[WIP] New Implicit Muscle (vandenBogert)

Bindings/Java/Matlab/tests/CMakeLists.txt

@@ -58,6 +58,7 @@ add_dependencies(RunMatlabTests JavaBindings)
 OpenSimAddMatlabTest(TugOfWar ../examples/OpenSimCreateTugOfWarModel.m)
 OpenSimAddMatlabTest(ConnectorsInputsOutputs testConnectorsInputsOutputs.m)
 OpenSimAddMatlabTest(AccessSubcomponents testAccessSubcomponents.m)
+OpenSimAddMatlabTest(VandenBogert2011Muscle testVandenBogert2011Muscle.m)
 
 # Copy resources.
 file(COPY "${OPENSIM_SHARED_TEST_FILES_DIR}/arm26.osim"

Bindings/Java/Matlab/tests/testVandenBogert2011Muscle.m

@@ -0,0 +1,27 @@
+
+import org.opensim.modeling.*
+
+muscle = VandenBogert2011Muscle();
+Lm = 0;
+Lce = 0;
+a = 0;
+Lcedot = 0;
+adot = 0;
+u = 0;
+out = muscle.calcImplicitResidual(Lm, Lce, a, Lcedot, adot, u, 0);
+% out should have 3 elements:
+%assert(out.size() == 3);
+%disp(out.get(0))
+%disp(out.get(1))
+%disp(out.get(2))
+methods(out)
+
+% Make sure that we can access the Mat22:
+df_dy = out.getDf_dy();
+df_dy.get(0, 0);
+df_dy.get(1, 1);
+df_dy.set(1, 1, 1.5);
+
+
+% Ensure the nested struct is wrapped.
+impRes = VandenBogert2011MuscleImplicitResidual()

Bindings/OpenSimHeaders_actuators.h

@@ -17,4 +17,6 @@
 #include <OpenSim/Actuators/Millard2012AccelerationMuscle.h>
 #include <OpenSim/Actuators/ClutchedPathSpring.h>
 
+#include <OpenSim/Actuators/VandenBogert2011Muscle.h>
+
 #endif // OPENSIM_OPENSIM_HEADERS_ACTUATORS_H_

Bindings/actuators.i

@@ -22,3 +22,7 @@
 %include <OpenSim/Actuators/Thelen2003Muscle.h>
 %include <OpenSim/Actuators/Millard2012EquilibriumMuscle.h>
 %include <OpenSim/Actuators/Millard2012AccelerationMuscle.h>
+
+%feature("flatnested") OpenSim::VandenBogert2011Muscle::ImplicitResidual;
+%rename(VandenBogert2011MuscleImplicitResidual) OpenSim::VandenBogert2011Muscle::ImplicitResidual;
+%include <OpenSim/Actuators/VandenBogert2011Muscle.h>

Bindings/preliminaries.i

@@ -10,3 +10,4 @@
 
 %include "std_map.i"
 %include <std_shared_ptr.i>
+

Bindings/simbody.i

@@ -20,6 +20,7 @@ namespace SimTK {
 %include <SWIGSimTK/Mat.h>
 %include <SimTKcommon/SmallMatrix.h> // for typedefs like Mat33.
 namespace SimTK {
+%template(Mat22) Mat<2, 2>;
 %template(Mat33) Mat<3, 3>;
 }
 %include <SWIGSimTK/CoordinateAxis.h>

OpenSim/Actuators/Millard2012EquilibriumMuscle.cpp

@@ -201,6 +201,7 @@ double aTendonSlackLength, double aPennationAngle)
 
     setName(aName);
     setMaxIsometricForce(aMaxIsometricForce);
+    setMaxIsometricForce(aMaxIsometricForce);
     setOptimalFiberLength(aOptimalFiberLength);
     setTendonSlackLength(aTendonSlackLength);
     setPennationAngleAtOptimalFiberLength(aPennationAngle);

OpenSim/Actuators/RegisterTypes_osimActuators.cpp

@@ -57,6 +57,8 @@
 #include "Millard2012EquilibriumMuscle.h"
 #include "Millard2012AccelerationMuscle.h"
 
+#include "VandenBogert2011Muscle.h"
+
 // Awaiting new component architecture that supports subcomponents with states.
 //#include "ConstantMuscleActivation.h"
 //#include "ZerothOrderMuscleActivationDynamics.h"
@@ -105,6 +107,8 @@ OSIMACTUATORS_API void RegisterTypes_osimActuators()
     Object::RegisterType(Millard2012EquilibriumMuscle());
     Object::RegisterType(Millard2012AccelerationMuscle());
 
+    Object::registerType(VandenBogert2011Muscle());
+
     //Object::RegisterType( ConstantMuscleActivation() );
     //Object::RegisterType( ZerothOrderMuscleActivationDynamics() );
     //Object::RegisterType( FirstOrderMuscleActivationDynamics() );