1238 lines (1112 with data), 45.7 kB
/* ----------------------------------------------------------------
Default mannequin drivers:
-The pelvis is locked to the ground
-The remaining degrees of freedom are controlled by parameters in the "<BM_MANNEQUIN_FILE>" file.
-This file is a good way to get an overview of the dof in the full body model
all the dof in the body model is driven from this file.
-In total
Soeren, March 1, 2006.
---------------------------------------------------------------- */
// But the bennefit of this implementation with optional Assignment
// is that all variables can be overridden, as if they were
// variables of a class.
// For example all weight can be customized in the application files:
//
// Main.HumanModel.DefaultMannequinDrivers = {
// PostureDriverBending.Weights.Fun.Value = 0.1;
// };
AnyFolder DefaultMannequinDrivers =
{
AnyComponentDefinition obj = {};
AnyFloat DefaultWeakDriverWeight ??= 0.001;
#if BM_MANNEQUIN_DRIVER_WEAK_SWITCH == 1
AnyKinEqType DefaultDriverCType ??= Soft;
#else
AnyKinEqType DefaultDriverCType ??= Hard;
#endif
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame GenericGRF = {Origin ??= {0,0,0};};
#endif
AnyFolder &JntPos = .Mannequin.Posture;
AnyFolder &JntVel = .Mannequin.PostureVel;
#if BM_MANNEQUIN_DRIVER_PELVIS_POS_X
/// Enabled/disabled with:
/// #define BM_BM_MANNEQUIN_DRIVER_PELVIS_POS_X ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverPosX = {
AnyKinLinear lin = {
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME;
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrame;
};
MeasureOrganizer = {0};
DriverPos ??= {.JntPos.PelvisPosX};
DriverVel ??= {.JntVel.PelvisPosX};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_POS_Y
/// Default mannequin driver. Control with:
/// #define BM_BM_MANNEQUIN_DRIVER_PELVIS_POS_Y ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverPosY ={
AnyKinLinear lin ={
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME;
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrame;
};
MeasureOrganizer = {1};
DriverPos ??= {.JntPos.PelvisPosY};
DriverVel ??= {.JntVel.PelvisPosY};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_POS_Z
/// Enabled/disabled with:
/// #define BM_BM_MANNEQUIN_DRIVER_PELVIS_POS_Z ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverPosZ ={
AnyKinLinear lin ={
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME;
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrame;
};
MeasureOrganizer = {2};
DriverPos ??= {.JntPos.PelvisPosZ};
DriverVel ??= {.JntVel.PelvisPosZ};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_ROT_Z
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_PELVIS_ROT_Z ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverRotZ ={
AnyKinRotational rot ={
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME;
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrameTrunk;
Type=RotAxesAngles;
};
MeasureOrganizer = {0};
DriverPos ??= pi/180*{.JntPos.PelvisRotZ};
DriverVel ??= pi/180*{.JntVel.PelvisRotZ};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_ROT_Y
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_PELVIS_ROT_Y ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverRotY ={
AnyKinRotational rot ={
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME;
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrameTrunk;
Type=RotAxesAngles;
};
MeasureOrganizer = {1};
DriverPos ??= pi/180*{.JntPos.PelvisRotY};
DriverVel ??= pi/180*{.JntVel.PelvisRotY};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_ROT_X
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_PELVIS_ROT_X ON/OFF
///
AnyKinEqSimpleDriver PelvisGroundDriverRotX ={
AnyKinRotational rot ={
#if BM_GLOBAL_REFERENCE_FRAME_SWITCH == 0
AnyFixedRefFrame &ref1 =..GenericGRF;
#else
AnyFixedRefFrame &ref1 = GLOBAL_REFERENCE_FRAME
#endif
