gait2d_osim_multibody.h

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// gait2d_osim_multibody.h
// This file defines the data structures that are needed in Autolev multibody model
 
#define NDOF 9                  // number of kinematic degrees of freedom
#define NFKSEG 8                                // number of Opensim body segments (excluding ground)
#define NFK 6*NFKSEG            // number of forward kinematic outputs: 6 for each segment: Ox,Oy,R11,R12,R21,R22
#define NGRFSEG 2                               // number of body segments that have contact points attached to them (Rcalc, Rtoes, Lcalc, Ltoes)
#define NGRF 3*NGRFSEG          // number of GRF inputs to equation of motion (2D force and moment on each segment that has contact points)
 
// macro to declare inertial properties of a segment S
#define INERTIAL(S)  double S##_M, S##_CMx, S##_CMy, S##_Izz
 
typedef struct {
                // Gravity and body weight
                double gravity_x, gravity_y;
                double bodyweight;
                
                // Air drag
                double airdrag;                 // drag coefficient, N/(m/s)^2
                double wind;                    // wind speed, m/s (positive value is a tailwind)
 
                // Body segment parameters
                INERTIAL(pelvis);
                INERTIAL(torso);
    
                INERTIAL(Rfemur);
                INERTIAL(Rtibia);
    INERTIAL(Rfoot);
//              INERTIAL(Rcalcaneus); // Does not have toes or other stuff atm
//              INERTIAL(Rtoes);
                
                INERTIAL(Lfemur);
                INERTIAL(Ltibia);
                INERTIAL(Lfoot);
//  INERTIAL(Lcalcaneus);
//              INERTIAL(Ltoes);
                
                // Alignment parameters for BKA study
                double trans, flex;
    
                // Joint axis positions (parameters that were coded as hard zeros in gait3d_pelvis213make.m are not included here)
                double back_x, back_y;
                
                double Rhip_x, Rhip_y;
                double Rknee_x1, Rknee_x2, Rknee_x3, Rknee_x4, Rknee_x5;        // polynomial coefficients for knee x as function of knee angle
                double Rknee_y1, Rknee_y2, Rknee_y3, Rknee_y4, Rknee_y5;        // polynomial coefficients for knee y as function of knee angle
                double Rankle_y;
 
                
                double Lhip_x, Lhip_y;
                double Lknee_x1, Lknee_x2, Lknee_x3, Lknee_x4, Lknee_x5;        // polynomial coefficients for knee x as function of knee angle
                double Lknee_y1, Lknee_y2, Lknee_y3, Lknee_y4, Lknee_y5;        // polynomial coefficients for knee y as function of knee angle
                double Lankle_y;
} param_struct;
 
// prototype for the Autolev C function for multibody dynamics
void gait2d_osim_al(param_struct* par, 
                double q[NDOF], 
                double qd[NDOF], 
                double qdd[NDOF],
                double G[NGRF],
                double f[NDOF],
                double df_dq[NDOF][NDOF], 
                double df_dqd[NDOF][NDOF],
                double df_dqdd[NDOF][NDOF],
                double df_dG[NDOF][NGRF],
                double fk[NFK],
                double dfk_dq[NFK][NDOF],
                double fkdot[NFK],
                double dfkdot_dq[NFK][NDOF]);
 
void gait2d_osim_NoDer_al(param_struct* par,
                double q[NDOF],
                double qd[NDOF],
                double qdd[NDOF],
                double G[NGRF],
                double f[NDOF],
                double fk[NFK],
                double dfk_dq[NFK][NDOF],
                double fkdot[NFK],
                double dfkdot_dq[NFK][NDOF]);
 
void gait2d_osim_FK_al(param_struct* par,
                double q[NDOF],
                double qd[NDOF],
                double qdd[NDOF],
                double fk[NFK],
                double dfk_dq[NFK][NDOF],
                double fkdot[NFK],
                double dfkdot_dq[NFK][NDOF]);