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#ifndef _HAPTIC_RENDERING_FUNX_H
#define _HAPTIC_RENDERING_FUNX_H

/*~~~~~~~~~~~~~~~~~ 
|| OpenHaptics 3  ||
~~~~~~~~~~~~~~~~~~*/
#include <HD/hd.h>
#include <HDU/hduVector.h>
#include <HDU/hduError.h>
#include <HL/hl.h>

#include <types.h>
#include <miscellaneous.h>

#include <hd_hl_apis_aux.h>

hduVector3Dd CalculateWorkspaceDemoForce(void *pUserData);

hduVector3Dd CalculatePlaneDrawingDemoForce(void *pUserData);

void Demo2_BuildPlane(void *pUserData);

template <typename Type>
Type CalculateTanhForceMagnitude(Type x)
{
  // constants
  static Type overlap = 30.0; //mm
  static Type limit = 0.25 * overlap; //mm
  static Type Fmax = 2.5; //N
  static Type k = Fmax / overlap; //N/mm
  static Type gamma = 0.2;
  static Type k2 = 10.0;
  
  // calcs
  Type F;
  
  if(x<overlap && x>=limit)
    F = k * gamma * x;
  else if(x>0.0 && x<limit)
  {
    Type beta = log(-(-exp(limit*3.0)+exp(limit)+Fmax*exp(limit)-exp(limit)*sqrt((exp(limit)+1.0)*(Fmax+gamma*k*limit-gamma*k*overlap)*(Fmax-exp(limit)*2.0+Fmax*exp(limit)+gamma*k*limit-gamma*k*overlap+gamma*k*limit*exp(limit)-gamma*k*overlap*exp(limit)+2.0))+Fmax*exp(limit*3.0)+exp(limit*2.0)*sqrt((exp(limit)+1.0)*(Fmax+gamma*k*limit-gamma*k*overlap)*(Fmax-exp(limit)*2.0+Fmax*exp(limit)+gamma*k*limit-gamma*k*overlap+gamma*k*limit*exp(limit)-gamma*k*overlap*exp(limit)+2.0))+gamma*k*limit*exp(limit)-gamma*k*overlap*exp(limit)+gamma*k*limit*exp(limit*3.0)-gamma*k*overlap*exp(limit*3.0))/(-exp(limit*2.0)+Fmax*exp(limit)*2.0+gamma*k*limit*exp(limit)*2.0-gamma*k*overlap*exp(limit)*2.0+1.0))*(1.0/2.0);
    
    Type alpha = pow(cosh(beta - (limit/2.0)),2.0);
    
    Type theta = Fmax + tanh(beta)/(pow(tanh(beta - (limit/2.0)),2.0)-1.0);
    
    F = alpha * tanh(beta - x) + theta;
  }
  else if(x<=0.)
    F = Fmax + k2 * -x;
  else
    F = 0.;
  
  return F;
}

hduVector3Dd Leg_COP_Monitoring(void *pUserData);

template <typename Type>
Type CalculatePolyForceMagnitude(Type x)
{
  // overlap zone -> define an area where haptics and control overlap
  static Type overlap_zone = 5.0;
  
  // force polynomial variables
  static Type Fmax = 3.3; // N;
  static const Type k = Fmax / overlap_zone; // N/mm
  static const Type k2 = 100.0*k; // N/mm
  static Type a = 2.0 * Fmax / pow(overlap_zone,3.0);
  static Type b = -1.0 * 3.0 * Fmax / pow(overlap_zone,2.0);
  
  Type F;
  
  if(x<=overlap_zone && x>0.0)
  {
    F = (a * pow(x,3.) + b * pow(x,2.) + Fmax);
  }
  else if(x<=0.0)
  {
    F = Fmax + k2 * (-x);
  }
  else
  {
    F = 0.0;
  }
  
  return F;
}

template <typename Type>
Type CalculateExponentialForceMagnitude(Type x)
{
  return exp(-x+1.0);
}

template <typename Type>
Type CalculatePlaneForceMagnitude(Type x)
{
  return CalculateTanhForceMagnitude(x);
}

#endif

---

phua_haptic
Author(s): Pedro Cruz
autogenerated on Wed Jul 23 04:33:52 2014