//This file can be used for controlling the mannequin to certain motions

//All drivers in the model is based on interpolation drivers (PiesewiseLine)

//

//In this mannequin file you may type a vetor of values for each joint or

//make a reference to a file containing the values as a column

//For each data vector there must be an equivalent time serie

//

//In this file there are examples of joints which are diven using two values, three values 

//(Hip and Glenohumeral) and finally there is a joint using an include file (PelvisThorax rotation)

Main.HumanModel.Mannequin ={

  // special functions to estimate initial conditions  

  #include "InterpolationFunctions.any" 

  Posture ={

    AnyVector  TimeSerie={0/4,1/4,2/4,3/4,4/4}; //This time serie should be used in general

    AnyVector PelvisPosTime=TimeSerie;

    AnyVector PelvisPos = .InterpolationFunctions.PelvisGroundFunction(Main.Study.tStart);  // uses Pelvis..Vec

    //This controls the position of the pelvi wrt. to the global reference frame

    PelvisPosX= PelvisPos[0];

    PelvisPosY= PelvisPos[1];

    PelvisPosZ= PelvisPos[2];

    //This controls the rotation of the pelvis wrt. to the global reference frame

    AnyVector PelvisRotTime=TimeSerie;

    PelvisRotX=(180/pi)*PelvisPos[3];

    PelvisRotY=(180/pi)*PelvisPos[4]; 

    PelvisRotZ=(180/pi)*PelvisPos[5];

    AnyVector PelvisPosXVec={0,0,0,0,0};

    AnyVector PelvisPosYVec={1,1,1,1,1};

    AnyVector PelvisPosZVec={0,0,0,0,0};

    AnyVector PelvisRotXVec={0,0,0,0,0};

    AnyVector PelvisRotYVec={0,0,0,0,0};

    AnyVector PelvisRotZVec={0,0,0,0,0};

    // These variables control the rotation of the thorax wrt the

    // pelvis    

    AnyVector PelvisThoraxTime=TimeSerie;

    AnyVector ThoraxRot = .InterpolationFunctions.PostureFunction(Main.Study.tStart);  // uses PelvisThorax..Vec

    PelvisThoraxExtension=(180/pi)*ThoraxRot[2]; 

    PelvisThoraxLateralBending=(180/pi)*ThoraxRot[1];

    PelvisThoraxRotation=(180/pi)*ThoraxRot[0]; 

    AnyVector PelvisThoraxExtensionVec={-30,-15,0,15,30}-8; 

    AnyVector PelvisThoraxLateralBendingVec=0*{0,10,20,30,40};  

    AnyVector PelvisThoraxRotationVec={0,0,0,0,0};        

    AnyVector NeckTime=TimeSerie;

    NeckExtension =(180/pi)*.InterpolationFunctions.NeckFunction(Main.Study.tStart)[2]; // uses NeckExtensionVec

    NeckRotation =(180/pi)*.InterpolationFunctions.NeckFunction(Main.Study.tStart)[1]; // uses NeckAxialRotationVec

    NeckLateralBending =(180/pi)*.InterpolationFunctions.NeckFunction(Main.Study.tStart)[0]; // uses NeckLateralBendingVec

    AnyVector NeckExtensionVec={0,0,0,0,0}; 

    AnyVector NeckLateralBendingVec={0,0,0,0,0}; 

    AnyVector NeckAxialRotationVec={0,0,0,0,0}; 

    Right ={ 

      //Arm 

      AnyVector SternoClavicularTime=.TimeSerie;

      AnyVector SternoClavicularProtractionVec={-20,-23,-26,-29,-30};   //This value is not used for initial position

      AnyVector SternoClavicularElevationVec={8.5,10.5,11.5,12.5,13.5};    //This value is not used for initial position

      AnyVector GlenohumeralTime=.TimeSerie;

      AnyVec3 GHInitPos = ..InterpolationFunctions.GHFunctionRight(Main.Study.tStart);  // uses Glenohumeral..Vec

      GlenohumeralFlexion = (180/pi)*GHInitPos[0];

      GlenohumeralAbduction = (180/pi)*GHInitPos[1]; 

      GlenohumeralExternalRotation = (180/pi)*GHInitPos[2]; 

      AnyVector GlenohumeralFlexionVec ={10,30,50,70,90} ;

      AnyVector GlenohumeralAbductionVec =2*{ 10,30,50,70,90}; 

      AnyVector GlenohumeralExternalRotationVec ={10,30,50,70,90}; 

      AnyVector ElbowFlexionTime=.TimeSerie;

      ElbowFlexion =(180/pi)*..InterpolationFunctions.ElbowFlexionFunctionRight(Main.Study.tStart)[0]; // uses ElbowFlexionVec

      AnyVector ElbowFlexionVec ={ 0,12,24,40,140}; 

