def __compute_all_values(self):
q_idx = self.dof_mapping[self.current_dof]
x_axis, all_q = self.__generate_x_axis(q_idx)
length = np.ndarray((self.n_point_for_q, self.n_mus))
moment_arm = np.ndarray((self.n_point_for_q, self.n_mus))
passive_forces = np.ndarray((self.n_point_for_q, self.n_mus))
active_forces = np.ndarray((self.n_point_for_q, self.n_mus))
emg = biorbd.StateDynamics(0, self.active_forces_slider.value() / 100)
for i, q_mod in enumerate(all_q):
self.model.UpdateKinematicsCustom(biorbd.GeneralizedCoordinates(q_mod))
muscles_length_jacobian = self.model.musclesLengthJacobian().to_array()
for m in range(self.n_mus):
if self.checkboxes_muscle[m].isChecked():
mus_group_idx, mus_idx, _ = self.muscle_mapping[self.checkboxes_muscle[m].text()]
mus = self.model.muscleGroup(mus_group_idx).muscle(mus_idx)
mus.updateOrientations(self.model, q_mod, 1)
length[i, m] = mus.length(self.model, q_mod, False)
moment_arm[i, m] = muscles_length_jacobian[mus_idx, q_idx]
if mus.type() != biorbd.IDEALIZED_ACTUATOR:
passive_forces[i, m] = biorbd.HillType(mus).FlPE()
else:
passive_forces[i, m] = 0
if mus.type() != biorbd.IDEALIZED_ACTUATOR:
active_forces[i, m] = biorbd.HillType(mus).FlCE(emg)
else:
active_forces[i, m] = 0
return x_axis, length, moment_arm, passive_forces, active_forces
def __set_muscles_from_q(self):
self.model.updateMuscles(self.model, self.Q, True)
idx = 0
for group_idx in range(self.model.nbMuscleGroups()):
for muscle_idx in range(
self.model.muscleGroup(group_idx).nbMuscles()):
musc_tp = self.model.muscleGroup(group_idx).muscle(muscle_idx)
muscle_type = biorbd.Model.getMuscleType(musc_tp).getString()
if muscle_type == "Hill":
musc = biorbd.HillType(musc_tp)
elif muscle_type == "HillThelen":
musc = biorbd.HillTypeThelen(musc_tp)
elif muscle_type == "HillSimple":
musc = biorbd.HillTypeSimple(musc_tp)
for k, pts in enumerate(
musc.position().musclesPointsInGlobal()):
self.muscles.get_frame(0)[idx][0:3, k] = pts.get_array()
idx += 1
self.vtk_model.update_muscle(self.muscles)
def __init__(self,
model_path=None,
loaded_model=None,
show_global_ref_frame=True,
show_markers=True,
show_global_center_of_mass=True,
show_segments_center_of_mass=True,
show_rt=True,
show_muscles=True,
show_meshes=True,
show_options=True):
"""
Class that easily shows a biorbd model
Args:
loaded_model: reference to a biorbd loaded model (if both loaded_model and model_path, load_model is selected
model_path: path of the model to load
"""
# Load and store the model
if loaded_model is not None:
if not isinstance(loaded_model, biorbd.Model):
raise TypeError(
"loaded_model should be of a biorbd.Model type")
self.model = loaded_model
elif model_path is not None:
self.model = biorbd.Model(model_path)
else:
raise ValueError("loaded_model or model_path must be provided")
# Create the plot
self.vtk_window = VtkWindow(background_color=(.5, .5, .5))
self.vtk_model = VtkModel(self.vtk_window, markers_color=(0, 0, 1))
self.is_executing = False
self.animation_warning_already_shown = False
# Set Z vertical
cam = self.vtk_window.ren.GetActiveCamera()
cam.SetFocalPoint(0, 0, 0)
cam.SetPosition(5, 0, 0)
cam.SetRoll(-90)
# Get the options
self.show_markers = show_markers
self.show_global_ref_frame = show_global_ref_frame
self.show_global_center_of_mass = show_global_center_of_mass
self.show_segments_center_of_mass = show_segments_center_of_mass
self.show_rt = show_rt
if self.model.nbMuscleTotal() > 0:
self.show_muscles = show_muscles
else:
self.show_muscles = False
if sum([
len(i)
for i in self.model.meshPoints(np.zeros(self.model.nbQ()))
]) > 0:
self.show_meshes = show_meshes
else:
self.show_meshes = 0
# Create all the reference to the things to plot
self.nQ = self.model.nbQ()
self.Q = np.zeros(self.nQ)
self.markers = Markers3d(np.ndarray((3, self.model.nTags(), 1)))
self.global_center_of_mass = Markers3d(np.ndarray((3, 1, 1)))
self.segments_center_of_mass = Markers3d(
np.ndarray((3, self.model.nbBone(), 1)))
self.mesh = MeshCollection()
for l, meshes in enumerate(self.model.meshPoints(self.Q)):
tp = np.ndarray((3, len(meshes), 1))
for k, mesh in enumerate(meshes):
tp[:, k, 0] = mesh.get_array()
self.mesh.append(Mesh(vertex=tp))
self.model.updateMuscles(self.model, self.Q, True)
self.muscles = MeshCollection()
for group_idx in range(self.model.nbMuscleGroups()):
for muscle_idx in range(
self.model.muscleGroup(group_idx).nbMuscles()):
musc_tp = self.model.muscleGroup(group_idx).muscle(muscle_idx)
muscle_type = biorbd.Model.getMuscleType(musc_tp).getString()
if muscle_type == "Hill":
musc = biorbd.HillType(musc_tp)
elif muscle_type == "HillThelen":
musc = biorbd.HillTypeThelen(musc_tp)
elif muscle_type == "HillSimple":
musc = biorbd.HillTypeSimple(musc_tp)
tp = np.ndarray(
(3, len(musc.position().musclesPointsInGlobal()), 1))
for k, pts in enumerate(
musc.position().musclesPointsInGlobal()):
tp[:, k, 0] = pts.get_array()
self.muscles.append(Mesh(vertex=tp))
self.rt = RotoTransCollection()
for rt in self.model.globalJCS(self.Q):
self.rt.append(RotoTrans(rt.get_array()))
if self.show_global_ref_frame:
self.vtk_model.create_global_ref_frame()
self.show_options = show_options
if self.show_options:
self.muscle_analyses = []
self.palette_active = QPalette()
self.palette_inactive = QPalette()
self.set_viz_palette()
self.animated_Q = []
self.play_stop_push_button = []
self.is_animating = False
self.start_icon = QIcon(
QPixmap(f"{os.path.dirname(__file__)}/ressources/start.png"))
self.stop_icon = QIcon(
QPixmap(f"{os.path.dirname(__file__)}/ressources/pause.png"))
self.double_factor = 10000
self.sliders = list()
self.movement_slider = []
self.active_analyses_widget = None
self.analyses_layout = QHBoxLayout()
self.analyses_muscle_widget = QWidget()
self.add_options_panel()
# Update everything at the position Q=0
self.set_q(self.Q)