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rdStaticTarget Class Reference

An optimization target for finding valid static solutions for human running. More...

#include <rdStaticTarget.h>

Inheritance diagram for rdStaticTarget:

rdOptimizationTarget List of all members.

Public Member Functions

virtual ~rdStaticTarget ()
 Destructor.

 rdStaticTarget (int aNX, rdModel *aModel)
 Constructor.

void setQ (double *q)
 Set the generalized coordinates.

void setU (double *u)
 Set the generalized speeds.

void setUDOT (double *udot)
 Set the generalized accelerations.

void setX2UMap (int *aX2U)
 Set the mapping from controls to generalized speeds.

void setC2UMap (int *aC2U)
 Set the mapping from constraints to generalized speeds.

void setFE (int aNE, int *aBE, double *aPE, double *aFE)
 Set the external forces.

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.


Private Attributes

rdModel * _model
double * _dpdx
double * _dcdx
double * _q
double * _dqdt
double * _u
double * _dudt
double * _udot
int * _u2jointMap
int * _u2axisMap
int * _x2uMap
int * _c2uMap
int _ne
int * _be
double * _pe
double * _fe

Detailed Description

An optimization target for finding valid static solutions for human running.

Member Function Documentation

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

Compute performance and the constraints given x.

Note - used by paramopt.

Implements rdOptimizationTarget.

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

Compute constraint i given x.

Note that the indexing starts at 1;

Implements rdOptimizationTarget.

int rdStaticTarget::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.

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