a
    kh                     @   s  d Z ddlZddlZddlmZ ddlmZmZmZ ddl	m
Z
 ddlmZ ddlmZ ddlmZ dd	lmZ dd
lmZmZmZ ddlmZ ddlmZmZmZmZmZm Z m!Z!m"Z" ddl#m$Z$m%Z%m&Z& ddl'm(Z( ddl)m*Z* ddl+m,Z, ddl-m.Z. ddl/m0Z0 ddl1m2Z2 ddl3m4Z4 G dd dZ5G dd dZ6ej78de%gG dd dZ9ej78de%ee!e"eeeee dfgG dd dZ:ej78de%ee!e"eeeee dfgG d d! d!Z;G d"d# d#Z<dS )$zETests for the ``sympy.physics.biomechanics.musculotendon.py`` module.    N)UnevaluatedExpr)FloatIntegerRational)Symbol)exp)tanh)sqrt)sin)MutableDenseMatrixeyezeros) FirstOrderActivationDeGroote2016)CharacteristicCurveCollection"FiberForceLengthActiveDeGroote2016#FiberForceLengthPassiveDeGroote2016*FiberForceLengthPassiveInverseDeGroote2016FiberForceVelocityDeGroote2016%FiberForceVelocityInverseDeGroote2016TendonForceLengthDeGroote2016$TendonForceLengthInverseDeGroote2016)MusculotendonBaseMusculotendonDeGroote2016MusculotendonFormulation)_NamedMixin)ForceActuator)LinearPathway)ReferenceFrame)dynamicsymbols)Point)simplifyc                   @   sH   e Zd Zedd Zedd Zedd Zedd Zed	d
 ZdS )TestMusculotendonFormulationc                   C   s"   t ddksJ t jdksJ d S )Nr   )r   RIGID_TENDON r#   r#   a/var/www/auris/lib/python3.9/site-packages/sympy/physics/biomechanics/tests/test_musculotendon.pytest_rigid_tendon_member+   s    z5TestMusculotendonFormulation.test_rigid_tendon_memberc                   C   s"   t ddksJ t jdksJ d S )N   )r   FIBER_LENGTH_EXPLICITr#   r#   r#   r$   !test_fiber_length_explicit_member0   s    z>TestMusculotendonFormulation.test_fiber_length_explicit_memberc                   C   s"   t ddksJ t jdksJ d S )N   )r   TENDON_FORCE_EXPLICITr#   r#   r#   r$   !test_tendon_force_explicit_member5   s    z>TestMusculotendonFormulation.test_tendon_force_explicit_memberc                   C   s"   t ddksJ t jdksJ d S )N   )r   ZFIBER_LENGTH_IMPLICITr#   r#   r#   r$   !test_fiber_length_implicit_member:   s    z>TestMusculotendonFormulation.test_fiber_length_implicit_memberc                   C   s"   t ddksJ t jdksJ d S )N   )r   ZTENDON_FORCE_IMPLICITr#   r#   r#   r$   !test_tendon_force_implicit_member?   s    z>TestMusculotendonFormulation.test_tendon_force_implicit_memberN)	__name__
__module____qualname__staticmethodr%   r(   r+   r-   r/   r#   r#   r#   r$   r!   *   s   



r!   c                   @   s0   e Zd Zedd Zedd Zedd ZdS )TestMusculotendonBasec                   C   s   t ttjsJ d S N)
issubclassr   abcABCr#   r#   r#   r$   test_is_abstract_base_classG   s    z1TestMusculotendonBase.test_is_abstract_base_classc                   C   s.   t ttsJ t ttsJ tjdks*J d S )Nr   )r6   r   r   r   r0   r#   r#   r#   r$   
test_classK   s    z TestMusculotendonBase.test_classc                  C   s4   t t t } W d    n1 s&0    Y  d S r5   )pytestraises	TypeErrorr   )_r#   r#   r$    test_cannot_instantiate_directlyQ   s    z6TestMusculotendonBase.test_cannot_instantiate_directlyN)r0   r1   r2   r3   r9   r:   r?   r#   r#   r#   r$   r4   E   s   

