127 lines (111 with data), 4.1 kB

AnyFolder &BikeParameters = Main.BikeParameters;

/// This is the joint connecting the Pelvis segment to the bike.
AnyKinLinear SaddleJointLin = {
  //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis;
  AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter;
  AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos;
};

AnyKinEq SaddelJointLinConstraints = {
  AnyKinLinear &ref= .SaddleJointLin;
};

AnyKinRotational SaddelJointRot ={
  //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis;
  AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter;
  AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos;
  Type=RotAxesAngles;
};

AnyKinEqSimpleDriver SaddelRotation = {
  AnyKinRotational &Jnt = .SaddelJointRot;
  DriverPos = {0.15*pi,0,0};
  DriverVel = {0.0,0,0};
  //Setting Reaction.Type=1 means that the joint will generate the moment it will 
  //need to balance this DOF, setting it to 0 which is default will mean that muscles 
  //forces will be used for balancing the joint
  Reaction.Type = {On,On,On}; 
};

AnyFolder Right = {
  // This is the joint connecting the foot to the pedal. It simply
  // specifies that the linear distances between the two must be zero
  AnyKinLinear PedalJointLin = {
    AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint;
    AnyRefNode &PedalR= ....BikeModel.Crank.RPedal;
  };
  AnyKinMeasureOrg PedalJointLinXY = {
    AnyKinLinear &ref=.PedalJointLin;
    MeasureOrganizer={0,1};
  };
  
  AnyKinEq PedalJointLinConstraints = {
    AnyKinMeasureOrg  &ref= .PedalJointLinXY;
  };
  
  // This measure is for controlling the rotation.
  AnyKinRotational PedalJointRot = {
    AnyRefFrame &Ground = ....BikeModel.BikeFrame;
    AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint;
    Type=RotAxesAngles;
  };
  AnyKinMeasureOrg FootRMovement = {
    AnyKinRotational &GroundFoot = .PedalJointRot;
    MeasureOrganizer = {0,1};  // Standard rotational order = z,y,x = 0,1,2
  }; 
  
  AnyKinEqFourierDriver PedalRRotationFourier = {
    AnyKinMeasure& Jnt = .FootRMovement;
    Type = CosSin;
    AnyVar a0 = -0.3797-0.5*pi;
    AnyVar a1 = -0.0205;
    AnyVar b1 = 0.3393;
    AnyVar a2 = 0.004906;
    AnyVar b2 = 0.03654;
    AnyVar w = 7.681;
    Freq = ..BikeParameters.Cadence/60; 
    //    A = { {a0+0.5*pi,a1,a2},{0, 0,0}  };
    //    B = {{0,b1,b2},{0, 0,0} }; 
    //    Reaction.Type = {Off,Off};
    A = { {a0+0.5*pi,a1,a2}  };
    B = {{0,b1,b2} }; 
    Reaction.Type = {Off};
    MeasureOrganizer={0};
  };
};

AnyFolder Left = {
  
  // This is the joint connecting the foot to the pedal. It simply
  // specifies that the linear distances between the two mush be zero
  AnyKinLinear PedalJointLin = {
    AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint;
    AnyRefNode &PedalR= ....BikeModel.Crank.LPedal;
  };
  
  AnyKinMeasureOrg PedalJointLinXY = {
    AnyKinLinear &ref=.PedalJointLin;
    MeasureOrganizer={0,1};
  };
  
  AnyKinEq PedalJointLinConstraints = {
    AnyKinMeasure& ref= .PedalJointLinXY;
  };
  
  // This measure is for controlling the rotation.
  AnyKinRotational PedalJointRot = {
    AnyRefFrame &Ground = ....BikeModel.BikeFrame;
    AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint;
    Type=RotAxesAngles;
  };
  AnyKinMeasureOrg FootLMovement = {
    AnyKinRotational &GroundFoot = .PedalJointRot;
    MeasureOrganizer = {0,1};  // Standard rotational order = z,y,x = 0,1,2
  }; 
  
  AnyKinEqFourierDriver PedalLRotationFourier ={
    AnyKinMeasure& Jnt = .FootLMovement;
    Type = CosSin;
    AnyVar a0 = -0.3792-0.5*pi;
    AnyVar a1 = 0.0205;
    AnyVar b1 = -0.3373;
    AnyVar a2 = 0.004906;
    AnyVar b2 = 0.03654;
    AnyVar w = 7.681;
    Freq = ..BikeParameters.Cadence/60; 
    //    A = { {a0+0.5*pi,a1,a2},{0, 0,0}  };
    //    B = {{0,b1,b2},{0, 0,0} }; 
    //    Reaction.Type = {Off,Off};
    
    A = { {a0+0.5*pi,a1,a2} };
    B = {{0,b1,b2} }; 
    Reaction.Type = {Off};
    MeasureOrganizer={0};
  };
};