U
    @f                     @   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tt jdkstd S )Nr   )r   AssertionErrorRIGID_TENDON r$   r$   W/tmp/pip-unpacked-wheel-6uje5nh9/sympy/physics/biomechanics/tests/test_musculotendon.pytest_rigid_tendon_member+   s    z5TestMusculotendonFormulation.test_rigid_tendon_memberc                   C   s"   t ddkstt jdkstd S )N   )r   r"   FIBER_LENGTH_EXPLICITr$   r$   r$   r%   !test_fiber_length_explicit_member0   s    z>TestMusculotendonFormulation.test_fiber_length_explicit_memberc                   C   s"   t ddkstt jdkstd S )N   )r   r"   TENDON_FORCE_EXPLICITr$   r$   r$   r%   !test_tendon_force_explicit_member5   s    z>TestMusculotendonFormulation.test_tendon_force_explicit_memberc                   C   s"   t ddkstt jdkstd S )N   )r   r"   ZFIBER_LENGTH_IMPLICITr$   r$   r$   r%   !test_fiber_length_implicit_member:   s    z>TestMusculotendonFormulation.test_fiber_length_implicit_memberc                   C   s"   t ddkstt jdkstd S )N   )r   r"   ZTENDON_FORCE_IMPLICITr$   r$   r$   r%   !test_tendon_force_implicit_member?   s    z>TestMusculotendonFormulation.test_tendon_force_implicit_memberN)	__name__
__module____qualname__staticmethodr&   r)   r,   r.   r0   r$   r$   r$   r%   r!   *   s   



r!   c                   @   s0   e Zd Zedd Zedd Zedd ZdS )TestMusculotendonBasec                   C   s   t ttjstd S N)
issubclassr   abcABCr"   r$   r$   r$   r%   test_is_abstract_base_classG   s    z1TestMusculotendonBase.test_is_abstract_base_classc                   C   s.   t ttstt ttsttjdks*td S )Nr   )r7   r   r   r"   r   r1   r$   r$   r$   r%   
test_classK   s    z TestMusculotendonBase.test_classc               	   C   s    t t t } W 5 Q R X d S r6   )pytestraises	TypeErrorr   )_r$   r$   r%    test_cannot_instantiate_directlyQ   s    z6TestMusculotendonBase.test_cannot_instantiate_directlyN)r1   r2   r3   r4   r:   r;   r@   r$   r$   r$   r%   r5   E   s   

r5   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  | _$d S )NnameNqpOpI	l_T_slackF_M_maxl_M_optv_M_max	alpha_optbetamusculotendon_dynamicstendon_slack_lengthpeak_isometric_forceoptimal_fiber_lengthmaximal_fiber_velocityoptimal_pennation_anglefiber_damping_coefficientr'   r*   r-   )%rD   r   rE   r   rF   r   origin	insertionset_posxr   pathwayr   
activation
excitationeaactivation_time_constanttau_adeactivation_time_constanttau_dsmoothing_ratebr   r#   formulationr   rI   rJ   rK   rL   rM   rN   instancer   r   da_expr)selfrA   r$   r$   r%   #_musculotendon_rigid_tendon_fixtureZ   sR    