r4   musculotendon_concretec                   @   sP   e Zd Zejdddd Zdd Zdd Zd	d
 Zdd Z	dd Z
dd ZdS )TestMusculotendonRigidTendonTZautousec                 C   s  d| _ td| _td| _td| _td| _| j| j| j| jj	  t
| j| j| _t| j | _| jj| _| jj| _| jj| _| jj| _| jj| _tj| _td| _td| _td| _td	| _td
| _td| _ || j | j| j| j| j| j| j| j| j| j d
| _!d| jt"ddt"dd| j    t"ddt"ddt#| j| j| j     t"ddt"dd| j  | j t"ddt"ddt#| j| j| j      | j| j  | _$d S )NnameNqpOpI	l_T_slackF_M_maxl_M_optv_M_max	alpha_optbetamusculotendon_dynamicstendon_slack_lengthpeak_isometric_forceoptimal_fiber_lengthmaximal_fiber_velocityoptimal_pennation_anglefiber_damping_coefficientr&   r)   r,   )%rC   r   rD   r   rE   r   origin	insertionset_posxr   pathwayr   
activation
excitationeaactivation_time_constanttau_adeactivation_time_constanttau_dsmoothing_ratebr   r"   formulationr   rH   rI   rJ   rK   rL   rM   instancer   r   da_expr)selfr@   r#   r#   r$   #_musculotendon_rigid_tendon_fixtureZ   sR    














"((
z@TestMusculotendonRigidTendon._musculotendon_rigid_tendon_fixturec                 C   s   t | jdsJ t | jds J | jj| jjks4J t| jg}| jj|ksPJ | jj|ks`J t| jjtsrJ t| jjtsJ | jjjdksJ | jjjdksJ d S )NrY   
state_varsr&   r&   )hasattrrf   rY   rj   Matrixr^   
isinstanceshaperh   Z
x_expectedr#   r#   r$   test_state_vars   s    z,TestMusculotendonRigidTendon.test_state_varsc                 C   s   t | jdsJ t | jds J | jj| jjks4J t| jg}| jj|ksPJ | jj|ks`J t| jjtsrJ t| jjtsJ | jjjdksJ | jjjdksJ d S Nr
input_varsrk   rl   rf   rs   rt   rm   r]   rn   ro   rh   Z
r_expectedr#   r#   r$   test_input_vars   s    z,TestMusculotendonRigidTendon.test_input_varsc              !   C   sZ  t | jdsJ t | jds J | jj| jjks4J t| j| j| j| j| j	| j
| j| j| jtdtdtdtdtdtdtd	td
tdtdtdtdtdtdtdtdtdtdtdtdtdtdg}| jj|ksJ | jj|ksJ t| jjtsJ t| jjts.J | jjjdksBJ | jjjdksVJ d S )Np	constantsZc_0_fl_T_nameZc_1_fl_T_nameZc_2_fl_T_nameZc_3_fl_T_nameZc_0_fl_M_pas_nameZc_1_fl_M_pas_nameZc_0_fl_M_act_nameZc_1_fl_M_act_nameZc_2_fl_M_act_nameZc_3_fl_M_act_nameZc_4_fl_M_act_nameZc_5_fl_M_act_nameZc_6_fl_M_act_nameZc_7_fl_M_act_nameZc_8_fl_M_act_nameZc_9_fl_M_act_nameZc_10_fl_M_act_nameZc_11_fl_M_act_nameZc_0_fv_M_nameZc_1_fv_M_nameZc_2_fv_M_nameZc_3_fv_M_name)   r&   )rl   rf   rx   ry   rm   rH   rI   rJ   rK   rL   rM   r`   rb   rd   r   rn   ro   rh   Z
p_expectedr#   r#   r$   test_constants   sV    #z+TestMusculotendonRigidTendon.test_constantsc                 C   sR   t | jdsJ tdg}| jj|ks*J t| jjts<J | jjjdksNJ d S )NMr&   rk   )rl   rf   rm   r}   rn   ro   rh   Z
M_expectedr#   r#   r$   test_M   s
    
