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

Dynamical system for the Hill muscle model

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
HillMuscle.Dynamics(float tauEA, float maxIsometricForce, Function CEForceLength, Function CEForceVelocity, Function SEForceLength, boolean torque)

Method Summary

Methods

Modifier and Type	Method and Description
DynamicalSystem	clone()
float[]	f(float t, float[] u) The dynamic equation.
float[]	g(float t, float[] u) The output equation.
Configuration	getConfiguration()
int	getInputDimension()
int	getOutputDimension()
Units	getOutputUnits(int outputDimension)
float[]	getState()
void	setState(float[] state)

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HillMuscle.Dynamics

public HillMuscle.Dynamics(float tauEA,
                   float maxIsometricForce,
                   Function CEForceLength,
                   Function CEForceVelocity,
                   Function SEForceLength,
                   boolean torque)

Parameters:

tauEA - see Hill model

maxIsometricForce - Isometric force produced by CE at maximal activation and optimal length

CEForceLength - see Hill model

CEForceVelocity - see Hill model

SEForceLength - see Hill model

torque - true indicates a torque muscle (input in rads, output in Nm); false indicates a linear muscle (input in m, output in N)

Method Detail

getConfiguration

public Configuration getConfiguration()

Returns:

Configuration

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 - if something causes clone not to work

See Also:

DynamicalSystem.clone()