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
"((
z@TestMusculotendonRigidTendon._musculotendon_rigid_tendon_fixturec                 C   s   t | jdstt | jds t| jj| jjks4tt| jg}| jj|ksPt| jj|ks`tt| jjtsrtt| jjtst| jjjdkst| jjjdkstd S )NrZ   
state_varsr'   r'   )	hasattrrg   r"   rZ   rk   Matrixr_   
isinstanceshaperi   Z
x_expectedr$   r$   r%   test_state_vars   s    z,TestMusculotendonRigidTendon.test_state_varsc                 C   s   t | jdstt | jds t| jj| jjks4tt| jg}| jj|ksPt| jj|ks`tt| jjtsrtt| jjtst| jjjdkst| jjjdkstd S Nr
input_varsrl   	rm   rg   r"   rt   ru   rn   r^   ro   rp   ri   Z
r_expectedr$   r$   r%   test_input_vars   s    z,TestMusculotendonRigidTendon.test_input_varsc              !   C   sZ  t | jdstt | jds t| jj| jjks4tt| j| j| j| j	| j
| j| j| j| jtdtdtdtdtdtdtd	td
tdtdtdtdtdtdtdtdtdtdtdtdtdtdg}| jj|kst| jj|kstt| jjtstt| jjts.t| jjjdksBt| jjjdksVtd S )Np	constantsZc_0_fl_T_nameZc_1_fl_T_nameZc_2_fl_T_nameZc_3_fl_T_nameZc_0_fl_M_pas_nameZc_1_fl_M_pas_nameZc_0_fl_M_act_nameZc_1_fl_M_act_nameZc_2_fl_M_act_nameZc_3_fl_M_act_nameZc_4_fl_M_act_nameZc_5_fl_M_act_nameZc_6_fl_M_act_nameZc_7_fl_M_act_nameZc_8_fl_M_act_nameZc_9_fl_M_act_nameZc_10_fl_M_act_nameZc_11_fl_M_act_nameZc_0_fv_M_nameZc_1_fv_M_nameZc_2_fv_M_nameZc_3_fv_M_name)   r'   )rm   rg   r"   ry   rz   rn   rI   rJ   rK   rL   rM   rN   ra   rc   re   r   ro   rp   ri   Z
p_expectedr$   r$   r%   test_constants   sV    #z+TestMusculotendonRigidTendon.test_constantsc                 C   sR   t | jdsttdg}| jj|ks*tt| jjts<t| jjjdksNtd S )NMr'   rl   )rm   rg   r"   rn   r~   ro   rp   ri   Z
M_expectedr$   r$   r%   test_M   s
    
z#TestMusculotendonRigidTendon.test_Mc                 C   sT   t | jdstt| jg}| jj|ks,tt| jjts>t| jjjdksPtd S )NFrl   )rm   rg   r"   rn   rh   r   ro   rp   ri   Z
F_expectedr$   r$   r%   test_F   s
    z#TestMusculotendonRigidTendon.test_Fc                 C   s^   t | jdstt| jg}| j }t|ts4t|jdksBtt|| t	dksZtd S )Nrhsrl   r'   )
rm   rg   r"   rn   rh   r   ro   rp   r    r   ri   Zrhs_expectedr   r$   r$   r%   test_rhs   s    
z%TestMusculotendonRigidTendon.test_rhsN)r1   r2   r3   r<   fixturerj   rr   rx   r}   r   r   r   r$   r$   r$   r%   rB   W   s   

(.rB   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 )TestFiberLengthExplicitTrC   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$|d | jt%| j d   }|j&'|| j }|j('| j"}|j)'| j"}|j*'|| j || |  | j | | j|  }	| j| j |	 | _+d| jt,ddt,dd| j    t,ddt,ddt-| j| j| j     t,ddt,dd| j  | j t,ddt,ddt-| j| j| j      | j| j  | _.d S )NrD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   rN   TrP   rQ   rR   rS   rT   rU   rV   with_defaultsZl_M_tilde_namer*   r'   r-   )/rD   r   rE   r   rF   r   rW   rX   rY   rZ   r   r[   r   r\   r]   r^   r_   r`   ra   rb   rc   rd   re   r   r(   rf   r   rI   rJ   rK   rL   rM   rN   rg   	l_M_tildelengthr	   r
   r   r   r   r   r   dl_M_tilde_exprr   r   rh   )
ri   rA   curvel_MTl_Ml_TZfl_Tfl_M_pasfl_M_act	v_M_tilder$   r$   r%   ,_musculotendon_fiber_length_explicit_fixture   sn    