AnyRefFrame &ref2 =...BodyModel.Trunk.SegmentsLumbar.PelvisSeg.AnatomicalFrameTrunk;
Type=RotAxesAngles;
};
MeasureOrganizer = {2};
DriverPos ??= pi/180*{.JntPos.PelvisRotX};
DriverVel ??= pi/180*{.JntVel.PelvisRotX};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
// ************************************
// Drivers for the spine
// ************************************
#if BM_TRUNK_LUMBAR_RHYTHM == 0
AnyMessage LumbarSpineMannequinDrivers = {TriggerPreProcess=On;Type=MSG_Message; Message="Please note that BM_SPINE_RHYTHM is set to OFF; No default mannequin drivers are used to drive lumbar spine joints.";};
#endif
#if BM_MANNEQUIN_DRIVER_SKULL_THORAX_FLEXION
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_SKULL_THORAX_FLEXION ON/OFF
///
AnyKinEqSimpleDriver SkullThoraxFlexionDriver = {
AnyKinMeasure& SkullThoraxFlexion = ..BodyModel.Interface.Trunk.SkullThoraxFlexion;
DriverPos ??= pi/180*{-.JntPos.NeckExtension};
DriverVel ??= pi/180*{-.JntVel.NeckExtension};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_SKULL_THORAX_LATERALBENDING
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_SKULL_THORAX_LATERALBENDING ON/OFF
///
AnyKinEqSimpleDriver SkullThoraxLateralBendingDriver = {
AnyKinMeasure& SkullThoraxLateralBending = ..BodyModel.Interface.Trunk.SkullThoraxLateralBending;
DriverPos ??= pi/180*{.JntPos.NeckLateralBending};
DriverVel ??= pi/180*{.JntVel.NeckLateralBending};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_SKULL_THORAX_ROTATION
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_SKULL_THORAX_ROTATION ON/OFF
///
AnyKinEqSimpleDriver SkullThoraxRotationDriver = {
AnyKinMeasure& SkullThoraxRotation = ..BodyModel.Interface.Trunk.SkullThoraxRotation;
DriverPos ??= pi/180*{.JntPos.NeckRotation};
DriverVel ??= pi/180*{.JntVel.NeckRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Thorax pelvis rotation driver
#if BM_MANNEQUIN_DRIVER_PELVIS_THORAX_LATERAL_BENDING
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_SKULL_THORAX_ROTATION ON/OFF
///
AnyKinEqSimpleDriver PostureDriverBending ={
AnyKinMeasure& Ref2 = ..BodyModel.Interface.Trunk.PelvisThoraxLateralBending;
DriverPos ??= pi/180*{.JntPos.PelvisThoraxLateralBending};
DriverVel ??= pi/180*{.JntVel.PelvisThoraxLateralBending};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_THORAX_ROTATION
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_PELVIS_THORAX_ROTATION ON/OFF
///
AnyKinEqSimpleDriver PostureDriverRotation ={
AnyKinMeasure& Ref3 = ..BodyModel.Interface.Trunk.PelvisThoraxRotation;
DriverPos ??= pi/180*{.JntPos.PelvisThoraxRotation};
DriverVel ??= pi/180*{.JntVel.PelvisThoraxRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_PELVIS_THORAX_EXTENSION
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_PELVIS_THORAX_EXTENSION ON/OFF
///
AnyKinEqSimpleDriver PostureDriverExtension ={
AnyKinMeasure& Ref1 = ..BodyModel.Interface.Trunk.PelvisThoraxExtension;
DriverPos ??= pi/180*{.JntPos.PelvisThoraxExtension};
DriverVel ??= pi/180*{.JntVel.PelvisThoraxExtension};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
// ************************************
// Drivers for the right arm
// ************************************
#if BM_ARM_RIGHT == 1
#if BM_ARM_SHOULDER_RHYTHM == 0
//Sterno clavicular joint driver
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_PROTRACTION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_PROTRACTION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver SCProtractionDriverRight ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.SternoClavicularProtraction;
DriverPos ??= pi/180*{.JntPos.Right.SternoClavicularProtraction};
DriverVel ??= pi/180*{.JntVel.Right.SternoClavicularProtraction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_ELEVATION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_ELEVATION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver SCElevationDriverRight ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.SternoClavicularElevation;
