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JointsAndDrivers.any
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JointsAndDrivers.any
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AnyFolder Drivers = {
AnyFolder &JntPos=..Mannequin.Posture;
AnyFolder &JntVel=..Mannequin.PostureVel;
AnyFolder &Thorax = ..HumanModel.Trunk.SegmentsThorax.ThoraxSeg;
// ************************************
// Drivers for attaching the pelvis to the global reference system
// ************************************
AnyKinEqSimpleDriver PelvisGroundDriver ={
MeasureOrganizer = {0,1,2,3,4,5};
AnyKinLinear lin ={
AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
AnySeg &ref2 =....HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
};
AnyKinRotational rot ={
AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
AnySeg &ref2 =....HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
Type=RotAxesAngles;
};
DriverPos={
.JntPos.PelvisPosX,
.JntPos.PelvisPosY,
.JntPos.PelvisPosZ,
pi/180*.JntPos.PelvisRotZ,
pi/180*.JntPos.PelvisRotY,
pi/180*.JntPos.PelvisRotX
};
DriverVel={
.JntVel.PelvisPosX,
.JntVel.PelvisPosY,
.JntVel.PelvisPosZ,
pi/180*.JntVel.PelvisRotZ,
pi/180*.JntVel.PelvisRotY,
pi/180*.JntVel.PelvisRotX
};
Reaction.Type={On,On,On,On,On,On};
};
// AnyKinEqFourierDriver PelvisXZRotDriver =
// {
// MeasureOrganizer = {0,2};
// CType = {Hard,Hard};
// //WeightFun = {};
// Type = 1;
// Freq = Main.WheelParameters.Omega/360;
// A = {{0,0.05},{0,-0.05}};
// B = {{0,pi},{0,pi}};
//
// AnyKinRotational rot ={
// AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
// AnySeg &ref2 =....HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
// Type=RotAxesAngles;
// };
// Reaction.Type = {On,On};
// };
AnyFolder &RefHM = Main.Model.HumanModel;
AnyFolder &ref=Main.Model.HumanModel.Trunk;
// Hand Drivers
#include "RightHandDrivers.any"
#include "LeftHandDrivers.any"
// ************************************
// Drivers for the spine
// ************************************
//Neck driver
// AnyKinEqSimpleDriver NeckJntDriver = {
// AnyJoint &T12L1Joint = ...HumanModel.Interface.Trunk.NeckJoint;
// DriverPos = pi/180*{.JntPos.NeckExtension,0,0};
// DriverVel = pi/180*{.JntVel.NeckExtension,0,0};
// Reaction.Type = {Off,Off,Off};
// };
AnyKinEqSimpleDriver NeckJntDriver = {
AnyJoint &T12L1Joint = ...HumanModel.Interface.Trunk.NeckJoint;
DriverPos = pi/180*{.JntPos.NeckExtension};
DriverVel = pi/180*{.JntVel.NeckExtension};
Reaction.Type = {Off};
};
//Thorax pelvis rotation driver
AnyKinEqSimpleDriver PostureDriver ={
AnyKinMeasureOrg &Ref3 = ...HumanModel.Interface.Trunk.PelvisThoraxRotation;
DriverPos = pi/180*{
// .JntPos.PelvisThoraxLateralBending,
.JntPos.PelvisThoraxRotation
//.JntPos.PelvisThoraxExtension
};
DriverVel = pi/180*{
// .JntVel.PelvisThoraxLateralBending,
.JntVel.PelvisThoraxRotation
//.JntVel.PelvisThoraxExtension
};
Reaction.Type = {Off};
};
// AnyKinEqFourierDriver PostureDriverLateralBending =
// {
// //MeasureOrganizer = {};
// CType = Hard;
// //WeightFun = {};
// Type = 2;
// Freq = Main.WheelParameters.Omega/360;
// A = {{0,0.25}};
// B = {{0,pi+0.3}};
// AnyKinMeasureOrg &Ref2 = ...HumanModel.Interface.Trunk.PelvisThoraxLateralBending;
// Reaction.Type = {Off};
//
//// };
AnyKinEqInterPolDriver PostureDriverThoraxLateralBending =
{
//MeasureOrganizer = {};
//CType = ;
//WeightFun = {};
Type =Bspline;
BsplineOrder = 4;
