public Muscle(double q)
{
CE = new ContractileElement();
PEE = new ParallelElasticElement(CE);
SDE = new SerialDampingElement(CE);
SEE = new SerialElasticElement();
double l_MTC_init = 0.092 + 0.172; // [m] initial MTC length
double q_CE_init = q; // [] initial muscle activity 0...1
double l_CE_init = getl_CE_init(q_CE_init);
l_MTC = l_MTC_init;
l_CE = l_CE_init;
v_MTC = 0.0;
v_CE = 0.0;
}
public Muscle2(double q)
{
CE = new ContractileElement();
PEE = new ParallelElasticElement(CE);
SDE = new SerialDampingElement(CE);
SEE = new SerialElasticElement();
//This length may vary for different muscles
double l_MTC_init = 0.92 + 0.172; // [m] initial MTC length
double q_CE_init = q; // [] initial muscle activity 0...1
//The initial muslce length is based on the activation value q
double l_CE_init = getl_CE_init(q_CE_init);
l_MTC = l_MTC_init;
l_CE = l_CE_init;
v_MTC = 0.0;
v_CE = 0.0;
}
public SerialDampingElement(ContractileElement ce)
{
d_SEmax = D_SDE * (ce.F_max * ce.A_rel0) / (ce.l_CEopt * ce.B_rel0);
}
public ParallelElasticElement(ContractileElement ce)
{
l_PEE0 = L_PEE0 * ce.l_CEopt;
K_PEE = F_PEE * (ce.F_max / Mathf.Pow((float)(ce.l_CEopt * (ce.DeltaW_limb_des + 1 - L_PEE0)), (float)v_PEE));
}