DriverPos ??= pi/180*{ .JntPos.Right.SternoClavicularElevation };
DriverVel ??= pi/180*{ .JntVel.Right.SternoClavicularElevation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_AXIAL_ROTATION_RIGHT & BM_ARM_CLAVICULA_ROTATION_RHYTHM == 0
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_AXIAL_ROTATION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver SCAxialRotationDriverRight ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.SternoClavicularAxialRotation;
DriverPos ??= pi/180*{ .JntPos.Right.SternoClavicularAxialRotation };
DriverVel ??= pi/180*{ .JntVel.Right.SternoClavicularAxialRotation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif // BM_ARM_SHOULDER_RHYTHM = 0
//Glenohumeral joint
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_ABDUCTION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_ABDUCTION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver GHDriverRightAbduction={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.GlenohumeralAbduction;
DriverPos ??= pi/180*{.JntPos.Right.GlenohumeralAbduction};
DriverVel ??= pi/180*{.JntVel.Right.GlenohumeralAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver GHDriverRightFlexion={
AnyKinMeasure& ref2 =..BodyModel.Interface.Right.GlenohumeralFlexion;
DriverPos ??= pi/180*{.JntPos.Right.GlenohumeralFlexion};
DriverVel ??= pi/180*{.JntVel.Right.GlenohumeralFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_EXTERNAL_ROTATION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_EXTERNAL_ROTATION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver GHDriverRightExternalRotation={
AnyKinMeasure& ref3 =..BodyModel.Interface.Right.GlenohumeralExternalRotation;
DriverPos ??= pi/180*{.JntPos.Right.GlenohumeralExternalRotation};
DriverVel ??= pi/180*{.JntVel.Right.GlenohumeralExternalRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Elbow flexion driver
#if BM_MANNEQUIN_DRIVER_ELBOW_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ELBOW_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver ElbowFlexionDriverRight={
AnyKinMeasureOrg &Elbow =..BodyModel.Interface.Right.ElbowFlexion;
DriverPos ??= pi/180*{.JntPos.Right.ElbowFlexion};
DriverVel ??= pi/180*{.JntVel.Right.ElbowFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Elbow pronation driver
#if BM_MANNEQUIN_DRIVER_ELBOW_PRONATION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ELBOW_PRONATION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver ElbowPronationDriverRight={
AnyKinMeasure& Elbow =..BodyModel.Interface.Right.ElbowPronation;
DriverPos ??= pi/180*{.JntPos.Right.ElbowPronation };
DriverVel ??= pi/180*{.JntVel.Right.ElbowPronation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Wrist driver
#if BM_MANNEQUIN_DRIVER_WRIST_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_WRIST_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver WristDriverRightFlexion ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.WristFlexion;
DriverPos ??= pi/180*{.JntPos.Right.WristFlexion};
DriverVel ??= pi/180*{.JntVel.Right.WristFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_WRIST_ABDUCTION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_WRIST_ABDUCTION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver WristDriverRightAbduction ={
AnyKinMeasure& ref2 =..BodyModel.Interface.Right.WristAbduction;
DriverPos ??= pi/180*{.JntPos.Right.WristAbduction};
DriverVel ??= pi/180*{.JntVel.Right.WristAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif
// ************************************
// Drivers for the left arm
// ************************************
#if BM_ARM_LEFT == 1
#if BM_ARM_SHOULDER_RHYTHM == 0
//Sterno clavicular joint driver
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_PROTRACTION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_PROTRACTION_LEFT ON/OFF