$"((
zDTestFiberLengthExplicit._musculotendon_fiber_length_explicit_fixturec                 C   s   t | jdstt | jds t| jj| jjks4tt| j| jg}| jj|ksTt| jj|ksdtt| jjtsvtt| jjtst| jjj	dkst| jjj	dkstd S NrZ   rk   r*   r'   )
rm   rg   r"   rZ   rk   rn   r   r_   ro   rp   rq   r$   r$   r%   rr   -  s    z'TestFiberLengthExplicit.test_state_varsc                 C   s   t | jdstt | jds t| jj| jjks4tt| jg}| jj|ksPt| jj|ks`tt| jjtsrtt| jjtst| jjjdkst| jjjdkstd S rs   rv   rw   r$   r$   r%   rx   9  s    z'TestFiberLengthExplicit.test_input_varsc              
   C   s   t | jdstt | jds t| jj| jjks4tt| j| j| j| j	| j
| j| j| j| jg	}| jj|kspt| jj|kstt| jjtstt| jjtst| jjjdkst| jjjdkstd S Nry   rz   )	   r'   rm   rg   r"   ry   rz   rn   rI   rJ   rK   rL   rM   rN   ra   rc   re   ro   rp   r|   r$   r$   r%   r}   E  s*    z&TestFiberLengthExplicit.test_constantsc                 C   sP   t | jdsttd}| jj|ks(tt| jjts:t| jjjdksLtd S Nr~   r*   )r*   r*   rm   rg   r"   r   r~   ro   rn   rp   r   r$   r$   r%   r   ]  s
    zTestFiberLengthExplicit.test_Mc                 C   sX   t | jdstt| j| jg}| jj|ks0tt| jjtsBt| jjjdksTtd S Nr   r   )	rm   rg   r"   rn   r   rh   r   ro   rp   r   r$   r$   r%   r   d  s
    zTestFiberLengthExplicit.test_Fc                 C   sd   t | jdstt| j| jg}| j }t|ts8t|jdksFtt	|| t
ddks`td S Nr   r   r*   r'   )rm   rg   r"   rn   r   rh   r   ro   rp   r    r   r   r$   r$   r%   r   k  s    
z TestFiberLengthExplicit.test_rhsN)r1   r2   r3   r<   r   r   rr   rx   r}   r   r   r   r$   r$   r$   r%   r      s   

9r   c                   @   sP   e Zd Zejdddd Zdd Zdd Zd	d
 Zdd Z	dd Z
dd ZdS )TestTendonForceExplicitTrC   c                 C   s  d| _ td| _td| _td| _td| _| j| j| j| jj	  t
| j| j| _t| j | _| jj| _| jj| _| jj| _| jj| _| jj| _tj| _td| _td| _td| _td	| _td
| _td| _ || j | j| j| j| j| j| j| j| j| j dd| _!td| _"|j#$| j"}| jj%}| jj&}|| j }t'|| d | jt(| j d  }|| j }|| | }	| j"| j }
|
|	 }|| j }|j)$|}|j*$|}|| | j|  }|j+$|}|| j }|||	  }|| j }t,dt,d t-t,dt.|t,d   | | _/d| jt0ddt0dd| j    t0ddt0ddt1| j| j| j     t0ddt0dd| j  | j t0ddt0ddt1| j| j| j      | j| j  | _2d S )NrD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   rN   Tr   ZF_T_tilde_namer*   z0.2z33.93669377311689z0.995r'   r-   )3rD   r   rE   r   rF   r   rW   rX   rY   rZ   r   r[   r   r\   r]   r^   r_   r`   ra   rb   rc   rd   re   r   r+   rf   r   rI   rJ   rK   rL   rM   rN   rg   	F_T_tilder   r   r   Zextension_velocityr	   r
   r   r   r   r   r   r   dF_T_tilde_exprr   r   rh   )ri   rA   r   Z	l_T_tilder   Zv_MTr   r   r   Z	cos_alphaZF_TZF_MZ	F_M_tilder   r   Zfv_Mr   Zv_MZv_TZ	v_T_tilder$   r$   r%   ,_musculotendon_tendon_force_explicit_fixture  s    
















