initialized = 0
static jointprop	joints [NDOF]
static muscleprop	muscles [MAXMUSCLES]
static int	ncontacts
static int	nf
static int	nmuscles
static int	nstates
static int	nstrainterms
static param_struct	parameters
static double	straincoeff [MAXPOLTERMS]
static int	strainexpon [MAXPOLTERMS][NDOF]
static double	zeros [MAXSTATES]

Macro Definition Documentation

EXTRACTINERTIAL

#define EXTRACTINERTIAL	(		S,
			NUM
	)

Value:

                {                                                                                                                                                               \
                parameters.S##_M                = extract2(P,"segments",(NUM),"mass",1);                        \
                parameters.S##_CMx              = extract2(P,"segments",(NUM),"mass_center",1); \
                parameters.S##_CMy              = extract2(P,"segments",(NUM),"mass_center",2); \
                parameters.S##_Izz              = extract2(P,"segments",(NUM),"inertia",9);                     \
}

JACOBIANSIZING

#define JACOBIANSIZING   0

MAXCONTACTS

#define MAXCONTACTS   20

MAXMUSCLES

#define MAXMUSCLES   18

MAXPWR

#define MAXPWR   4

MAXSTATES

#define MAXSTATES   (2*NDOF+2*MAXMUSCLES+NCVAR*MAXCONTACTS)

Function Documentation

extract()

double extract	(	const mxArray *	P,
		char *	fieldname1,
		unsigned int	i1
	)

Examples

/home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script2D.m, /home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script3D.m, and /home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+Treadmill/script2D.m.

extract2()

double extract2	(	const mxArray *	P,
		char *	fieldname1,
		unsigned int	i1,
		char *	fieldname2,
		unsigned int	i2
	)

mexFunction()

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

MuscleDynamics()

double MuscleDynamics	(	muscleprop *	m,
		double	a,
		double	s,
		double	sdot,
		double	Lm,
		double *	df_da,
		double *	df_ds,
		double *	df_dsdot,
		double *	df_dLm,
		double *	force,
		double *	dforce_dLm,
		double *	dforce_ds,
		double *	forceCE,
		double *	dforceCE_da,
		double *	dforceCE_ds,
		double *	dforceCE_dsdot,
		double *	powerCE
	)

MusclePaths()

void MusclePaths	(	double	q[NDOF],
		double	Lm[MAXMUSCLES],
		double	dLm_dq[MAXMUSCLES][NDOF],
		double	dLm_dqdq[MAXMUSCLES][NDOF][NDOF],
		int	derivatives
	)

Variable Documentation

contacts

contactprop contacts[MAXCONTACTS]

static

initialized

int initialized = 0

static

Examples

/home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script2D.m, and /home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script3D.m.

joints

jointprop joints[NDOF]

static

muscles

muscleprop muscles[MAXMUSCLES]

static

Examples

/home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script2D.m, and /home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script3D.m.

ncontacts

int ncontacts

static

nf

int nf

static

nmuscles

int nmuscles

static

nstates

int nstates

static

nstrainterms

int nstrainterms

static

parameters

param_struct parameters

static

Examples

/home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+IntroductionExamples/script2D.m.

straincoeff

double straincoeff[MAXPOLTERMS]

static

strainexpon

int strainexpon[MAXPOLTERMS][NDOF]

static

zeros

double zeros[MAXSTATES]

static

Examples

/home/runner/work/BioMAC-Sim-Toolbox/BioMAC-Sim-Toolbox/ExampleScripts/+Treadmill/script2D.m.