      AnyVector ElbowPronationTime=.TimeSerie;

      ElbowPronation =(180/pi)*..InterpolationFunctions.ElbowPronationFunctionRight(Main.Study.tStart)[0];  // uses ElbowPronationVec

      AnyVector ElbowPronationVec ={ 30.0,-15,-30,-45,-60.0};

      AnyVector WristTime=.TimeSerie;

      AnyVector WristRot =..InterpolationFunctions.WristFunctionRight(Main.Study.tStart); // uses Wrist..Vec

      WristFlexion = (180/pi)*WristRot[0]; 

      WristAbduction = (180/pi)*WristRot[1]; 

      AnyVector WristFlexionVec =3*{10,5,0,-5,-10};

      AnyVector WristAbductionVec =3*{-10,5,0,5,10};

       Finger1 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector CMCDeviationVec={0,-5,-10,-15,-20};

        AnyVector CMCFlexionVec={0,5,10,15,20};

        AnyVector MCPFlexionVec= {0,5,10,15,20};

        AnyVector MCPDeviationVec={0,0,0,0,0};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         CMCFlexion=...InterpolationFunctions.Right.CMC1Flexion(Main.Study.tStart)[0];

         CMCDeviation=...InterpolationFunctions.Right.CMC1Abduction(Main.Study.tStart)[0];  

         MCPFlexion=...InterpolationFunctions.Right.MCP1Flexion(Main.Study.tStart)[0];

         MCPDeviation=...InterpolationFunctions.Right.MCP1Abduction(Main.Study.tStart)[0];

         DIPFlexion=...InterpolationFunctions.Right.DIP1(Main.Study.tStart)[0]; 

      };

      Finger2 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={50,60,70,80,90};

        AnyVector PIPFlexionVec={50,60,70,80,90};

        AnyVector DIPFlexionVec={50,60,70,80,90};

         MCPFlexion=...InterpolationFunctions.Right.MCP2(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Right.PIP2(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Right.DIP2(Main.Study.tStart)[0]; 

      };

      Finger3 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Right.MCP3(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Right.PIP3(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Right.DIP3(Main.Study.tStart)[0]; 

      };

      Finger4 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Right.MCP4(Main.Study.tStart)[0]; 

         PIPFlexion=...InterpolationFunctions.Right.PIP4(Main.Study.tStart)[0];  

         DIPFlexion=...InterpolationFunctions.Right.DIP4(Main.Study.tStart)[0];  

      };

      Finger5 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Right.MCP5(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Right.PIP5(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Right.DIP5(Main.Study.tStart)[0];          

      };           

      AnyVector HipTime=.TimeSerie;

      AnyVector HipRot =..InterpolationFunctions.HipFunctionRight(Main.Study.tStart);  // uses Hip...Vec

      HipFlexion =(180/pi)*HipRot[0]; 

      HipAbduction =(180/pi)*HipRot[1];   

      HipExternalRotation =(180/pi)*HipRot[2];

      AnyVector HipFlexionVec = { 20,55,90,45,-10}-8; 

      AnyVector HipAbductionVec ={ 20,40,60,45,0}; 

      AnyVector HipExternalRotationVec ={ 10,5,0,-5,-10};

      AnyVector KneeTime=.TimeSerie;

      KneeFlexion =(180/pi)*..InterpolationFunctions.KneeFunctionRight(Main.Study.tStart)[0];   // uses KneeFlexionVec

      AnyVector KneeFlexionVec ={ 120.0,60,16,8,0}; 

      AnyVector AnkleTime=.TimeSerie;

      AnyVector AnkleRot = ..InterpolationFunctions.AnkleFunctionRight(Main.Study.tStart);

      AnklePlantarFlexion =(180/pi)*AnkleRot[0]; 

      SubTalarEversion =(180/pi)*AnkleRot[1]; // uses SubTalarEversionVec

      AnyVector AnklePlantarFlexionVec ={0,5,10,15,20}; 

      AnyVector SubTalarEversionVec ={0,5,10,15,20}; //used by Leg

    };

    Left ={ 

      //all values are set to be equal to the right side values 

      //feel free to change this!

      //Arm

      AnyVector SternoClavicularTime=.Right.SternoClavicularTime;

      AnyVector SternoClavicularProtractionVec=.Right.SternoClavicularProtractionVec;

      AnyVector SternoClavicularElevationVec=.Right.SternoClavicularElevationVec;

      AnyVector GlenohumeralTime=.Right.GlenohumeralTime;

      AnyVec3 GHInitPos = ..InterpolationFunctions.GHFunctionLeft(Main.Study.tStart);  // uses Glenohumeral..Vec

      GlenohumeralFlexion = (180/pi)*GHInitPos[0];

      GlenohumeralAbduction = (180/pi)*GHInitPos[1]; 

      GlenohumeralExternalRotation = (180/pi)*GHInitPos[2]; 