T = (360/Main.WinchParameters.Omega)*{0/360,90/360,180/360, 270/360, 360/360};
Data= {{0, -0.2, 0, 0.2, 0}};
// Data= {{0.03719904, -0.2404201, 0.3155832, 0.3405723, 0.01152855}};
// Data = {{0, -0.3566374, 0.1411123, 0.2494234, 0.01110955}};
// opt2 -0.02623265
// Data = {{0, -15*pi/180, 0, 15*pi/180, 0}};
//FileName = "";
//FileErrorContinueOnOff = Off;
AnyKinMeasureOrg &Ref2 =...HumanModel.Interface.Trunk.PelvisThoraxLateralBending;
Reaction.Type = {Off};
};
// AnyKinEqFourierDriver PostureDriverThoraxLateralBending =
// {
// //MeasureOrganizer = {};
// CType = Hard;
// //WeightFun = {};
// Type = CosSin;
// Freq = Main.WinchParameters.Omega/360;
// A = {{0,0,0}};
// B = {{0,-0.2,0}};
// AnyKinMeasureOrg &Ref1 =...HumanModel.Interface.Trunk.PelvisThoraxLateralBending;
// Reaction.Type = {Off};
// };
// AnyKinEqInterPolDriver PostureDriverThoraxExtension =
// {
// //MeasureOrganizer = {};
// //CType = ;
// //WeightFun = {};
// Type =Bspline;
// BsplineOrder = 4;
// T = (360/Main.WinchParameters.Omega)*{0/360,90/360,180/360, 270/360, 360/360};
// //Data={{-0.6231098, -0.2801242, -0.03619558, -0.3886652, -0.6485702}};
// Data={{-.80, -.46, -.282, -.52, -.80}};
//
//// Data= {{-0.5431447, -0.3189552, -0.001832769, -0.3161134, -0.5613037}};
//// Data = {{-30*pi/180, -15*pi/180, 0*pi/180, -15*pi/180,-30*pi/180}};
//// opt2 -0.02623265
//// Data = {{0, -15*pi/180, 0, 15*pi/180, 0}};
// //FileName = "";
// //FileErrorContinueOnOff = Off;
// AnyKinMeasureOrg &Ref2 =...HumanModel.Interface.Trunk.PelvisThoraxExtension;
// Reaction.Type = {Off};
// };
AnyKinEqFourierDriver PostureDriverThoraxExtension =
{
//MeasureOrganizer = {};
CType = Hard;
//WeightFun = {};
Type = CosSin;
Freq = Main.WinchParameters.Omega/360;
// A = {{-0.4801242,-0.2,0}};
A = {{-0.6,-0.2,0}};
B = {{0,0,0}};
AnyKinMeasure &Ref1 = ...HumanModel.Interface.Trunk.PelvisThoraxExtension;
Reaction.Type = {Off};
};
// ************************************
// Drivers for the right arm
// ************************************
//Sterno clavicular joint driver
AnyKinEqSimpleDriver SCDriverRight ={
AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Right.SternoClavicularProtraction;
AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Right.SternoClavicularElevation;
AnyKinMeasureOrg &ref3 =...HumanModel.Interface.Right.SternoClavicularAxialRotation;
DriverPos = pi/180*{
.JntPos.Right.SternoClavicularProtraction,
.JntPos.Right.SternoClavicularElevation,
.JntPos.Right.SternoClavicularAxialRotation
};
DriverVel = {
.JntVel.Right.SternoClavicularProtraction,
.JntVel.Right.SternoClavicularElevation,
.JntVel.Right.SternoClavicularAxialRotation
};
Reaction.Type={Off,Off,Off};
};
//Wrist driver
AnyKinEqSimpleDriver WristDriverRight ={
AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Right.WristFlexion;
//AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Right.WristAbduction;
DriverPos = pi/180*{
.JntPos.Right.WristFlexion
// .JntPos.Right.WristAbduction
};
DriverVel = pi/180*{
.JntVel.Right.WristFlexion};
//.JntVel.Right.WristAbduction};
Reaction.Type={Off};
};
// //Elbow pronation driver
// AnyKinEqSimpleDriver ElbowPSDriverRight={
// AnyKinMeasureOrg &Elbow =...HumanModel.Interface.Right.ElbowPronation;
// DriverPos= pi/180*{.JntPos.Right.ElbowPronation };
// DriverVel = pi/180*{.JntVel.Right.ElbowPronation };
// Reaction.Type={Off};
// };
//AnyVector Ta = iarr(12,12,360);
//
AnyKinEqInterPolDriver Elbow =
{
//MeasureOrganizer = {};