z#TestMusculotendonRigidTendon.test_Mc                 C   sT   t | jdsJ t| jg}| jj|ks,J t| jjts>J | jjjdksPJ d S )NFrk   )rl   rf   rm   rg   r   rn   ro   rh   Z
F_expectedr#   r#   r$   test_F   s
    z#TestMusculotendonRigidTendon.test_Fc                 C   s^   t | jdsJ t| jg}| j }t|ts4J |jdksBJ t|| tdksZJ d S )Nrhsrk   r&   )	rl   rf   rm   rg   r   rn   ro   r    r   rh   Zrhs_expectedr   r#   r#   r$   test_rhs   s    
z%TestMusculotendonRigidTendon.test_rhsN)r0   r1   r2   r;   fixtureri   rq   rw   r|   r   r   r   r#   r#   r#   r$   rA   W   s   

(.rA   zmusculotendon_concrete, curve)tendon_force_lengthtendon_force_length_inversefiber_force_length_passiveZ"fiber_force_length_passive_inversefiber_force_length_activeZfiber_force_velocityfiber_force_velocity_inversec                   @   sP   e Zd Zejdddd Zdd Zdd Zd	d
 Zdd Z	dd Z
dd ZdS )TestFiberLengthExplicitTrB   c           
      C   sl  d| _ td| _td| _td| _td| _| j| j| j| jj	  t
| j| j| _t| j | _| jj| _| jj| _| jj| _| jj| _| jj| _tj| _td| _td| _td| _td	| _td
| _td| _ || j | j| j| j| j| j| j| j| j| j dd| _!td| _"| jj#}| j"| j }|t$|d | jt%| j d   }|j&'|| j }|j('| j"}|j)'| j"}|j*'|| j || |  | j | | j|  }	| j| j |	 | _+d| jt,ddt,dd| j    t,ddt,ddt-| j| j| j     t,ddt,dd| j  | j t,ddt,ddt-| j| j| j      | j| j  | _.d S )NrC   rD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   TrO   rP   rQ   rR   rS   rT   rU   with_defaultsZl_M_tilde_namer)   r&   r,   )/rC   r   rD   r   rE   r   rV   rW   rX   rY   r   rZ   r   r[   r\   r]   r^   r_   r`   ra   rb   rc   rd   r   r'   re   r   rH   rI   rJ   rK   rL   rM   rf   	l_M_tildelengthr	   r
   r   r   r   r   r   dl_M_tilde_exprr   r   rg   )
rh   r@   curvel_MTl_Ml_TZfl_Tfl_M_pasfl_M_act	v_M_tilder#   r#   r$   ,_musculotendon_fiber_length_explicit_fixture   sn    















$"((
zDTestFiberLengthExplicit._musculotendon_fiber_length_explicit_fixturec                 C   s   t | jdsJ t | jds J | jj| jjks4J t| j| jg}| jj|ksTJ | jj|ksdJ t| jjtsvJ t| jjtsJ | jjjdksJ | jjjdksJ d S NrY   rj   r)   r&   )	rl   rf   rY   rj   rm   r   r^   rn   ro   rp   r#   r#   r$   rq   -  s    z'TestFiberLengthExplicit.test_state_varsc                 C   s   t | jdsJ t | jds J | jj| jjks4J t| jg}| jj|ksPJ | jj|ks`J t| jjtsrJ t| jjtsJ | jjjdksJ | jjjdksJ d S rr   ru   rv   r#   r#   r$   rw   9  s    z'TestFiberLengthExplicit.test_input_varsc              
   C   s   t | jdsJ t | jds J | jj| jjks4J t| j| j| j| j| j	| j
| j| j| jg	}| jj|kspJ | jj|ksJ t| jjtsJ t| jjtsJ | jjjdksJ | jjjdksJ d S Nrx   ry   )	   r&   rl   rf   rx   ry   rm   rH   rI   rJ   rK   rL   rM   r`   rb   rd   rn   ro   r{   r#   r#   r$   r|   E  s*    z&TestFiberLengthExplicit.test_constantsc                 C   sP   t | jdsJ td}| jj|ks(J t| jjts:J | jjjdksLJ d S Nr}   r)   )r)   r)   rl   rf   r   r}   rn   rm   ro   r~   r#   r#   r$   r   ]  s
    zTestFiberLengthExplicit.test_Mc                 C   sX   t | jdsJ t| j| jg}| jj|ks0J t| jjtsBJ | jjjdksTJ d S Nr   r   )rl   rf   rm   r   rg   r   rn   ro   r   r#   r#   r$   r   d  s
    zTestFiberLengthExplicit.test_Fc                 C   sd   t | jdsJ t| j| jg}| j }t|ts8J |jdksFJ t|| t	ddks`J d S Nr   r   r)   r&   )
rl   rf   rm   r   rg   r   rn   ro   r    r   r   r#   r#   r$   r   k  s    
z TestFiberLengthExplicit.test_rhsN)r0   r1   r2   r;   r   r   rq   rw   r|   r   r   r   r#   r#   r#   r$   r      s   