///
AnyKinEqSimpleDriver SCProtractionDriverLeft ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.SternoClavicularProtraction;
DriverPos ??= pi/180*{.JntPos.Left.SternoClavicularProtraction};
DriverVel ??= pi/180*{.JntVel.Left.SternoClavicularProtraction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_ELEVATION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_ELEVATION_LEFT ON/OFF
///
AnyKinEqSimpleDriver SCElevationDriverLeft ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.SternoClavicularElevation;
DriverPos ??= pi/180*{ .JntPos.Left.SternoClavicularElevation };
DriverVel ??= pi/180*{ .JntVel.Left.SternoClavicularElevation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_AXIAL_ROTATION_LEFT & BM_ARM_CLAVICULA_ROTATION_RHYTHM == 0
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_STERNOCLAVICULAR_AXIAL_ROTATION_LEFT ON/OFF
///
AnyKinEqSimpleDriver SCAxialRotationDriverLeft ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.SternoClavicularAxialRotation;
DriverPos ??= pi/180*{ .JntPos.Left.SternoClavicularAxialRotation };
DriverVel ??= pi/180*{ .JntVel.Left.SternoClavicularAxialRotation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif // BM_ARM_SHOULDER_RHYTHM = 0
//Glenohumeral joint driver
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_ABDUCTION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_ABDUCTION_LEFT ON/OFF
///
AnyKinEqSimpleDriver GHDriverLeftAbduction={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.GlenohumeralAbduction;
DriverPos ??= pi/180*{.JntPos.Left.GlenohumeralAbduction};
DriverVel ??= pi/180*{.JntVel.Left.GlenohumeralAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver GHDriverLeftFlexion={
AnyKinMeasure& ref2 =..BodyModel.Interface.Left.GlenohumeralFlexion;
DriverPos ??= pi/180*{.JntPos.Left.GlenohumeralFlexion};
DriverVel ??= pi/180*{.JntVel.Left.GlenohumeralFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_GLENOHUMERAL_EXTERNAL_ROTATION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_GLENOHUMERAL_EXTERNAL_ROTATION_LEFT ON/OFF
///
AnyKinEqSimpleDriver GHDriverLeftExternalRotation={
AnyKinMeasure& ref3 =..BodyModel.Interface.Left.GlenohumeralExternalRotation;
DriverPos ??= pi/180*{.JntPos.Left.GlenohumeralExternalRotation};
DriverVel ??= pi/180*{.JntVel.Left.GlenohumeralExternalRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Elbow flexion driver
#if BM_MANNEQUIN_DRIVER_ELBOW_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ELBOW_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver ElbowFlexionDriverLeft={
AnyKinMeasureOrg &Elbow =..BodyModel.Interface.Left.ElbowFlexion;
DriverPos ??= pi/180*{.JntPos.Left.ElbowFlexion};
DriverVel ??= pi/180*{.JntVel.Left.ElbowFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Elbow pronation driver
#if BM_MANNEQUIN_DRIVER_ELBOW_PRONATION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ELBOW_PRONATION_LEFT ON/OFF
///
AnyKinEqSimpleDriver ElbowPronationDriverLeft={
AnyKinMeasure& Elbow =..BodyModel.Interface.Left.ElbowPronation;
DriverPos ??= pi/180*{.JntPos.Left.ElbowPronation };
DriverVel ??= pi/180*{.JntVel.Left.ElbowPronation };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Wrist driver
#if BM_MANNEQUIN_DRIVER_WRIST_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_WRIST_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver WristDriverLeftFlexion ={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.WristFlexion;
DriverPos ??= pi/180*{.JntPos.Left.WristFlexion};
DriverVel ??= pi/180*{.JntVel.Left.WristFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_WRIST_ABDUCTION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_WRIST_ABDUCTION_LEFT ON/OFF
///
AnyKinEqSimpleDriver WristDriverLeftAbduction ={
AnyKinMeasure& ref2 =..BodyModel.Interface.Left.WristAbduction;
DriverPos ??= pi/180*{.JntPos.Left.WristAbduction};
