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Muscle FiberVelocityInfo and MuscleDynamicsInfo refactor #14

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Muscle FiberVelocityInfo and MuscleDynamicsInfo refactor #14

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b13f2e0
combines FiberVelocityInfo and MuscleDynamicsInfo
pepbos Dec 4, 2023
35d7f48
Adds missing getActuation method to Thelen2003Muscle
pepbos Dec 5, 2023
0619898
fixes DeGrooteFregly2016Muscle normTendonForce value (was NaN)
pepbos Dec 5, 2023
2cbb1cc
fixes calling calcFiberVelocityInfo from calcFiberVelocityInfo
pepbos Dec 5, 2023
c8a4a2f
moves ForceMultiplier test assertions to Velocity level
pepbos Dec 5, 2023
00cadf1
Removes cheap-to-compute fields from FiberVelocityInfo
pepbos Dec 6, 2023
0f5f14a
adds free calcFiberAcceleration func to Millard2012AccelerationMuscle
pepbos Dec 7, 2023
275b68a
adds Cache var for storing Millard2012AccelerationMuscle's curve values
pepbos Dec 7, 2023
32baadd
moves function body to source file
pepbos Dec 7, 2023
6885f05
removes unused userDefinedVelocityExtras field
pepbos Dec 7, 2023
5274338
updates Muscle-Info-structs descriptions
pepbos Dec 7, 2023
3ceb14a
renames cached variable on Millard2012AccelerationMuscle
pepbos Dec 8, 2023
fc24ff2
adds invalidating cached variable on Millard2012AccelerationMuscle
pepbos Dec 8, 2023
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210 changes: 57 additions & 153 deletions OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp
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47 changes: 13 additions & 34 deletions OpenSim/Actuators/DeGrooteFregly2016Muscle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,7 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
/// If ignore_activation_dynamics is true, this gets excitation instead.
double getActivation(const SimTK::State& s) const override {
// We override the Muscle's implementation because Muscle requires
// realizing to Dynamics to access activation from MuscleDynamicsInfo,
// realizing to Dynamics to access activation from MuscleVelocityInfo,
// which is unnecessary if the activation is a state.
if (get_ignore_activation_dynamics()) {
return getControl(s);
Expand All @@ -206,7 +206,6 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
setStateVariableValue(s, STATE_ACTIVATION_NAME, activation);
}
markCacheVariableInvalid(s, "velInfo");
markCacheVariableInvalid(s, "dynamicsInfo");
}

protected:
Expand All @@ -215,9 +214,9 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
void calcMuscleLengthInfo(
const SimTK::State& s, MuscleLengthInfo& mli) const override;
void calcFiberVelocityInfo(
const SimTK::State& s, FiberVelocityInfo& fvi) const override;
void calcMuscleDynamicsInfo(
const SimTK::State& s, MuscleDynamicsInfo& mdi) const override;
const SimTK::State& s,
const MuscleLengthInfo& mli,
FiberVelocityInfo& fvi) const override;
void calcMusclePotentialEnergyInfo(const SimTK::State& s,
MusclePotentialEnergyInfo& mpei) const override;

Expand Down Expand Up @@ -362,7 +361,6 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
s, STATE_NORMALIZED_TENDON_FORCE_NAME, normTendonForce);
markCacheVariableInvalid(s, "lengthInfo");
markCacheVariableInvalid(s, "velInfo");
markCacheVariableInvalid(s, "dynamicsInfo");
}
}
/// @}
Expand Down Expand Up @@ -710,18 +708,15 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
const SimTK::Real& activation, const SimTK::Real& normTendonForce,
const SimTK::Real& normTendonForceDerivative) const {

MuscleLengthInfo mli;
FiberVelocityInfo fvi;
MuscleDynamicsInfo mdi;
FiberVelocityInfoCache fvi;
MuscleLengthInfo& mli = fvi;
calcMuscleLengthInfoHelper(
muscleTendonLength, false, mli, normTendonForce);
calcFiberVelocityInfoHelper(muscleTendonVelocity, activation, false,
false, mli, fvi, normTendonForce, normTendonForceDerivative);
calcMuscleDynamicsInfoHelper(activation, muscleTendonVelocity, false,
mli, fvi, mdi, normTendonForce);

return mdi.normTendonForce -
mdi.fiberForceAlongTendon / get_max_isometric_force();
return (fvi.tendonForce - fvi.calcFiberForceAlongTendon())
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Isn't this different?

/ get_max_isometric_force();
}

/// The residual (i.e. error) in the time derivative of the linearized
Expand All @@ -738,20 +733,17 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
const SimTK::Real& activation, const SimTK::Real& normTendonForce,
const SimTK::Real& normTendonForceDerivative) const {

MuscleLengthInfo mli;
FiberVelocityInfo fvi;
MuscleDynamicsInfo mdi;
FiberVelocityInfoCache fvi;
MuscleLengthInfo& mli = fvi;
calcMuscleLengthInfoHelper(
muscleTendonLength, false, mli, normTendonForce);
calcFiberVelocityInfoHelper(muscleTendonVelocity, activation, false,
m_isTendonDynamicsExplicit, mli, fvi, normTendonForce,
normTendonForceDerivative);
calcMuscleDynamicsInfoHelper(activation, muscleTendonVelocity, false,
mli, fvi, mdi, normTendonForce);

return mdi.fiberStiffnessAlongTendon * fvi.fiberVelocityAlongTendon -
mdi.tendonStiffness *
(muscleTendonVelocity - fvi.fiberVelocityAlongTendon);
return fvi.calcFiberStiffnessAlongTendon() * fvi.calcFiberVelocityAlongTendon() -
fvi.tendonStiffness *
(muscleTendonVelocity - fvi.calcFiberVelocityAlongTendon());
}
/// @}

Expand Down Expand Up @@ -821,11 +813,6 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
const MuscleLengthInfo& mli, FiberVelocityInfo& fvi,
const SimTK::Real& normTendonForce = SimTK::NaN,
const SimTK::Real& normTendonForceDerivative = SimTK::NaN) const;
void calcMuscleDynamicsInfoHelper(const SimTK::Real& activation,
const SimTK::Real& muscleTendonVelocity,
const bool& ignoreTendonCompliance, const MuscleLengthInfo& mli,
const FiberVelocityInfo& fvi, MuscleDynamicsInfo& mdi,
const SimTK::Real& normTendonForce = SimTK::NaN) const;
void calcMusclePotentialEnergyInfoHelper(const bool& ignoreTendonCompliance,
const MuscleLengthInfo& mli, MusclePotentialEnergyInfo& mpei) const;

Expand Down Expand Up @@ -949,14 +936,6 @@ class OSIMACTUATORS_API DeGrooteFregly2016Muscle : public Muscle {
// kT, users specify tendon strain at 1 norm force, which is more intuitive.
SimTK::Real m_kT = SimTK::NaN;
bool m_isTendonDynamicsExplicit = true;

// Indices for MuscleDynamicsInfo::userDefinedDynamicsExtras.
constexpr static int m_mdi_passiveFiberElasticForce = 0;
constexpr static int m_mdi_passiveFiberDampingForce = 1;
constexpr static int m_mdi_partialPennationAnglePartialFiberLength = 2;
constexpr static int m_mdi_partialFiberForceAlongTendonPartialFiberLength =
3;
constexpr static int m_mdi_partialTendonForcePartialFiberLength = 4;
};

} // namespace OpenSim
Expand Down
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