9r   c                   @   sP   e Zd Zejdddd Zdd Zdd Zd	d
 Zdd Z	dd Z
dd ZdS )TestTendonForceExplicitTrB   c                 C   s  d| _ td| _td| _td| _td| _| j| j| j| jj	  t
| j| j| _t| j | _| jj| _| jj| _| jj| _| jj| _| jj| _tj| _td| _td| _td| _td	| _td
| _td| _ || j | j| j| j| j| j| j| j| j| j dd| _!td| _"|j#$| j"}| jj%}| jj&}|| j }t'|| d | jt(| j d  }|| j }|| | }	| j"| j }
|
|	 }|| j }|j)$|}|j*$|}|| | j|  }|j+$|}|| j }|||	  }|| j }t,dt,d t-t,dt.|t,d   | | _/d| jt0ddt0dd| j    t0ddt0ddt1| j| j| j     t0ddt0dd| j  | j t0ddt0ddt1| j| j| j      | j| j  | _2d S )NrC   rD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   Tr   ZF_T_tilde_namer)   z0.2z33.93669377311689z0.995r&   r,   )3rC   r   rD   r   rE   r   rV   rW   rX   rY   r   rZ   r   r[   r\   r]   r^   r_   r`   ra   rb   rc   rd   r   r*   re   r   rH   rI   rJ   rK   rL   rM   rf   	F_T_tilder   r   r   Zextension_velocityr	   r
   r   r   r   r   r   r   dF_T_tilde_exprr   r   rg   )rh   r@   r   Z	l_T_tilder   Zv_MTr   r   r   Z	cos_alphaZF_TZF_MZ	F_M_tilder   r   Zfv_Mr   Zv_MZv_TZ	v_T_tilder#   r#   r$   ,_musculotendon_tendon_force_explicit_fixture  s    

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








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


$



"((
zDTestTendonForceExplicit._musculotendon_tendon_force_explicit_fixturec                 C   s   t | jdsJ t | jds J | jj| jjks4J t| j| jg}| jj|ksTJ | jj|ksdJ t| jjtsvJ t| jjtsJ | jjjdksJ | jjjdksJ d S r   )	rl   rf   rY   rj   rm   r   r^   rn   ro   rp   r#   r#   r$   rq     s    z'TestTendonForceExplicit.test_state_varsc                 C   s   t | jdsJ t | jds J | jj| jjks4J t| jg}| jj|ksPJ | jj|ks`J t| jjtsrJ t| jjtsJ | jjjdksJ | jjjdksJ d S rr   ru   rv   r#   r#   r$   rw     s    z'TestTendonForceExplicit.test_input_varsc              
   C   s   t | jdsJ t | jds J | jj| jjks4J t| j| j| j| j| j	| j
| j| j| jg	}| jj|kspJ | jj|ksJ t| jjtsJ t| jjtsJ | jjjdksJ | jjjdksJ d S r   r   r{   r#   r#   r$   r|     s*    z&TestTendonForceExplicit.test_constantsc                 C   sP   t | jdsJ td}| jj|ks(J t| jjts:J | jjjdksLJ d S r   r   r~   r#   r#   r$   r     s
    zTestTendonForceExplicit.test_Mc                 C   sX   t | jdsJ t| j| jg}| jj|ks0J t| jjtsBJ | jjjdksTJ d S r   )rl   rf   rm   r   rg   r   rn   ro   r   r#   r#   r$   r     s
    zTestTendonForceExplicit.test_Fc                 C   sd   t | jdsJ t| j| jg}| j }t|ts8J |jdksFJ t|| t	ddks`J d S r   )
rl   rf   rm   r   rg   r   rn   ro   r    r   r   r#   r#   r$   r   
  s    
z TestTendonForceExplicit.test_rhsN)r0   r1   r2   r;   r   r   rq   rw   r|   r   r   r   r#   r#   r#   r$   r   t  s   