DriverVel ??= pi/180*{.JntVel.Left.WristAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif //Left arm
#if BM_ARM_DETAILED_HAND
#if BM_ARM_RIGHT & BM_MANNEQUIN_DRIVER_HAND_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HAND_RIGHT ON/OFF
///
AnyKinEqSimpleDriver HandDriversRight ={
AnyKinMeasure& CMC1Flexion = ..BodyModel.Interface.Right.CMCFlexion;
AnyKinMeasure& CMC1Abduction = ..BodyModel.Interface.Right.CMCAbduction;
AnyKinMeasure& MCP1Flexion = ..BodyModel.Interface.Right.MCPFlexion;
AnyKinMeasure& MCP1Abduction = ..BodyModel.Interface.Right.MCPAbduction;
AnyKinMeasure& DIP1 = ..BodyModel.Interface.Right.DIP;
AnyKinMeasure& MCP2 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
AnyKinMeasure& PIP2 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
AnyKinMeasure& DIP2 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
AnyKinMeasure& MCP3 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
AnyKinMeasure& PIP3 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
AnyKinMeasure& DIP3 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
AnyKinMeasure& MCP4 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
AnyKinMeasure& PIP4 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
AnyKinMeasure& DIP4 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
AnyKinMeasure& MCP5 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
AnyKinMeasure& PIP5 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
AnyKinMeasure& DIP5 = ..BodyModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
DriverPos ??= pi/180*{
.JntPos.Right.Finger1.CMCFlexion,
.JntPos.Right.Finger1.CMCDeviation,
.JntPos.Right.Finger1.MCPFlexion,
.JntPos.Right.Finger1.MCPDeviation,
.JntPos.Right.Finger1.DIPFlexion,
.JntPos.Right.Finger2.MCPFlexion,
.JntPos.Right.Finger2.PIPFlexion,
.JntPos.Right.Finger2.DIPFlexion,
.JntPos.Right.Finger3.MCPFlexion,
.JntPos.Right.Finger3.PIPFlexion,
.JntPos.Right.Finger3.DIPFlexion,
.JntPos.Right.Finger4.MCPFlexion,
.JntPos.Right.Finger4.PIPFlexion,
.JntPos.Right.Finger4.DIPFlexion,
.JntPos.Right.Finger5.MCPFlexion,
.JntPos.Right.Finger5.PIPFlexion,
.JntPos.Right.Finger5.DIPFlexion
};
DriverVel ??= pi/180*{
.JntVel.Right.Finger1.CMCFlexion,
.JntVel.Right.Finger1.CMCDeviation,
.JntVel.Right.Finger1.MCPFlexion,
.JntVel.Right.Finger1.MCPDeviation,
.JntVel.Right.Finger1.DIPFlexion,
.JntVel.Right.Finger2.MCPFlexion,
.JntVel.Right.Finger2.PIPFlexion,
.JntVel.Right.Finger2.DIPFlexion,
.JntVel.Right.Finger3.MCPFlexion,
.JntVel.Right.Finger3.PIPFlexion,
.JntVel.Right.Finger3.DIPFlexion,
.JntVel.Right.Finger4.MCPFlexion,
.JntVel.Right.Finger4.PIPFlexion,
.JntVel.Right.Finger4.DIPFlexion,
.JntVel.Right.Finger5.MCPFlexion,
.JntVel.Right.Finger5.PIPFlexion,
.JntVel.Right.Finger5.DIPFlexion
};
Reaction = {Type ??= repmat(.nDim, Off);};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif // BM_MANNEQUIN_DRIVER_HAND
#if BM_ARM_LEFT & BM_MANNEQUIN_DRIVER_HAND_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HAND_LEFT ON/OFF
///
AnyKinEqSimpleDriver HandDriversLeft ={
AnyKinMeasure& CMC1Flexion = ..BodyModel.Interface.Left.CMCFlexion;
AnyKinMeasure& CMC1Abduction = ..BodyModel.Interface.Left.CMCAbduction;
AnyKinMeasure& MCP1Flexion = ..BodyModel.Interface.Left.MCPFlexion;
AnyKinMeasure& MCP1Abduction = ..BodyModel.Interface.Left.MCPAbduction;
AnyKinMeasure& DIP1 = ..BodyModel.Interface.Left.DIP;
AnyKinMeasure& MCP2 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
AnyKinMeasure& PIP2 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
AnyKinMeasure& DIP2 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
AnyKinMeasure& MCP3 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
AnyKinMeasure& PIP3 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
AnyKinMeasure& DIP3 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
AnyKinMeasure& MCP4 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
AnyKinMeasure& PIP4 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
