ca.nengo.model.muscle.impl
Class HillMuscle.Dynamics
java.lang.Object
ca.nengo.model.muscle.impl.HillMuscle.Dynamics
- All Implemented Interfaces:
- DynamicalSystem, java.io.Serializable, java.lang.Cloneable
- Enclosing class:
- HillMuscle
public static class HillMuscle.Dynamics
- extends java.lang.Object
- implements DynamicalSystem
- See Also:
- Serialized Form
| Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
HillMuscle.Dynamics
public HillMuscle.Dynamics(float tauEA,
float maxIsometricForce,
Function CEForceLength,
Function CEForceVelocity,
Function SEForceLength,
boolean torque)
- Parameters:
maxIsometricForce - Isometric force produced by CE at maximal activation and optimal lengthCEForceLength - CEForceVelocity - SEForceLength - torque - true indicates a torque muscle (input in rads, output in Nm); false indicates
a linear muscle (input in m, output in N)
getConfiguration
public Configuration getConfiguration()
- See Also:
Configurable.getConfiguration()
f
public float[] f(float t,
float[] u)
- Description copied from interface:
DynamicalSystem
- The dynamic equation.
- Specified by:
f in interface DynamicalSystem
- Parameters:
t - Simulation time (s)u - Input: [excitation (0-1), muscle-tendon length, muscle-tendon lengthening velocity]
- Returns:
- 1st derivative of state vector
- See Also:
DynamicalSystem.f(float, float[])
g
public float[] g(float t,
float[] u)
- Description copied from interface:
DynamicalSystem
- The output equation.
- Specified by:
g in interface DynamicalSystem
- Parameters:
t - Simulation time (s)u - Input: [excitation (0-1), muscle-tendon length, muscle-tendon lengthening velocity]
- Returns:
- Output vector
- See Also:
DynamicalSystem.g(float, float[])
getState
public float[] getState()
- Specified by:
getState in interface DynamicalSystem
- Returns:
- [activation, CE length]
- See Also:
DynamicalSystem.getState()
setState
public void setState(float[] state)
- Specified by:
setState in interface DynamicalSystem
- Parameters:
state - [activation, CE length]- See Also:
DynamicalSystem.setState(float[])
getInputDimension
public int getInputDimension()
- Specified by:
getInputDimension in interface DynamicalSystem
- Returns:
- 3 (activation, muscle-tendon length, muscle-tendon velocity)
- See Also:
DynamicalSystem.getInputDimension()
getOutputDimension
public int getOutputDimension()
- Specified by:
getOutputDimension in interface DynamicalSystem
- Returns:
- 1 (force)
- See Also:
DynamicalSystem.getOutputDimension()
getOutputUnits
public Units getOutputUnits(int outputDimension)
- Specified by:
getOutputUnits in interface DynamicalSystem
- Parameters:
outputDimension - Numbered from 0
- Returns:
- Units of output in the given dimension
- See Also:
DynamicalSystem.getOutputUnits(int)
clone
public DynamicalSystem clone()
throws java.lang.CloneNotSupportedException
- Specified by:
clone in interface DynamicalSystem- Overrides:
clone in class java.lang.Object
- Returns:
- An identical copy of this system which references an independent copy of the state variables
- Throws:
java.lang.CloneNotSupportedException- See Also:
DynamicalSystem.clone()