gait3d_pelvis213_multibody.h

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// gait3d_pelvis213_multibody.h
// This file defines the data structures that are needed in Autolev multibody model
 
#define NDOF 33                                 // number of kinematic degrees of freedom
#define NFKSEG 20                               // number of Opensim body segments (excluding ground)
#define NFK 12*NFKSEG           // number of forward kinematic outputs: 12 for each segment: Ox,Oy,Oz,R11,R12,R13,R21,R22,R23,R31,R32,R33
#define NGRFSEG 4                               // number of body segments that have contact points attached to them (Rcalc, Rtoes, Lcalc, Ltoes)
#define NGRF 6*NGRFSEG          // number of GRF inputs to equation of motion (3D 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##_CMz, S##_Ixx, S##_Iyy, S##_Izz, S##_Ixy, S##_Iyz, S##_Ixz
 
typedef struct {
                // Gravity and body weight
                double gravity_x, gravity_y, gravity_z;
                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(Rcalcaneus);
                INERTIAL(Rtoes);
                INERTIAL(Rhumerus);
                INERTIAL(Rulna);
                INERTIAL(Rradius);
                INERTIAL(Rhand);
                
                INERTIAL(Lfemur);
                INERTIAL(Ltibia);
                INERTIAL(Lcalcaneus);
                INERTIAL(Ltoes);
                INERTIAL(Lhumerus);
                INERTIAL(Lulna);
                INERTIAL(Lradius);
                INERTIAL(Lhand);
                
                // Joint axis orientations (are assumed to be the same left and right, with mirroring relative to local XY plane)
                double Rankle1,    Rankle2,    Rankle3;
                double Rsubtalar1, Rsubtalar2, Rsubtalar3;
                double Rmtp1,                  Rmtp3;                                           // mtp2 is hard zero (as coded in addleg function in gait3d_pelvis213make.m)
                double Relbow1,    Relbow2,    Relbow3;
                double Rraduln1,   Rraduln2,   Rraduln3;
                
    double Lankle1,    Lankle2,    Lankle3;
                double Lsubtalar1, Lsubtalar2, Lsubtalar3;
                double Lmtp1,                  Lmtp3;                                           // mtp2 is hard zero (as coded in addleg function in gait3d_pelvis213make.m)
                double Lelbow1,    Lelbow2,    Lelbow3;
                double Lraduln1,   Lraduln2,   Lraduln3;
    
                // 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, Rhip_z;
                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 Rsubtalar_x, Rsubtalar_y, Rsubtalar_z;
                double Rmtp_x, Rmtp_y, Rmtp_z;
                double Racromial_x, Racromial_y, Racromial_z;   
                double Relbow_x, Relbow_y, Relbow_z;
                double Rraduln_x, Rraduln_y, Rraduln_z;
                double Rwrist_x, Rwrist_y, Rwrist_z;            
                
                double Lhip_x, Lhip_y, Lhip_z;
                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;
                double Lsubtalar_x, Lsubtalar_y, Lsubtalar_z;
                double Lmtp_x, Lmtp_y, Lmtp_z;
                double Lacromial_x, Lacromial_y, Lacromial_z;   
                double Lelbow_x, Lelbow_y, Lelbow_z;
                double Lraduln_x, Lraduln_y, Lraduln_z;
                double Lwrist_x, Lwrist_y, Lwrist_z;
                                
} param_struct;
 
// prototype for the Autolev C function for multibody dynamics
void gait3d_pelvis213_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 gait3d_pelvis213_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 gait3d_pelvis213_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]);