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rdDynamicFilter Class Reference

This class provides methods for dynamically filtering the kinematics of a system of articulated bodies. More...

#include <rdDynamicFilter.h>

Inheritance diagram for rdDynamicFilter:

List of all members.

Public Member Functions
virtual	~rdDynamicFilter ()
	Destructor.
	rdDynamicFilter (rdModel *aModel, rdKinematics *aKin)
	Construct a dynamic filter for a model, aModel, and a set of kinematics, aKin.
rdFSQP *	getFSQP ()
	Get the FSQP object.
void	setQGains (double aQGain)
	Set the tracking factor by which position errors are multiplied.
void	setQGains (int aI, double aQGain)
	Set the tracking factor for the generalized coordinate indexed by aI.
double *	getQGains ()
	Get the tracking factors by which position errors are multiplied.
void	setUGains (double aUGain)
	Set the tracking factor for generalized speed indexed by aI.
void	setUGains (int aI, double aUGain)
	Set the tracking factor for the aI.
double *	getUGains ()
	Get the tracking factors by which velocity errors are multiplied.
void	setTrackingPerformanceWeight (double aW)
	Set the factor by which the tracking component of the performance criterion is weighted.
double	getTrackingPerformanceWeight ()
	Get the factor by which the tracking component of the performance criterion is weighted.
void	setControlsPerformanceWeight (double aW)
	Set the factor by which the controls component of the performance criterion is weighted.
double	getControlsPerformanceWeight ()
	Get the factor by which the controls component of the performance criterion is weighted.
void	setLookAhead (double aTimeDelta)
	Set the amount by which acceleration trajectories are anticipated.
double	getLookAhead ()
	Get the amount by which acceleration trajectories are anticipated.
void	setTrack (bool aTrueFalse)
	Set whether or not to track the generalized coordinates.
void	setTrack (int i, bool aTrueFalse)
	Set whether or not to track the generalized coordinate indexed by aI.
bool *	getTrack ()
	Get the tracking factors by which velocity errors are multiplied.
double	getDT ()
	Get the current integration step size.
double *	getCorrectedAccelerations ()
	Set the amount by which acceleration trajectories are anticipated.
int	compute (double *x, double *p, double *c)
	Compute performance and the constraints given x.
int	computeGradients (double *dx, double *x, double *dpdx, double *dcdx)
	Compute the gradients of the performance and the constraints given x.
int	computePerformance (double *x, double *p)
	Compute performance given x.
int	computePerformanceGradient (double *x, double *dpdx)
	Compute the gradient of performance given x.
int	computeConstraint (double *x, int i, double *c)
	Compute constraint i given x.
int	computeConstraintGradient (double *x, int i, double *dcdx)
	Compute the gradient of constraint i given x.
void	computeTrajectoryErrors (double t, double *q, double *u, double *qerr, double *uerr, double *dudt)
	Compute the difference between the desired and actual trajectory.
void	computeCorrectedAccelerations (double *qerr, double *uerr, double *dudt_d)
	Compute corrected accelerations.
void	computeAccelerations (double *x)
	Compute accelerations.
virtual void	computeControls (double dt, double t, const double *y, double *x)
	Compute a set of controls for the current model so that the kinematic trajectory of the model is driven toward a set of desired kinematics.
void	printTrajectoryErrors ()
	Print the trajectory errors.
void	printAccelerations ()
	Print the desired, corrected, and achieved accelerations.
Private Attributes
rdKinematics *	_kin
rdFSQP *	_fsqp
int	_maxIter
int	_ny
int	_nq
int	_nu
double	_dt
double	_t
double *	_y
double *	_ytmp
double *	_q
double *	_u
double *	_qerr
double *	_uerr
double *	_dqdt
double *	_dudt_d
double *	_dudt_c
double *	_dudt
double *	_kq
double *	_ku
double	_kAcc
double	_kX
double	_lookAhead
bool *	_track

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Detailed Description

This class provides methods for dynamically filtering the kinematics of a system of articulated bodies.

The filtering is dynamic in that the inertial characteristics of the bodies, as well as the physical properties of the system actuators (e.g., torque motors, muscles, ...), are implicitly taken into account.

This class extends rdController and so can be set as valid controller during an integration. See class rdIntegRKF.

Author:

Frank C. Anderson

Version:

1.0

See also:

rdController, rdIntegRKF

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Member Function Documentation

int rdDynamicFilter::compute (  double *  x, double *  p, double *  c )  [virtual]

Compute performance and the constraints given x. Note - used by paramopt. Implements rdOptimizationTarget.

void rdDynamicFilter::computeAccelerations (  double *  x  )

Compute accelerations. This routines modifies the desired accelerations based on differences between the actual positions and velocities and the desired positions and velocities. Parameters: t  The time. q  The generalized coordinates. u  The generalized speeds. dudt_c  The corrected accelerations (time derivatives of u). Todo: aDT should be passed in to promoteControlsToStates().

int rdDynamicFilter::computeConstraint (  double *  x, int  i, double *  c )  [virtual]

Compute constraint i given x. Note that the indexing starts at 1; Implements rdOptimizationTarget.

void rdDynamicFilter::computeControls (  double  dt, double  t, const double *  y, double *  x )  [virtual]

Compute a set of controls for the current model so that the kinematic trajectory of the model is driven toward a set of desired kinematics. Parameters: dt  Integration time step that will be attempted. t  Current time. y  Current states of the system. x  Current controls. Returns: -1 if an error is encountered, 0 otherwise.

void rdDynamicFilter::computeCorrectedAccelerations (  double *  qerr, double *  uerr, double *  dudt_d )

Compute corrected accelerations. This routines modifies the desired accelerations based on differences between the actual positions and velocities and the desired positions and velocities. Parameters: t  The time. q  The generalized coordinates. u  The generalized speeds. dudt_c  The corrected accelerations (time derivatives of u).

int rdDynamicFilter::computeGradients (  double *  dx, double *  x, double *  dpdx, double *  dcdx )  [virtual]

Compute the gradients of the performance and the constraints given x. The array dx is an array of perturbation sizes which can be used to compute the gradients numerically. Note- used by paramopt. Implements rdOptimizationTarget.

int rdDynamicFilter::computePerformanceGradient (  double *  x, double *  dpdx )  [virtual]

Compute the gradient of performance given x. This method uses central differences. Implements rdOptimizationTarget.

void rdDynamicFilter::computeTrajectoryErrors (  double  t, double *  q, double *  u, double *  qerr, double *  uerr, double *  dudt )

Compute the difference between the desired and actual trajectory. Note that q must be expressed in angles not quaterions. Parameters: t  The time. q  The generalized coordinates converted to angles. u  The generalized speeds.

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The documentation for this class was generated from the following files:

• rdDynamicFilter.h
• rdDynamicFilter.cpp

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