75 lines (53 with data), 2.0 kB

/* ----------------------------------------------------------------
Drivers for the model:

-The pelvis is locked to the ground 
-The remaining degrees of freedom are controlled by parameters in the mannequin.any 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.
----------------------------------------------------------------  */

AnyFolder Drivers = {

  #include "<ANYBODY_PATH_BODY>/BodyModels/include/MannequinDrivers.any"

  // Aliases for convenient referencing
  AnyFolder &JntPos=..Mannequin.Posture;  
  AnyFolder &JntVel=..Mannequin.PostureVel;  
  
  AnyFolder &RefHM = Main.Model.BodyModel;
   
//  AnyFolder &Thorax = .BodyModel.Trunk.SegmentsThorax.ThoraxSeg;
//  AnyFolder &ref=.BodyModel.Trunk;
  
  // The body parts are included only if there is no unhallowed combination detected
  #ifdef UNHALLOWED_COMBINATION
  #else
  
  #include "ConstantDrivers/TrunkDrivers.any"
  
  #if BM_ARM_RIGHT == ON
  #include "ConstantDrivers/RightArmDrivers.any"
    #if BM_ARM_DETAILED_HAND == ON
    #include "ConstantDrivers/RightHandDrivers.any"
    #endif
  #else
  #endif
  
  
  #if BM_ARM_LEFT == ON
  #include "ConstantDrivers/LeftArmDrivers.any"
    #if BM_ARM_DETAILED_HAND == ON
    #include "ConstantDrivers/LeftHandDrivers.any"
    #endif
  #else
  #endif
  
  
  #if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
  #include "ConstantDrivers/RightLegDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_LEFT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
  #include "ConstantDrivers/LeftLegDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM
  #include "ConstantDrivers/RightLegTDDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_LEFT & BM_LEG_MODEL_IS_TLEM
  #include "ConstantDrivers/LeftLegTDDrivers.any"
  #else
  #endif
  
  #endif
};//Drivers