Merge pull request #145 from Ipuch/fext

fext adressing major enhancement

Author: Ipuch

bionc/__init__.py

@@ -1,15 +1,5 @@
-from .model_creation import (
-    AxisTemplate,
-    AxisFunctionTemplate,
-    MarkerTemplate,
-    SegmentTemplate,
-    NaturalSegmentTemplate,
-    InertiaParametersTemplate,
-    BiomechanicalModelTemplate,
-    C3dData,
-    Data,
-    GenericDynamicModel,
-)
+# from bionc import bionc_casadi
+# from bionc import bionc_numpy
 from .bionc_numpy import (
     Axis,
     NaturalMarker,
@@ -19,23 +9,29 @@
     BiomechanicalModel,
     JointType,
     ExternalForceSet,
-    ExternalForce,
+    ExternalForceInGlobalLocalPoint,
     NaturalInertialParameters,
     compute_transformation_matrix,
+    InverseKinematics,
 )
-
-from .protocols import natural_coordinates
-from bionc import bionc_casadi
-from bionc import bionc_numpy
-
+from .bionc_numpy.homogenous_transform import HomogeneousTransform
+from .bionc_numpy.natural_accelerations import SegmentNaturalAccelerations, NaturalAccelerations
 from .bionc_numpy.natural_coordinates import SegmentNaturalCoordinates, NaturalCoordinates
 from .bionc_numpy.natural_velocities import SegmentNaturalVelocities, NaturalVelocities
-from .bionc_numpy.natural_accelerations import SegmentNaturalAccelerations, NaturalAccelerations
-from .bionc_numpy.homogenous_transform import HomogeneousTransform
-
+from .model_creation import (
+    AxisTemplate,
+    AxisFunctionTemplate,
+    MarkerTemplate,
+    SegmentTemplate,
+    NaturalSegmentTemplate,
+    InertiaParametersTemplate,
+    BiomechanicalModelTemplate,
+    C3dData,
+    Data,
+    GenericDynamicModel,
+)
+from .protocols import natural_coordinates
 from .utils.enums import NaturalAxis, CartesianAxis, EulerSequence, TransformationMatrixType
-from .utils.transformation_matrix import TransformationMatrixUtil
 from .utils.ode_solver import RK4, forward_integration
-
+from .utils.transformation_matrix import TransformationMatrixUtil
 from .vizualization import Viz
-from .bionc_numpy import InverseKinematics

bionc/bionc_casadi/__init__.py

@@ -1,19 +1,22 @@
-from .natural_coordinates import SegmentNaturalCoordinates, NaturalCoordinates
-from .natural_velocities import SegmentNaturalVelocities, NaturalVelocities
-from .natural_accelerations import SegmentNaturalAccelerations, NaturalAccelerations
-from .homogenous_transform import HomogeneousTransform
-from .natural_segment import NaturalSegment
-
 # The actual model to inherit from
 from .biomechanical_model import BiomechanicalModel
+from .cartesian_vector import vector_projection_in_non_orthogonal_basis
+from .external_force import ExternalForceSet
+from .external_force_global import ExternalForceInGlobal
+from .external_force_global_local_point import ExternalForceInGlobalLocalPoint
+from .external_force_global_on_proximal import ExternalForceInGlobalOnProximal
+from .external_force_in_local import ExternalForceInLocal
+from .homogenous_transform import HomogeneousTransform
+from .inertia_parameters import InertiaParameters
+from .joints import Joint
+from .joints_with_ground import GroundJoint
+from .natural_accelerations import SegmentNaturalAccelerations, NaturalAccelerations
 
 # Some classes to define the BiomechanicalModel
 from .natural_axis import Axis
+from .natural_coordinates import SegmentNaturalCoordinates, NaturalCoordinates
 from .natural_marker import NaturalMarker, Marker, SegmentNaturalVector
 from .natural_segment import NaturalSegment
-from .inertia_parameters import InertiaParameters
-from .joints import Joint
-from .joints_with_ground import GroundJoint
+from .natural_segment import NaturalSegment
 from .natural_vector import NaturalVector
-from .external_force import ExternalForceSet, ExternalForce
-from .cartesian_vector import vector_projection_in_non_orthogonal_basis
+from .natural_velocities import SegmentNaturalVelocities, NaturalVelocities

bionc/bionc_casadi/biomechanical_model.py

@@ -6,7 +6,8 @@
 from .biomechanical_model_markers import BiomechanicalModelMarkers
 from .biomechanical_model_segments import BiomechanicalModelSegments
 from .cartesian_vector import vector_projection_in_non_orthogonal_basis
-from .external_force import ExternalForceSet, ExternalForce
+from .external_force import ExternalForceSet
+from .external_force_global_on_proximal import ExternalForceInGlobalOnProximal
 from .natural_accelerations import NaturalAccelerations
 from .natural_coordinates import NaturalCoordinates
 from .natural_velocities import NaturalVelocities
@@ -505,7 +506,7 @@ def _inverse_dynamics_recursive_step(
 
         Qi = Q.vector(segment_index)
         Qddoti = Qddot.vector(segment_index)
-        external_forces_i = external_forces.to_segment_natural_external_forces(segment_index=segment_index, Q=Q)
+        external_forces_i = external_forces.to_segment_natural_external_forces(segment_idx=segment_index, Q=Q)
 
         subtree_intersegmental_generalized_forces = MX.zeros((12, 1))
         for child_index in self.children(segment_index):
@@ -521,15 +522,13 @@ def _inverse_dynamics_recursive_step(
                     lambdas=lambdas,
                 )
             # sum the generalized forces of each subsegment and transport them to the parent proximal point
-            intersegmental_generalized_forces = ExternalForce.from_components(
-                application_point_in_local=[0, 0, 0], force=forces[:, child_index], torque=torques[:, child_index]
-            )
-            subtree_intersegmental_generalized_forces += intersegmental_generalized_forces.transport_to(
-                to_segment_index=segment_index,
-                new_application_point_in_local=[0, 0, 0],  # proximal point
-                from_segment_index=child_index,
-                Q=Q,
+            intersegmental_generalized_forces = ExternalForceInGlobalOnProximal.from_components(
+                force=forces[:, child_index], torque=torques[:, child_index]
             )
+            subtree_intersegmental_generalized_forces += intersegmental_generalized_forces.transport_to_another_segment(
+                Qfrom=Q.vector(child_index), Qto=Q.vector(segment_index)
+            ).natural_forces()
+
         segment_i = self.segment_from_index(segment_index)
 
         force_i, torque_i, lambda_i = segment_i.inverse_dynamics(