81 lines (67 with data), 2.5 kB

// ************************************
// Drivers for the Right leg
// ************************************

FootConnection_3Points FootOnGround_Right(
RefFootPrintFolder = Main.Model.ModelEnvironmentConnection.FootPrintGeneration.FootPrintRight,
HeelLiftOffEnable = 0 )=
{
};

AnyKinEqFourierDriver KneeFlexionDriverRight = 
{
  AnyKinMeasureLinComb lincomb = 
  {
    AnyKinMeasure& ref = ....BodyModel.Interface.Right.KneeFlexion;
    Coef = {{1.0}};
    Const = {-0.5*(ADL_SQUAT_ANGLE_KNEE_FLEXION_MAX+ADL_SQUAT_ANGLE_KNEE_FLEXION_MIN)*pi/180};
    OutDim = 1;
  };
  Type = Cos;
  Freq = 1/ADL_SQUAT_TIME_PERIOD;
  A = {{0.0, -0.5*(ADL_SQUAT_ANGLE_KNEE_FLEXION_MAX-ADL_SQUAT_ANGLE_KNEE_FLEXION_MIN)*pi/180}};
  B = {{0.0, 0.0}};
  Reaction.Type = {Off};
};

//AnyKinEqSimpleDriver KneeAnteriorPosteriorDriverRight = 
//{
//  AnyKinLinear lin = 
//  {
//    AnyRefFrame& ref0  = ....BodyModel.Right.Leg.Seg.Patella.Origin_patella_tendon ;
//    AnyRefFrame& ref1  = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode ;
//    Ref = -1;
//  };
//  MeasureOrganizer = {0};
//  DriverPos = {0};
//  DriverVel = {0};
//  Reaction.Type = {Off};
//};

AnyKinEqFourierDriver KneeAnteriorPosteriorDriverRight = 
{
  AnyVar HeelContactNodeLow_X = ...Environment.GlobalRef.FootPrintBase_Right.FP1.HeelContactNodeLow.sRel[0];
  AnyVar ToeLateralContactNode_X = ...Environment.GlobalRef.FootPrintBase_Right.FP1.ToeLateralContactNode.sRel[0];
  AnyVar ToeMedialContactNode_X = ...Environment.GlobalRef.FootPrintBase_Right.FP1.ToeMedialContactNode.sRel[0];
  AnyVar MinSideContactNode_X = min({ToeLateralContactNode_X, ToeMedialContactNode_X}) ;
  AnyVar BigToeNode_X = ...Environment.GlobalRef.FootPrintBase_Right.FP1.BigToeNode.sRel[0];
  
  AnyVar range_min = MinSideContactNode_X ;
  AnyVar range_max = BigToeNode_X ;
  
  AnyKinMeasureLinComb lincomb = 
  {
    AnyKinMeasureOrg org = 
    {
      AnyKinLinear lin = 
      {
        AnyRefFrame& ref0 = ......Environment.GlobalRef.FootPrintBase_Right.FP1;
        AnyRefFrame& ref1 = ......BodyModel.Right.Leg.Seg.Patella.Origin_patella_tendon ;
        Ref = 0;
      };
      MeasureOrganizer = {0}; //x
    };
    Coef = {{1.0}};
    Const = {-0.5*(.range_max + .range_min)};
    OutDim = 1;
  };
  Type = Cos;
  Freq = 1/ADL_SQUAT_TIME_PERIOD;
  A = {{0.0, -0.5*(range_max - range_min)}};
  B = {{0.0, 0.0}};
  Reaction.Type = {Off};
};