AnyKinMeasure& DIP4 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
AnyKinMeasure& MCP5 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
AnyKinMeasure& PIP5 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
AnyKinMeasure& DIP5 = ..BodyModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
DriverPos ??= pi/180*{
.JntPos.Left.Finger1.CMCFlexion,
.JntPos.Left.Finger1.CMCDeviation,
.JntPos.Left.Finger1.MCPFlexion,
.JntPos.Left.Finger1.MCPDeviation,
.JntPos.Left.Finger1.DIPFlexion,
.JntPos.Left.Finger2.MCPFlexion,
.JntPos.Left.Finger2.PIPFlexion,
.JntPos.Left.Finger2.DIPFlexion,
.JntPos.Left.Finger3.MCPFlexion,
.JntPos.Left.Finger3.PIPFlexion,
.JntPos.Left.Finger3.DIPFlexion,
.JntPos.Left.Finger4.MCPFlexion,
.JntPos.Left.Finger4.PIPFlexion,
.JntPos.Left.Finger4.DIPFlexion,
.JntPos.Left.Finger5.MCPFlexion,
.JntPos.Left.Finger5.PIPFlexion,
.JntPos.Left.Finger5.DIPFlexion
};
DriverVel ??= pi/180*{
.JntVel.Left.Finger1.CMCFlexion,
.JntVel.Left.Finger1.CMCDeviation,
.JntVel.Left.Finger1.MCPFlexion,
.JntVel.Left.Finger1.MCPDeviation,
.JntVel.Left.Finger1.DIPFlexion,
.JntVel.Left.Finger2.MCPFlexion,
.JntVel.Left.Finger2.PIPFlexion,
.JntVel.Left.Finger2.DIPFlexion,
.JntVel.Left.Finger3.MCPFlexion,
.JntVel.Left.Finger3.PIPFlexion,
.JntVel.Left.Finger3.DIPFlexion,
.JntVel.Left.Finger4.MCPFlexion,
.JntVel.Left.Finger4.PIPFlexion,
.JntVel.Left.Finger4.DIPFlexion,
.JntVel.Left.Finger5.MCPFlexion,
.JntVel.Left.Finger5.PIPFlexion,
.JntVel.Left.Finger5.DIPFlexion
};
Reaction = {Type ??= repmat(.nDim, Off);};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif // BM_MANNEQUIN_DRIVER_HAND
#endif //Detailed hand
// ************************************
// Drivers for the right leg
// ************************************
#if BM_LEG_RIGHT == 1
//Hip driver
#if BM_MANNEQUIN_DRIVER_HIP_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver HipDriverRightFlexion={
AnyKinMeasure& ref1 =..BodyModel.Interface.Right.HipFlexion;
DriverPos ??= pi/180*{.JntPos.Right.HipFlexion};
DriverVel ??= pi/180*{.JntVel.Right.HipFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_HIP_EXTERNAL_ROTATION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_EXTERNAL_ROTATION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver HipDriverRightExternalRotation={
AnyKinMeasure& ref2 =..BodyModel.Interface.Right.HipExternalRotation;
DriverPos ??= pi/180*{.JntPos.Right.HipExternalRotation};
DriverVel ??= pi/180*{.JntVel.Right.HipExternalRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_HIP_ABDUCTION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_ABDUCTION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver HipDriverRightAbduction={
AnyKinMeasure& ref3 =..BodyModel.Interface.Right.HipAbduction;
DriverPos ??= pi/180*{.JntPos.Right.HipAbduction};
DriverVel ??= pi/180*{.JntVel.Right.HipAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Knee driver
#if BM_MANNEQUIN_DRIVER_KNEE_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_KNEE_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver KneeDriverRight={
AnyKinMeasure &Knee = ..BodyModel.Interface.Right.KneeFlexion;
DriverPos ??= pi/180*{.JntPos.Right.KneeFlexion};
DriverVel ??= pi/180*{.JntVel.Right.KneeFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Ankle driver
#if BM_FOOT_MODEL == _FOOT_MODEL_DEFAULT_
#if BM_MANNEQUIN_DRIVER_ANKLE_FLEXION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_FLEXION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverRightFlexion={
AnyKinMeasure& ref1=..BodyModel.Interface.Right.AnklePlantarFlexion;
DriverPos ??= pi/180*{.JntPos.Right.AnklePlantarFlexion};
DriverVel ??= pi/180*{.JntVel.Right.AnklePlantarFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
#if BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverRightEversion={
AnyKinMeasure& ref2=..BodyModel.Interface.Right.AnkleEversion;