//CType = ;
//WeightFun = {};
Type =Bspline;
BsplineOrder = 4;
T = (360/Main.WinchParameters.Omega)*{0/360,100/360,140/360, 160/360, 180/360, 200/360, 220/360, 360/360 };
Data={{-0.5235988, -0.1545362, 0.1197311, 0.1139721, -0.02618572, -0.1410608, -0.2252185, -0.5987893}};
// Data= {{-0.5235988, -0.2530007, 0.1240638, 0.1572748, 0.01304429, -0.091999, -0.2018952, -0.5643959}};
// Data = {{-0.5235988, -0.2907301, 0.03691536, 0.2719966, 0.146837, -0.1457645, -0.1641803, -0.526681}};
// Opt1 Data = {{-0.5235988, -0.4315319, -0.137545, 0.1744783, 0.003306629, -0.1745329, -0.1745329, -0.5235988}};
//FileName = "";
//FileErrorContinueOnOff = Off;
AnyKinMeasureOrg &Elbow =...HumanModel.Interface.Right.ElbowPronation;
Reaction.Type={Off};
};
// AnyKinEqInterPolDriver RightWristAbduction =
// {
// //MeasureOrganizer = {};
// //CType = ;
// //WeightFun = {};
// Type =Bspline;
// BsplineOrder = 4;
// T = {0, .28, .57, .85, 1.14, 1.42, 1.7, 2};
// Data={{-9.7100e-002,
//4.1728e-002,
//-1.8655e-001,
//-5.0567e-001,
//-4.5894e-001,
//-5.1402e-001,
//-2.3449e-001,
//-4.7342e-002}};
//
// AnyKinMeasureOrg &RWristAbduction =...HumanModel.Interface.Right.WristAbduction;
// Reaction.Type={Off};
// };
//Glenohumeral joint driver
// AnyKinEqSimpleDriver GHDriverRight={
// AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Right.GlenohumeralAbduction;
// // AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Right.GlenohumeralFlexion;
// //AnyKinMeasureOrg &ref3 =...HumanModel.Interface.Right.GlenohumeralExternalRotation;
// DriverPos=pi/180*{
// .JntPos.Right.GlenohumeralAbduction //GH joint
// // .JntPos.Right.GlenohumeralFlexion, //GH joint
// // .JntPos.Right.GlenohumeralExternalRotation //GH joint
// };
// DriverVel = pi/180*{
// .JntVel.Right.GlenohumeralAbduction //GH joint
// //.JntVel.Right.GlenohumeralFlexion, //GH joint
// // .JntVel.Right.GlenohumeralExternalRotation //GH joint
// };
// Reaction.Type={
// //Off,Off
// Off};
// };
//
// ************************************
// Drivers for the left arm
// ************************************
//Sterno clavicular joint driver
AnyKinEqSimpleDriver SCDriverLeft ={
AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Left.SternoClavicularProtraction;
AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Left.SternoClavicularElevation;
AnyKinMeasureOrg &ref3 =...HumanModel.Interface.Left.SternoClavicularAxialRotation;
DriverPos = pi/180*{
.JntPos.Left.SternoClavicularProtraction,
.JntPos.Left.SternoClavicularElevation,
.JntPos.Left.SternoClavicularAxialRotation
};
DriverVel = pi/180*{
.JntVel.Left.SternoClavicularProtraction,
.JntVel.Left.SternoClavicularElevation,
.JntVel.Left.SternoClavicularAxialRotation
};
Reaction.Type={Off,Off,Off};
};
//Wrist driver
AnyKinEqSimpleDriver WristDriverLeft={
AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Left.WristFlexion;
//AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Right.WristAbduction;
DriverPos = pi/180*{
.JntPos.Left.WristFlexion
// .JntPos.Right.WristAbduction
};
DriverVel = pi/180*{
.JntVel.Left.WristFlexion};
//.JntVel.Right.WristAbduction};
Reaction.Type={Off};
};
AnyKinEqInterPolDriver ElbowLeft =
{
//MeasureOrganizer = {};
//CType = ;
//WeightFun = {};
Type =Bspline;
BsplineOrder = 4;
T = (360/Main.WinchParameters.Omega)*{0/360,100/360,140/360, 160/360, 180/360, 200/360, 220/360, 360/360 };
Data={{-0.5235988, -0.1545362, 0.1197311, 0.1139721, -0.02618572, -0.1410608, -0.2252185, -0.5987893}};
