refactored main.cpp

Author: adampdp

.gitignore

@@ -38,3 +38,5 @@
 /neuromlLocal/testc302SigSim/x86_64
 /neuromlLocal/testc302SigSim/report.txt
 /neuromlLocal/testc302SigSim/testc302NervousSystem
+/RoyalSociety2018/*.dat
+/RoyalSociety2018/main

Mainvars.h

@@ -2,7 +2,7 @@ extern int skip_steps;
 
 
 // Integration parameters
-extern int Duration;
+extern const int Duration;
 extern const double Transient;
 extern const double StepSize;
 extern const int N_curvs;

RoyalSociety2018/Makefile

@@ -0,0 +1,20 @@
+main: main.o Worm.o WormBody.o NervousSystem.o StretchReceptor.o Muscles.o TSearch.o random.o
+	g++ -pthread -o main main.o Worm.o WormBody.o NervousSystem.o StretchReceptor.o Muscles.o TSearch.o random.o
+random.o: random.cpp random.h VectorMatrix.h
+	g++ -c -O3 -flto random.cpp
+TSearch.o: TSearch.cpp TSearch.h
+	g++ -c -O3 -flto TSearch.cpp
+Worm.o: Worm.cpp Worm.h
+	g++ -c -O3 -flto Worm.cpp
+WormBody.o: WormBody.cpp WormBody.h
+	g++ -c -O3 -flto WormBody.cpp
+NervousSystem.o: NervousSystem.cpp NervousSystem.h VectorMatrix.h random.h
+	g++ -c -O3 -flto NervousSystem.cpp
+StretchReceptor.o: StretchReceptor.cpp StretchReceptor.h
+	g++ -c -O3 -flto StretchReceptor.cpp
+Muscles.o: Muscles.cpp Muscles.h VectorMatrix.h random.h
+	g++ -c -O3 -flto Muscles.cpp
+main.o: main.cpp Worm.h WormBody.h StretchReceptor.h Muscles.h TSearch.h
+	g++ -c -O3 -flto main.cpp
+clean:
+	rm *.o main

RoyalSociety2018/Muscles.cpp

@@ -0,0 +1,37 @@
+//
+//  Muscles.cpp
+//  one
+//
+//  Created by Eduardo Izquierdo on 3/26/15.
+//  Copyright (c) 2015 Eduardo Izquierdo. All rights reserved.
+//
+
+#include "Muscles.h"
+
+Muscles::Muscles(int nmuscles, double t_muscle)
+{
+    SetMuscleParams(nmuscles, t_muscle);
+}
+
+void Muscles::SetMuscleParams(int nmuscles, double t_muscle)
+{
+    Nmuscles = nmuscles;
+    T_muscle = t_muscle;
+    V_muscle.SetBounds(1,Nmuscles,1,2);
+    V_input.SetBounds(1,Nmuscles,1,2);
+}
+
+void Muscles::InitializeMuscleState()
+{
+    V_muscle.FillContents(0.0);
+    V_input.FillContents(0.0);
+}
+
+void Muscles::EulerStep(double StepSize)
+{
+    for (int i = 1; i <= Nmuscles; i++)
+    {
+        V_muscle[i][1] += StepSize*((V_input[i][1] - V_muscle[i][1])/T_muscle);
+        V_muscle[i][2] += StepSize*((V_input[i][2] - V_muscle[i][2])/T_muscle);
+    }
+}

RoyalSociety2018/Muscles.h

@@ -0,0 +1,37 @@
+//
+// LocomotionCircuit.h
+//
+//  Copyright (c) 2015 Eduardo Izquierdo. All rights reserved.
+//
+
+#include "VectorMatrix.h"
+#include "random.h"
+#include <cmath>
+using namespace std;
+
+class Muscles {
+public:
+
+    Muscles(int nmuscles = 24, double t_muscle = 0.1);
+
+    void SetMuscleParams(int nmuscles, double t_muscle);
+
+    void InitializeMuscleState();
+
+    void EulerStep(double StepSize);
+
+    void SetDorsalMuscleInput(int muscle, double input){V_input[muscle][1] = input;};
+    void SetVentralMuscleInput(int muscle, double input){V_input[muscle][2] = input;};
+
+    void SetDorsalMuscleActivation(int muscle, double activation){V_muscle[muscle][1] = activation;};
+    void SetVentralMuscleActivation(int muscle, double activation){V_muscle[muscle][2] = activation;};
+
+    double DorsalMuscleOutput(int muscle){return V_muscle[muscle][1];};
+    double VentralMuscleOutput(int muscle){return V_muscle[muscle][2];};
+
+    TMatrix<double> V_muscle;
+    TMatrix<double> V_input;
+
+    double T_muscle;
+    int Nmuscles;
+};