Dr   c                
   @   s>  e Zd Zedd Zedd Zejdddd Zd	d
 Z	ej
ddedfededfeddeddfededfgdd Zej
ddedfededfededfededfgdd Zej
ddedfededfeddeddfededfgdd Zej
d ded!fed"ed"fed#ed#fed$ed$fgd%d& Zej
d'ded(fed)ed)fed*ed*fed+ed+fgd,d- Zej
d.ded/fed0ed0fed*ed*fedd#edd#fed+ed+fgd1d2 Zd3d4 Zd5d6 Zd7d8 Zd9d: Zd;d< ZdS )=TestMusculotendonDeGroote2016c                   C   s.   t ttsJ t ttsJ tjdks*J d S )Nr   )r6   r   r   r   r0   r#   r#   r#   r$   r:     s    z(TestMusculotendonDeGroote2016.test_classc                  C   s   t d} t d}|| tdtdj  t| |}td}td}td}td}td	}td
}td}	td||t	j
||||||	d
}
t|
tsJ d S )NrF   rG   rE   rD   rC   rH   rI   rJ   rK   rL   rM   rN   )r   rX   r   r   rY   r   r   r   r   r   r"   rn   )rV   rW   rZ   r[   rH   rI   rJ   rK   rL   rM   rf   r#   r#   r$   test_instance  s0    
z+TestMusculotendonDeGroote2016.test_instanceTrB   c                 C   s   d| _ td| _td| _td| _td| _| j| j| j| jj	  t
| j| j| _t| j | _td| _td| _td| _td	| _td
| _td| _d S )NrC   rD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   )rC   r   rD   r   rE   r   rV   rW   rX   rY   r   rZ   r   r[   r   rH   rI   rJ   rK   rL   rM   )rh   r#   r#   r$   _musculotendon_fixture6  s    