// Data= {{-0.5235988, -0.2530007, 0.1240638, 0.1572748, 0.01304429, -0.091999, -0.2018952, -0.5643959}};
// Data = {{-0.5235988, -0.2907301, 0.03691536, 0.2719966, 0.146837, -0.1457645, -0.1641803, -0.526681}};
// Opt1 Data = {{-0.5235988, -0.4315319, -0.137545, 0.1744783, 0.003306629, -0.1745329, -0.1745329, -0.5235988}};
//FileName = "";
//FileErrorContinueOnOff = Off;
AnyKinMeasureOrg &Elbow =...HumanModel.Interface.Left.ElbowPronation;
Reaction.Type={Off};
};
// AnyKinEqInterPolDriver LeftWristAbduction =
// {
// //MeasureOrganizer = {};
// //CType = ;
// //WeightFun = {};
// Type =Bspline;
// BsplineOrder = 4;
// T = {0, .28, .57, .85, 1.14, 1.42, 1.7, 2};
// Data={{ 1.9887e-001,
//5.1152e-002,
//-1.4361e-001,
//-6.2589e-002,
//7.3129e-002,
//2.5409e-001,
//3.7697e-001,
//2.4431e-001}};
//
// AnyKinMeasureOrg &LWristAbduction =...HumanModel.Interface.Left.WristAbduction;
// Reaction.Type={Off};
// };
//
// //Elbow pronation driver
// AnyKinEqSimpleDriver ElbowPSDriverLeft={
// AnyKinMeasureOrg &Elbow =...HumanModel.Interface.Left.ElbowPronation;
// DriverPos= pi/180*{.JntPos.Left.ElbowPronation };
// DriverVel = pi/180*{.JntVel.Left.ElbowPronation };
// Reaction.Type={Off};
// };
//Glenohumeral joint driver
// AnyKinEqSimpleDriver GHDriverLeft={
// // AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Left.GlenohumeralAbduction;
// // AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Left.GlenohumeralFlexion;
// AnyKinMeasureOrg &ref3 =...HumanModel.Interface.Left.GlenohumeralExternalRotation;
// DriverPos=pi/180*{
// // .JntPos.Left.GlenohumeralAbduction, //GH joint
// // .JntPos.Left.GlenohumeralFlexion, //GH joint
// .JntPos.Left.GlenohumeralExternalRotation //GH joint
// };
// DriverVel = pi/180*{
// // .JntVel.Left.GlenohumeralAbduction, //GH joint
// // .JntVel.Left.GlenohumeralFlexion, //GH joint
// .JntVel.Left.GlenohumeralExternalRotation //GH joint
// };
// Reaction.Type={
// //Off,Off
// Off};
// };
//
}; //Drivers
// Joints between the human model and the environment
// Right hand joint definition
AnyFolder Joints = {
AnyRevoluteJoint HandleHandJoint =
{
Axis = y;
Ref = 1;
Main.Model.HumanModel.Right.ShoulderArm.Seg.Hand.HandRef = {
AnyRefNode HandleContact = {
sRel = {0.02,-0.060,-0.005};
ARel = RotMat(pi/2,x);
AnyDrawRefFrame DrwRef = {
ScaleXYZ={0.05,0.05,0.05};
RGB ={0,1,0};Visible = On;
};
};
};
AnyRefFrame &Palm = Main.Model.HumanModel.Right.ShoulderArm.Seg.Hand.HandRef.HandleContact;
AnyRefFrame &Rim = Main.Model.EnvironmentModel.WhinchHandle.Handle2;
};
// Left hand joint definition
AnyRevoluteJoint HandleHandJointLeft =
{
Axis = y;
Ref = 1;
Main.Model.HumanModel.Left.ShoulderArm.Seg.Hand.HandRef = {
AnyRefNode HandleContact = {
sRel = {0.02,-0.060,-0.005};
ARel = RotMat(-pi/2,x);
// AnyDrawRefFrame DrwRef = {
// ScaleXYZ={0.05,0.05,0.05};
// RGB ={0,1,0};Visible = On;
// };
};
};
AnyRefFrame &Palm = Main.Model.HumanModel.Left.ShoulderArm.Seg.Hand.HandRef.HandleContact ;
AnyRefFrame &Rim =Main.Model.EnvironmentModel.WhinchHandle.Handle;
};
// AnySphericalJoint HandHandle = {
// AnySeg &Palm = Main.Model.HumanModel.Right.ShoulderArm.Seg.Glove;
// AnyRefNode &Rim = Main.Model.EnvironmentModel.Wheel.Handle;
// };
//
// AnyStdJoint HandRest = {
// AnySeg &Palm = Main.Model.HumanModel.Left.ShoulderArm.Seg.Hand.HandRef;
// AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.HandRest;
// };
};