113 lines (78 with data), 2.8 kB

/* ----------------------------------------------------------------
   Drivers for a standing model:
   
   - The two feet are constrained forward/backward and vertically (x & y)
   - The pelvis is constrained laterally (z)
   - The CoM is constrained forward/backward and laterally above the origin.
   
   The remaining degrees of freedom (with the exception of a few shoulder
   movements) are controlled by parameters in the mannequin.any file.
   
   The forces defined in the mannequin.any file are attached to the body
   locations at the bottom of this file.
   
   John Rasmussen, March 5, 2004.
   ----------------------------------------------------------------  */

AnyFolder Drivers = {
  
  #include "<ANYBODY_PATH_BODY>/BodyModels/include/MannequinDrivers.any"
  
  // Aliases for convenient referencing
  AnyFolder &JntPos=..Mannequin.Posture;  
  AnyFolder &JntVel=..Mannequin.PostureVel;  
  
  AnyFolder &LegR = ..BodyModel.Right.Leg;
  AnyFolder &LegL = ..BodyModel.Left.Leg;
  
  AnyFolder &RefHM = Main.Model.BodyModel;



  //Constraint the collective CoM to be right above the GlobalRef
  AnyKinEqSimpleDriver CoMDriver = {
    AnyKinCoM CoM = {
      AnyFolder &Body = Main.Model.BodyModel;
    };
    MeasureOrganizer = {0,2};  // Only the x and z directions
    DriverPos = {0,0};
    DriverVel = {0,0};
    Reaction.Type = {Off,Off};
  };  
  
  
  // The body parts are included only if there is no unhallowed combination detected
  #ifdef UNHALLOWED_COMBINATION
  #else
  
  #include "TrunkDrivers.any"
  
  #if BM_ARM_RIGHT == ON
  #include "RightArmDrivers.any"
    #if BM_ARM_DETAILED_HAND == ON
    #include "RightHandDrivers.any"
    #endif
  #else
  #endif
  
  
  #if BM_ARM_LEFT == ON
  #include "LeftArmDrivers.any"
    #if BM_ARM_DETAILED_HAND == ON
    #include "LeftHandDrivers.any"
    #endif
  #else
  #endif
  
  
  #if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
  #include "RightLegDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_MODEL & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
  #include "LeftLegDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM
  #include "RightLegTDDrivers.any"
  #else
  #endif
  
  
  #if BM_LEG_LEFT & BM_LEG_MODEL_IS_TLEM
  #include "LeftLegTDDrivers.any"
  #else
  #endif
  
  
  #endif
  
  
  //Loads from the Mannequin file.
  AnyFolder MannequinLoads = {
    AnyFolder &hm = Main.Model.BodyModel;  // For easy reference
    AnyFolder &mql = Main.Model.Mannequin.Load;
    
    AnyFolder Right = {
      AnyFolder &rhm = .hm.Right;
      AnyFolder &locmql = .mql.Right;
    };  // Right
    
    AnyFolder Left = {
      AnyFolder &lhm = .hm.Left;
      AnyFolder &locmql = .mql.Left;
    };  // Left
  };

  
};//Drivers