      AnyVector GlenohumeralFlexionVec = .Right.GlenohumeralFlexionVec ; 

      AnyVector GlenohumeralAbductionVec =.Right.GlenohumeralAbductionVec;      

      AnyVector GlenohumeralExternalRotationVec =.Right.GlenohumeralExternalRotationVec ;

      AnyVector ElbowFlexionTime=.Right.ElbowFlexionTime;

      ElbowFlexion =(180/pi)*..InterpolationFunctions.ElbowFEFunctionLeft(Main.Study.tStart)[0]; // uses ElbowFlexionVec

      AnyVector ElbowFlexionVec = .Right.ElbowFlexionVec; 

      AnyVector ElbowPronationTime=.Right.ElbowPronationTime;

      ElbowPronation =(180/pi)*..InterpolationFunctions.ElbowPSFunctionLeft(Main.Study.tStart)[0];  // uses ElbowPronationVec

      AnyVector ElbowPronationVec = .Right.ElbowPronationVec;       

      AnyVector WristTime=.Right.WristTime;

      AnyVector WristRot =..InterpolationFunctions.WristFunctionLeft(Main.Study.tStart); // uses Wrist..Vec

      WristFlexion =(180/pi)*WristRot[0];       

      WristAbduction =(180/pi)*WristRot[1]; 

      AnyVector WristFlexionVec =.Right.WristFlexionVec;

      AnyVector WristAbductionVec =.Right.WristAbductionVec;

        Finger1 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector CMCDeviationVec={0,-5,-10,-15,-20};

        AnyVector CMCFlexionVec={0,5,10,15,20};

        AnyVector MCPFlexionVec= {0,5,10,15,20};

        AnyVector MCPDeviationVec={0,0,0,0,0};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         CMCFlexion=...InterpolationFunctions.Left.CMC1Flexion(Main.Study.tStart)[0];

         CMCDeviation=...InterpolationFunctions.Left.CMC1Abduction(Main.Study.tStart)[0];  

         MCPFlexion=...InterpolationFunctions.Left.MCP1Flexion(Main.Study.tStart)[0];

         MCPDeviation=...InterpolationFunctions.Left.MCP1Abduction(Main.Study.tStart)[0];

         DIPFlexion=...InterpolationFunctions.Left.DIP1(Main.Study.tStart)[0]; 

      };

      Finger2 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={50,60,70,80,90};

        AnyVector PIPFlexionVec={50,60,70,80,90};

        AnyVector DIPFlexionVec={50,60,70,80,90};

         MCPFlexion=...InterpolationFunctions.Left.MCP2(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Left.PIP2(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Left.DIP2(Main.Study.tStart)[0]; 

      };

      Finger3 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Left.MCP3(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Left.PIP3(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Left.DIP3(Main.Study.tStart)[0]; 

      };

      Finger4 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Left.MCP4(Main.Study.tStart)[0]; 

         PIPFlexion=...InterpolationFunctions.Left.PIP4(Main.Study.tStart)[0];  

         DIPFlexion=...InterpolationFunctions.Left.DIP4(Main.Study.tStart)[0];  

      };

      Finger5 ={

        AnyVector FingerTime=..TimeSerie;

        AnyVector MCPFlexionVec={0,5,10,15,20};

        AnyVector PIPFlexionVec={0,5,10,15,20};

        AnyVector DIPFlexionVec={0,5,10,15,20};

         MCPFlexion=...InterpolationFunctions.Left.MCP5(Main.Study.tStart)[0];  

         PIPFlexion=...InterpolationFunctions.Left.PIP5(Main.Study.tStart)[0]; 

         DIPFlexion=...InterpolationFunctions.Left.DIP5(Main.Study.tStart)[0];          

      };           

      //Leg     

      AnyVector HipTime=.Right.HipTime;

      HipFlexion =.Right.HipFlexion;  

      AnyVector HipFlexionVec =.Right.HipFlexionVec;  

      HipAbduction =.Right.HipAbduction;

      AnyVector HipAbductionVec =.Right.HipAbductionVec;

      HipExternalRotation = .Right.HipExternalRotation;

      AnyVector HipExternalRotationVec = .Right.HipExternalRotationVec;

      AnyVector KneeTime=.Right.KneeTime;

      KneeFlexion = .Right.KneeFlexion;       

      AnyVector KneeFlexionVec = .Right.KneeFlexionVec;       

      AnyVector AnkleTime=.Right.AnkleTime;

      AnklePlantarFlexion = .Right.AnklePlantarFlexion ;

      AnyVector AnklePlantarFlexionVec = .Right.AnklePlantarFlexionVec ;

      SubTalarEversion =.Right.SubTalarEversion; 

      AnyVector SubTalarEversionVec =.Right.SubTalarEversionVec; 

    };

  };

  PostureVel={};  

};