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suContactTargetRight Class Reference

An optimization target for finding the kinematics that produce appropriate kinematics for the right foot to be in contact with the ground. More...

#include <suContactTargetRight.h>

Inheritance diagram for suContactTargetRight:

List of all members.

Public Member Functions
virtual	~suContactTargetRight ()
	Destructor.
	suContactTargetRight (suPreTrack *aPreTracker)
	Constructor.
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
suPreTrack *	_preTracker

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Detailed Description

An optimization target for finding the kinematics that produce appropriate kinematics for the right foot to be in contact with the ground.

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Constructor & Destructor Documentation

suContactTargetRight::suContactTargetRight (  suPreTrack *  aPreTracker  )

Constructor. The seven controls are the degrees of freedom in the right leg q9, q10, q11 right hip q12 right knee q13, q14 right ankle and subtalar q15 right mtp The 9 equality constraints are the positions of the r. forefoot spring points.

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Member Function Documentation

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

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

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

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

int suContactTargetRight::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.

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

• suContactTargetRight.h
• suContactTargetRight.cpp

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