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residuals and hilldegroote #382

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181471b
added residuals
Leoaubier Feb 19, 2026
5d38e01
added residuals to static optimisation and hilldegroote correction
Leoaubier Feb 27, 2026
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13 changes: 13 additions & 0 deletions include/InternalForces/Muscles/StaticOptimization.h
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,19 @@ class BIORBD_API StaticOptimization {
///
utils::Vector finalSolution(unsigned int index);

///
/// \brief Return the final residuals
/// \return The final residuals
///
std::vector<utils::Vector> finalResidual();

///
/// \brief Return the final residuals at a specific index
/// \return The final residuals at a specific index
///
utils::Vector finalResidual(unsigned int index);


protected:
Model& m_model; ///< A reference to the model
bool m_useResidualTorque; ///< To use residual torque
Expand Down
6 changes: 4 additions & 2 deletions src/InternalForces/Muscles/HillDeGrooteType.cpp
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Expand Up @@ -103,8 +103,10 @@ void internal_forces::muscles::HillDeGrooteType::computeFvCE() {
utils::Scalar d2 = -8.149;
utils::Scalar d3 = -0.374;
utils::Scalar d4 = 0.886;
utils::Scalar norm_v =
m_position->velocity() / this->characteristics().maxShorteningSpeed();
utils::Scalar v = m_position->velocity();

utils::Scalar norm_v = v / (characteristics().optimalLength() *
this->characteristics().maxShorteningSpeed());

*m_FvCE = d1 * std::log(
(d2 * norm_v + d3) +
Expand Down
36 changes: 36 additions & 0 deletions src/InternalForces/Muscles/StaticOptimization.cpp
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Expand Up @@ -276,3 +276,39 @@ utils::Vector internal_forces::muscles::StaticOptimization::finalSolution(
}
return res;
}

std::vector<utils::Vector>
internal_forces::muscles::StaticOptimization::finalResidual() {
std::vector<utils::Vector> res;
if (!m_alreadyRun) {
utils::Error::raise(
"Problem has not been run through the optimization process "
"yet, you should optimize it first to get "
"the residual solution");
} else {
for (unsigned int i = 0; i < m_allQ.size(); ++i) {
res.push_back(
static_cast<internal_forces::muscles::StaticOptimizationIpopt*>(
Ipopt::GetRawPtr(m_staticOptimProblem[i]))
->finalResidual());
}
}
return res;
}

utils::Vector
internal_forces::muscles::StaticOptimization::finalResidual(unsigned int index) {
utils::Vector res;
if (!m_alreadyRun) {
utils::Error::raise(
"Problem has not been run through the optimization process "
"yet, you should optimize it first to get "
"the residual solution");
} else {
res = static_cast<internal_forces::muscles::StaticOptimizationIpopt*>(
Ipopt::GetRawPtr(m_staticOptimProblem[index]))
->finalResidual();
}
return res;
}

14 changes: 7 additions & 7 deletions test/test_muscles.cpp
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Expand Up @@ -1284,9 +1284,9 @@ TEST(hillDeGrooteTypeActive, unitTest) {
SCALAR_TO_DOUBLE(force, hillDeGrooteType.force(emg));
EXPECT_NEAR(flce, 0.92953865278129677, requiredPrecision);
EXPECT_NEAR(flpe, 0., requiredPrecision);
EXPECT_NEAR(fvce, 1.001970264039421, requiredPrecision);
EXPECT_NEAR(fvce, 0.99966505861454702, requiredPrecision);
EXPECT_NEAR(damping, 0., requiredPrecision);
EXPECT_NEAR(force, 405.66755612256657, requiredPrecision);
EXPECT_NEAR(force, 404.734247935057, requiredPrecision);
}
{
Model model(modelPathForMuscleForce);
Expand Down Expand Up @@ -1772,9 +1772,9 @@ TEST(hillDeGrooteType, unitTest) {
SCALAR_TO_DOUBLE(force, hillDeGrooteType.force(emg));
EXPECT_NEAR(flce, 0.92953865278129677, requiredPrecision);
EXPECT_NEAR(flpe, 0.022596966416076593, requiredPrecision);
EXPECT_NEAR(fvce, 1.001970264039421, requiredPrecision);
EXPECT_NEAR(fvce, 0.99966505861454702, requiredPrecision);
EXPECT_NEAR(damping, 0, requiredPrecision);
EXPECT_NEAR(force, 415.50989081475285, requiredPrecision);
EXPECT_NEAR(force, 414.57658262724328, requiredPrecision);
}
{
Model model(modelPathForMuscleForce);
Expand Down Expand Up @@ -2959,7 +2959,7 @@ TEST(MuscleForce, force) {
std::vector<double> ExpectedForce(
{165.19678913804927,
178.49448510433558,
90.97584591669964,
90.789184279197713,
92.59497473343656,
74.287046497422935,
198.53590160321016});
Expand All @@ -2982,7 +2982,7 @@ TEST(MuscleForce, torqueFromMuscles) {
}

rigidbody::GeneralizedTorque Tau(model);
std::vector<double> TauExpected({-11.018675667414932, -1.7483464272594329});
std::vector<double> TauExpected({-10.986834246856635, -1.7872663180818087});
Tau = model.muscularJointTorque(states, Q, Qdot);
for (unsigned int i = 0; i < Tau.size(); ++i) {
SCALAR_TO_DOUBLE(val, Tau(i));
Expand All @@ -2991,7 +2991,7 @@ TEST(MuscleForce, torqueFromMuscles) {

rigidbody::GeneralizedAcceleration Qddot =
model.ForwardDynamics(Q, Qdot, Tau);
std::vector<double> QddotExpected({-47.946292142243109, 56.344108470462629});
std::vector<double> QddotExpected({-47.412753236836856, 54.927407050792368});
for (unsigned int i = 0; i < Qddot.size(); ++i) {
SCALAR_TO_DOUBLE(val, Qddot(i));
EXPECT_NEAR(val, QddotExpected[i], requiredPrecision);
Expand Down