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b/Application/Examples/StandingModelScalingDisplay/Model/JointsAndDrivers.any |
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/* ---------------------------------------------------------------- |
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Drivers for a standing model: |
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- The two feet are constrained forward/backward and vertically (x & y) |
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- The pelvis is constrained laterally (z) |
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- The CoM is constrained forward/backward and laterally above the origin. |
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The remaining degrees of freedom (with the exception of a few shoulder |
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movements) are controlled by parameters in the mannequin.any file. |
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The forces defined in the mannequin.any file are attached to the body |
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locations at the bottom of this file. |
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John Rasmussen, March 5, 2004. |
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---------------------------------------------------------------- */ |
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AnyFolder Drivers = { |
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//#include "<ANYBODY_PATH_BODY>/BodyModels/include/MannequinDrivers.any" |
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// Aliases for convenient referencing |
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AnyFolder &JntPos=..Mannequin.Posture; |
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AnyFolder &JntVel=..Mannequin.PostureVel; |
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AnyFolder &LegR = ..BodyModel.Right.Leg; |
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AnyFolder &LegL = ..BodyModel.Left.Leg; |
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AnyFolder &RefHM = Main.Model.BodyModel; |
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//Constraint the collective CoM to be right above the GlobalRef |
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AnyKinEqSimpleDriver CoMDriver = { |
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AnyKinCoM CoM = { |
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AnyFolder &Body = Main.Model.BodyModel; |
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}; |
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MeasureOrganizer = {0,2}; // Only the x and z directions |
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DriverPos = {0,0}; |
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DriverVel = {0,0}; |
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Reaction.Type = {Off,Off}; |
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}; |
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#include "TrunkDrivers.any" |
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#if BM_ARM_RIGHT == ON |
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#include "RightArmDrivers.any" |
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#if BM_ARM_DETAILED_HAND == ON |
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#include "RightHandDrivers.any" |
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#endif |
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#endif |
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#if BM_ARM_LEFT == ON |
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#include "LeftArmDrivers.any" |
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#if BM_ARM_DETAILED_HAND == ON |
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#include "LeftHandDrivers.any" |
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#endif |
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#endif |
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#if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_) |
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#include "RightLegDrivers.any" |
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#endif |
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#if BM_LEG_LEFT & (BM_LEG_MODEL == _LEG_MODEL_LEG_) |
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#include "LeftLegDrivers.any" |
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#endif |
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#if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM |
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#include "RightLegTDDrivers.any" |
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#endif |
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#if BM_LEG_LEFT & BM_LEG_MODEL_IS_TLEM |
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#include "LeftLegTDDrivers.any" |
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#endif |
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//Loads from the Mannequin file. |
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AnyFolder MannequinLoads = { |
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AnyFolder &hm = Main.Model.BodyModel; // For easy reference |
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AnyFolder &mql = Main.Model.Mannequin.Load; |
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AnyFolder Right = { |
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AnyFolder &rhm = .hm.Right; |
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AnyFolder &locmql = .mql.Right; |
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}; // Right |
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AnyFolder Left = { |
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AnyFolder &lhm = .hm.Left; |
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AnyFolder &locmql = .mql.Left; |
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}; // Left |
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}; |
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};//Drivers |