z4TestMusculotendonDeGroote2016._musculotendon_fixturec              	   C   s   t d}t d}||tdtdj  t||}td}td}td}td}td	}td
}	td}
t	j
d||tj|||d}|j|ksJ |j|ksJ |j|ksJ |j|ksJ |j|	ksJ |j|
ksJ d S )NrF   rG   rE   rD   rC   rH   rI   rJ   10.0z0.00.1)rO   rP   rQ   rR   )r   rX   r   r   rY   r   r   r   r   r   r   r   r"   rP   rQ   rR   rS   rT   rU   )rh   rV   rW   rZ   r[   rH   rI   rJ   rK   rL   rM   rf   r#   r#   r$   test_with_defaultsG  s4    
	z0TestMusculotendonDeGroote2016.test_with_defaultszl_T_slack, expectedNZl_T_slack_namerH   r&   r)   z0.5c                 C   sN   t | j| j| jtj|| j| j| j| j	| j
d
}|j|ks<J |j|ksJJ d S NrN   )r   rC   rZ   r[   r   r"   rI   rJ   rK   rL   rM   rH   rP   )rh   rH   expectedrf   r#   r#   r$   test_tendon_slack_lengthc  s    
z6TestMusculotendonDeGroote2016.test_tendon_slack_lengthzF_M_max, expectedZF_M_max_namerI   i  z1000.0c                 C   sN   t | j| j| jtj| j|| j| j| j	| j
d
}|j|ks<J |j|ksJJ d S r   )r   rC   rZ   r[   r   r"   rH   rJ   rK   rL   rM   rI   rQ   )rh   rI   r   rf   r#   r#   r$   test_peak_isometric_force|  s    
z7TestMusculotendonDeGroote2016.test_peak_isometric_forcezl_M_opt, expectedZl_M_opt_namerJ   c                 C   sN   t | j| j| jtj| j| j|| j| j	| j
d
}|j|ks<J |j|ksJJ d S r   )r   rC   rZ   r[   r   r"   rH   rI   rK   rL   rM   rJ   rR   )rh   rJ   r   rf   r#   r#   r$   test_optimal_fiber_length  s    
z7TestMusculotendonDeGroote2016.test_optimal_fiber_lengthzv_M_max, expectedZv_M_max_namerK   
   r   c                 C   sN   t | j| j| jtj| j| j| j|| j	| j
d
}|j|ks<J |j|ksJJ d S r   )r   rC   rZ   r[   r   r"   rH   rI   rJ   rL   rM   rK   rS   )rh   rK   r   rf   r#   r#   r$   test_maximal_fiber_velocity  s    
z9TestMusculotendonDeGroote2016.test_maximal_fiber_velocityzalpha_opt, expectedZalpha_opt_namerL   r   r   c                 C   sN   t | j| j| jtj| j| j| j| j	|| j
d
}|j|ks<J |j|ksJJ d S r   )r   rC   rZ   r[   r   r"   rH   rI   rJ   rK   rM   rL   rT   )rh   rL   r   rf   r#   r#   r$   test_optimal_pennation_angle  s    
z:TestMusculotendonDeGroote2016.test_optimal_pennation_anglezbeta, expectedZ	beta_namerM   c                 C   sN   t | j| j| jtj| j| j| j| j	| j
|d
}|j|ks<J |j|ksJJ d S r   )r   rC   rZ   r[   r   r"   rH   rI   rJ   rK   rL   rM   rU   )rh   rM   r   rf   r#   r#   r$   test_fiber_damping_coefficient  s    z<TestMusculotendonDeGroote2016.test_fiber_damping_coefficientc                 C   sf   t | j| j| j}t|ds J t|ds.J td}|j|ksDJ |j|ksRJ |j|ju sbJ d S )Nr]   r\   Ze_name)r   rC   rZ   r[   rl   r   r]   r\   )rh   rf   Z
e_expectedr#   r#   r$   test_excitation  s    z-TestMusculotendonDeGroote2016.test_excitationc                 C   sv   t | j| j| j}tt d |_W d    n1 s80    Y  tt d |_W d    n1 sh0    Y  d S r5   )	r   rC   rZ   r[   r;   r<   AttributeErrorr]   r\   rh   rf   r#   r#   r$   test_excitation_is_immutable  s    $z:TestMusculotendonDeGroote2016.test_excitation_is_immutablec                 C   sV   t | j| j| j}t|ds J t|ds.J td}|j|ksDJ |j|ksRJ d S )Nr^   r[   Za_name)r   rC   rZ   r[   rl   r   r^   )rh   rf   Z
a_expectedr#   r#   r$   test_activation  s    z-TestMusculotendonDeGroote2016.test_activationc                 C   sv   t | j| j| j}tt d |_W d    n1 s80    Y  tt d |_W d    n1 sh0    Y  d S r5   )r   rC   rZ   r[   r;   r<   r   r^   r   r#   r#   r$   test_activation_is_immutable  s    $z:TestMusculotendonDeGroote2016.test_activation_is_immutablec                 C   sH   t | j| j| jtj| j| j| j| j	| j
| jd
}d}t||ksDJ d S )NrN   a  MusculotendonDeGroote2016('name', pathway=LinearPathway(pO, pI), activation_dynamics=FirstOrderActivationDeGroote2016('name', activation_time_constant=tau_a_name, deactivation_time_constant=tau_d_name, smoothing_rate=b_name), musculotendon_dynamics=0, tendon_slack_length=l_T_slack, peak_isometric_force=F_M_max, optimal_fiber_length=l_M_opt, maximal_fiber_velocity=v_M_max, optimal_pennation_angle=alpha_opt, fiber_damping_coefficient=beta))r   rC   rZ   r[   r   r"   rH   rI   rJ   rK   rL   rM   repr)rh   rf   r   r#   r#   r$   	test_repr)  s    z'TestMusculotendonDeGroote2016.test_repr)r0   r1   r2   r3   r:   r   r;   r   r   r   markparametrizer   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r#   r#   r#   r$   r     s   
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