$



"((
zDTestTendonForceExplicit._musculotendon_tendon_force_explicit_fixturec                 C   s   t | jdstt | jds t| jj| jjks4tt| j| jg}| jj|ksTt| jj|ksdtt| jjtsvtt| jjtst| jjj	dkst| jjj	dkstd S r   )
rm   rg   r"   rZ   rk   rn   r   r_   ro   rp   rq   r$   r$   r%   rr     s    z'TestTendonForceExplicit.test_state_varsc                 C   s   t | jdstt | jds t| jj| jjks4tt| jg}| jj|ksPt| jj|ks`tt| jjtsrtt| jjtst| jjjdkst| jjjdkstd S rs   rv   rw   r$   r$   r%   rx     s    z'TestTendonForceExplicit.test_input_varsc              
   C   s   t | jdstt | jds t| jj| jjks4tt| j| j| j| j	| j
| j| j| j| jg	}| jj|kspt| jj|kstt| jjtstt| jjtst| jjjdkst| jjjdkstd S r   r   r|   r$   r$   r%   r}     s*    z&TestTendonForceExplicit.test_constantsc                 C   sP   t | jdsttd}| jj|ks(tt| jjts:t| jjjdksLtd S r   r   r   r$   r$   r%   r     s
    zTestTendonForceExplicit.test_Mc                 C   sX   t | jdstt| j| jg}| jj|ks0tt| jjtsBt| jjjdksTtd S r   )	rm   rg   r"   rn   r   rh   r   ro   rp   r   r$   r$   r%   r     s
    zTestTendonForceExplicit.test_Fc                 C   sd   t | jdstt| j| jg}| j }t|ts8t|jdksFtt	|| t
ddks`td S r   )rm   rg   r"   rn   r   rh   r   ro   rp   r    r   r   r$   r$   r%   r   
  s    
z TestTendonForceExplicit.test_rhsN)r1   r2   r3   r<   r   r   rr   rx   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$fgd%d& Zej
d'ded(fed)ed)fed*ed*fed+ed+fgd,d- Zej
d.ded/fed0ed0fed*ed*fedd#edd#fed+ed+fgd1d2 Zd3d4 Zd5d6 Zd7d8 Zd9d: Zd;d< ZdS )=TestMusculotendonDeGroote2016c                   C   s.   t ttstt ttsttjdks*td S )Nr   )r7   r   r   r"   r   r1   r$   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std S )NrG   rH   rF   rE   rD   rI   rJ   rK   rL   rM   rN   rO   )r   rY   r   r   rZ   r   r   r   r   r   r#   ro   r"   )rW   rX   r[   r\   rI   rJ   rK   rL   rM   rN   rg   r$   r$   r%   test_instance  s0    
z+TestMusculotendonDeGroote2016.test_instanceTrC   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 )NrD   rE   rF   rG   rH   rI   rJ   rK   rL   rM   rN   )rD   r   rE   r   rF   r   rW   rX   rY   rZ   r   r[   r   r\   r   rI   rJ   rK   rL   rM   rN   )ri   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st|j|kst|j|kst|j|kst|j|	kst|j|
kstd S )NrG   rH   rF   rE   rD   rI   rJ   rK   10.0z0.00.1)rP   rQ   rR   rS   )r   rY   r   r   rZ   r   r   r   r   r   r   r   r#   rQ   r"   rR   rS   rT   rU   rV   )ri   rW   rX   r[   r\   rI   rJ   rK   rL   rM   rN   rg   r$   r$   r%   test_with_defaultsG  s4    
	z0TestMusculotendonDeGroote2016.test_with_defaultszl_T_slack, expectedNZl_T_slack_namerI   r'   r*   z0.5c                 C   sN   t | j| j| jtj|| j| j| j| j	| j
d
}|j|ks<t|j|ksJtd S NrO   )r   rD   r[   r\   r   r#   rJ   rK   rL   rM   rN   rI   r"   rQ   )ri   rI   expectedrg   r$   r$   r%   test_tendon_slack_lengthc  s    
