artisynth.core.mechmodels

Interface ExcitationComponent

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Subinterfaces:

MuscleComponent

All Known Implementing Classes:

FemMuscleModel, FrameExciter, HydrostatModel, JointActuator, MFreeMuscleModel, MultiPointMuscle, MultiPointMuscleOsim, MultiPointMuscleVia, Muscle, MuscleBundle, MuscleElementDesc, MuscleExciter, PointExciter, PointToPointMuscle, SpongeModel, TwoPointActuator

public interface ExcitationComponent
extends ModelComponent

Defines an object that can emit and recieve muscle control excitations.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	ExcitationComponent.CombinationRule Combination rules for excitations.

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Method Summary

Modifier and Type	Method and Description
void	addExcitationSource(ExcitationComponent ex, double gain) Adds a new excitation source to this Excitable with a specified gain.
ExcitationComponent.CombinationRule	getCombinationRule() Return the combination rule for excitations.
double	getExcitation() Returns the primary excitation for this component.
double	getExcitationGain(ExcitationComponent ex) Gets the gain for an excitation source in this component.
double	getNetExcitation() Returns the net excitation for this Excitable.
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
void	setCombinationRule(ExcitationComponent.CombinationRule rule) Sets the rule for combining excitations.
void	setExcitation(double e) SetsJust reiterating the primary excitation for this component.
boolean	setExcitationGain(ExcitationComponent ex, double gain) Sets the gain for an excitation source in this component.
default void	setQuasiStaticResponse(boolean enable) Enables or disables quasi-static excitation response for this component.

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Method Detail

setCombinationRule

void setCombinationRule(ExcitationComponent.CombinationRule rule)

Sets the rule for combining excitations.

Parameters:

rule - rule for combining excitations

getCombinationRule

ExcitationComponent.CombinationRule getCombinationRule()

Return the combination rule for excitations.

Returns:

combination rule for excitations

setExcitation

void setExcitation(double e)

SetsJust reiterating the primary excitation for this component.

Parameters:

e - excitation value

getExcitation

double getExcitation()

Returns the primary excitation for this component.

Returns:

primary excitation value

addExcitationSource

void addExcitationSource(ExcitationComponent ex,
                         double gain)

Adds a new excitation source to this Excitable with a specified gain.

Parameters:

ex - excitatation source to be added

gain - gain for the source

setExcitationGain

boolean setExcitationGain(ExcitationComponent ex,
                          double gain)

Sets the gain for an excitation source in this component.

Parameters:

ex - excitatation source whose gain is to be modified

gain - new gain for the source

Returns:

false if the source is not present in this component.

getExcitationGain

double getExcitationGain(ExcitationComponent ex)

Gets the gain for an excitation source in this component.

Parameters:

ex - excitatation source whose gain is to be queried

Returns:

source gain value, or -1 if the source is not present in this component.

removeExcitationSource

boolean removeExcitationSource(ExcitationComponent ex)

Removes an excitation source from this Excitable. Returns false if the source was not present.

Parameters:

ex - excitatation source to be removed

Returns:

true if the source was present and removed

getNetExcitation

double getNetExcitation()

Returns the net excitation for this Excitable. The net excitation is the combination of the primary excitation and the net excitations of all the excitation sources.

Returns:

net excitation for this Excitable

setQuasiStaticResponse

default void setQuasiStaticResponse(boolean enable)

Enables or disables quasi-static excitation response for this component. This is a transient mode intended for use by the inverse tracking controller when forming its excitation response matrices. While enabled, the component reports its settled response to excitation, in which internal states through which excitation acts (such as the fibre length of a compliant tendon muscle) are assumed to reach equilibrium within the time step, instead of the lag-attenuated one-step response. Forces and their derivatives remain mutually consistent, and the component's numeric state is not altered. The mode should be disabled before the system is advanced.

Components without such internal states can ignore this call, which is what the default implementation does.

This feature is still experimental.

Parameters:

enable - if true, enables quasi-static response