ref:effort_measure

EffortMeasure

Measures the energy consumption of a model during simulation, according to various models.

Supported effort models:

  • Constant: constant energy measure
  • TotalForce: total muscle force
  • Wang2012: metabolic energy measure as defined in [Wang et al. 2012]
  • Uchida2016: metabolic energy measure as defined in [Uchida et al. 2012]
  • SquaredMuscleStress: summed squared muscle stress: (force / PCSA)^2
  • CubedMuscleStress: summed squared muscle stress: (force / PCSA)^3
  • SquaredMuscleActivation: summed squared muscle activation: (activation)^2
  • CubedMuscleActivation: summed cubed muscle activation: (activation)^3
  • MechnicalWork: mechanical work of muscles = sum of muscle moment * dof velocity

All effort models can be used to compute cost-of-transport, by setting use_cost_of_transport = 1.

Inherits from Measure.

Public Attributes

Parameter Type Description
measure_type EffortMeasureType Energy model to be used, can be: Constant, TotalForce, Wang2012, Uchida2016, SquaredMuscleStress, CubedMuscleStress, SquaredMuscleActivation, CubedMuscleActivation, MechanicalWork.
use_cost_of_transport bool Flag indicating to use (energy / distance) as a result; default = 0.
specific_tension Real Value to use for specific tension; default = 0.25e6.
muscle_density Real Value to use for muscle density; default = 1059.7.
default_muscle_slow_twitch_ratio Real Default slow / twitch ratio if not defined per muscle (used by Uchida2016); default = 0.5.
use_symmetric_fiber_ratios bool Indicate if fiber ratios are the same for left and right (used by Uchida2016); default = true.
min_distance Real Minimum distance used for cost of transport computation; default = 1.0.
use_average_per_muscle bool Divide result by number of muscles, useful for muscle activation measures; default = false.
omnidirectional bool Use omnidirectional distance measure instead of distance along the x-axis; default = 0.
order Real Value for mechanical work power.
name String Name of the Measure, to be used in reporting; defaults to measure type.
weight Real Weighting factor applied to the result of the measure; default = 1.
threshold Real Threshold above / below which the measure becomes zero; default = 0.
threshold_transition Real Transition range above threshold between which the measure linearly decreases to zero; default = 0.
result_offset Real Offset added to measure result; default = 0.
minimize bool Indicate whether this measure should be minimized; default value depends on the measure type (usually true).
start_time TimeInSeconds Time [s] at which Controller becomes active; default = 0.
stop_time TimeInSeconds Time [s] at which Controller becomes inactive; default = until simulation ends.
signature_prefix String Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature_postfix String Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature String Set custom signature and omit the auto-generated signature.

Public Functions

Function Description
double GetCurrentResult(const Model &model) override Get last computed measure value, for use in rewards.
double GetResult(const Model &model) Get final result.

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