DriverPos ??= pi/180*{.JntPos.Right.SubTalarEversion};
DriverVel ??= pi/180*{.JntVel.Right.SubTalarEversion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif
#if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM
#if BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_RIGHT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_RIGHT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverRightEversion={
AnyKinMeasure& ref=..BodyModel.Interface.Right.SubTalarEversion;
DriverPos ??= pi/180*{.JntPos.Right.SubTalarEversion};
DriverVel ??= pi/180*{.JntVel.Right.SubTalarEversion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif
#endif
#endif
// ************************************
// Drivers for the Left leg
// ************************************
#if BM_LEG_LEFT == 1
//Left hip driver
#if BM_MANNEQUIN_DRIVER_HIP_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver HipDriverLeftFlexion={
AnyKinMeasure& ref1 =..BodyModel.Interface.Left.HipFlexion;
DriverPos ??= pi/180*{.JntPos.Left.HipFlexion};
DriverVel ??= pi/180*{.JntVel.Left.HipFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_HIP_EXTERNAL_ROTATION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_EXTERNAL_ROTATION_LEFT ON/OFF
///
AnyKinEqSimpleDriver HipDriverLeftExternalRotation={
AnyKinMeasure& ref2 =..BodyModel.Interface.Left.HipExternalRotation;
DriverPos ??= pi/180*{.JntPos.Left.HipExternalRotation};
DriverVel ??= pi/180*{.JntVel.Left.HipExternalRotation};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_MANNEQUIN_DRIVER_HIP_ABDUCTION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_HIP_ABDUCTION_LEFT ON/OFF
///
AnyKinEqSimpleDriver HipDriverLeftAbduction={
AnyKinMeasure& ref3 =..BodyModel.Interface.Left.HipAbduction;
DriverPos ??= pi/180*{.JntPos.Left.HipAbduction};
DriverVel ??= pi/180*{.JntVel.Left.HipAbduction};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Knee driver
#if BM_MANNEQUIN_DRIVER_KNEE_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_KNEE_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver KneeDriverLeft={
AnyKinMeasure& Knee =..BodyModel.Interface.Left.KneeFlexion;
DriverPos ??= pi/180*{.JntPos.Left.KneeFlexion };
DriverVel ??= pi/180*{.JntVel.Left.KneeFlexion };
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
//Ankle driver
#if BM_FOOT_MODEL == _FOOT_MODEL_DEFAULT_
#if BM_MANNEQUIN_DRIVER_ANKLE_FLEXION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_FLEXION_LEFT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverLeftFlexion={
AnyKinMeasure& ref1=..BodyModel.Interface.Left.AnklePlantarFlexion;
DriverPos ??= pi/180*{.JntPos.Left.AnklePlantarFlexion};
DriverVel ??= pi/180*{.JntVel.Left.AnklePlantarFlexion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#if BM_LEG_LEFT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
#if BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_LEFT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverLeftEversion={
AnyKinMeasure& ref2=..BodyModel.Interface.Left.AnkleEversion;
DriverPos ??= pi/180*{.JntPos.Left.SubTalarEversion};
DriverVel ??= pi/180*{.JntVel.Left.SubTalarEversion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif
#if BM_LEG_LEFT & BM_LEG_MODEL_IS_TLEM
#if BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_LEFT
/// Enabled/disabled with:
/// #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_LEFT ON/OFF
///
AnyKinEqSimpleDriver AnkleDriverLeftEversion={
AnyKinMeasure& ref2=..BodyModel.Interface.Left.SubTalarEversion;
DriverPos ??= pi/180*{.JntPos.Left.SubTalarEversion};
DriverVel ??= pi/180*{.JntVel.Left.SubTalarEversion};
Reaction = {Type ??= {Off};};
AnyVar WeakDriverWeight ??= .DefaultWeakDriverWeight;
AnyFolder Weights =
{
AnyFunConst Fun = { Value ??= repmat(..nDim, ..WeakDriverWeight); };
};
WeightFun ??= {&Weights.Fun};
CType ??= repmat(nDim, .DefaultDriverCType);
};
#endif
#endif
#endif
#endif
};
Datasets
Models