z6TestMusculotendonDeGroote2016.test_tendon_slack_lengthzF_M_max, expectedZF_M_max_namerJ   i  z1000.0c                 C   sN   t | j| j| jtj| j|| j| j| j	| j
d
}|j|ks<t|j|ksJtd S r   )r   rD   r[   r\   r   r#   rI   rK   rL   rM   rN   rJ   r"   rR   )ri   rJ   r   rg   r$   r$   r%   test_peak_isometric_force|  s    
z7TestMusculotendonDeGroote2016.test_peak_isometric_forcezl_M_opt, expectedZl_M_opt_namerK   c                 C   sN   t | j| j| jtj| j| j|| j| j	| j
d
}|j|ks<t|j|ksJtd S r   )r   rD   r[   r\   r   r#   rI   rJ   rL   rM   rN   rK   r"   rS   )ri   rK   r   rg   r$   r$   r%   test_optimal_fiber_length  s    
z7TestMusculotendonDeGroote2016.test_optimal_fiber_lengthzv_M_max, expectedZv_M_max_namerL   
   r   c                 C   sN   t | j| j| jtj| j| j| j|| j	| j
d
}|j|ks<t|j|ksJtd S r   )r   rD   r[   r\   r   r#   rI   rJ   rK   rM   rN   rL   r"   rT   )ri   rL   r   rg   r$   r$   r%   test_maximal_fiber_velocity  s    
z9TestMusculotendonDeGroote2016.test_maximal_fiber_velocityzalpha_opt, expectedZalpha_opt_namerM   r   r   c                 C   sN   t | j| j| jtj| j| j| j| j	|| j
d
}|j|ks<t|j|ksJtd S r   )r   rD   r[   r\   r   r#   rI   rJ   rK   rL   rN   rM   r"   rU   )ri   rM   r   rg   r$   r$   r%   test_optimal_pennation_angle  s    
z:TestMusculotendonDeGroote2016.test_optimal_pennation_anglezbeta, expectedZ	beta_namerN   c                 C   sN   t | j| j| jtj| j| j| j| j	| j
|d
}|j|ks<t|j|ksJtd S r   )r   rD   r[   r\   r   r#   rI   rJ   rK   rL   rM   rN   r"   rV   )ri   rN   r   rg   r$   r$   r%   test_fiber_damping_coefficient  s    z<TestMusculotendonDeGroote2016.test_fiber_damping_coefficientc                 C   sf   t | j| j| j}t|ds tt|ds.ttd}|j|ksDt|j|ksRt|j|jksbtd S )Nr^   r]   Ze_name)	r   rD   r[   r\   rm   r"   r   r^   r]   )ri   rg   Z
e_expectedr$   r$   r%   test_excitation  s    z-TestMusculotendonDeGroote2016.test_excitationc              	   C   sN   t | j| j| j}tt d |_W 5 Q R X tt d |_W 5 Q R X d S r6   )	r   rD   r[   r\   r<   r=   AttributeErrorr^   r]   ri   rg   r$   r$   r%   test_excitation_is_immutable  s    z:TestMusculotendonDeGroote2016.test_excitation_is_immutablec                 C   sV   t | j| j| j}t|ds tt|ds.ttd}|j|ksDt|j|ksRtd S )Nr_   r\   Za_name)r   rD   r[   r\   rm   r"   r   r_   )ri   rg   Z
a_expectedr$   r$   r%   test_activation  s    z-TestMusculotendonDeGroote2016.test_activationc              	   C   sN   t | j| j| j}tt d |_W 5 Q R X tt d |_W 5 Q R X d S r6   )r   rD   r[   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sDtd S )NrO   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   rD   r[   r\   r   r#   rI   rJ   rK   rL   rM   rN   reprr"   )ri   rg   r   r$   r$   r%   	test_repr)  s    z'TestMusculotendonDeGroote2016.test_repr)r1   r2   r3   r4   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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