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suDecompHardUTWalk Class Reference

A class for computing a decomposition by hard constraints for the UT Walking Model or classes derived from the UT Walking Model. More...

#include <suDecompHardUTWalk.h>

Inheritance diagram for suDecompHardUTWalk:

List of all members.

Public Member Functions
	suDecompHardUTWalk (rdUTWalking8 *aModel)
	Construct a hard-constraint decomposition analysis based on an rdUTWalking8 model.
virtual	~suDecompHardUTWalk ()
	Destructor.
virtual void	compute (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY)
	Decompose the ground reaction force by assuming hard constraints.
int	suComputePerformance (double *x, double *p)
	Compute performance given x.
int	suComputePerformanceGradient (double *x, double *dpdx)
	Compute performance given x.
int	suComputeConstraint (double *x, int ic, double *c)
	Compute a constraint given x.
int	suComputeContactPointAccelerations (double *x, int c, double cpa[][3])
	Compute contact point accelerations.
Protected Member Functions
int	getNumberConstraints ()
	Set spring force array based on decomposition controls.
void	clearBodyConstraints ()
	Clear all body constraints.
void	clearBodyConstraintValues ()
	Clear all constraint values--- set them to 0.0.
void	setBodyConstraintValues (int aN, int aID[], double aAcc[][3])
	Set the relavent constraint values.
void	decompose (int step, double dt, double t, double *xt, double *y, void *cd)
void	determineControls (double sfrc[][3])
	Determine the controls for the decomposition.
void	determineConstraints ()
	Determine the constraints for the decomposition.
void	setSpringForces (double *aXS, double aFS[][3])
	Set spring force array based on decomposition controls.
void	applyComponentForce (int aC)
	Apply appropriate component force.
Protected Attributes
int	_c
	Force component index.
int	_nxs
	Number of spring points in contact.
int *	_xsSprMap
	Map from spring points in contact to springs in the model.
int *	_xsXYZMap
	Map from degrees of freedom (XYZ) of springs in contact to degrees of freedom of springs in the model.
rdBodyConstraint	_bc [4]
	Constraints on the bodies: rhindfoot, rtoes, lhindfoot, ltoes.
double	_wXS
	Performance criterion weight for the spring forces.
double	_wAcc
	Performance criterion weight for the spring accelerations.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
double *	getContactPoint (int aIndex)
	Get the contact point for a specified contact element.
Private Attributes
double	_point [3]
	Point used for temporary storage of model spring point locations.
double *	_yCopy
	Untouched copy of the states.
double *	_yTmp
	Manipulated copy of the states.
double *	_x
	Untouched copy of the model controls.

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Detailed Description

A class for computing a decomposition by hard constraints for the UT Walking Model or classes derived from the UT Walking Model.

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Member Function Documentation

void suDecompHardUTWalk::applyComponentForce (  int  aC  )  [protected]

Apply appropriate component force. Parameters: aC  Index of the component.

double * suDecompHardUTWalk::getContactPoint (  int  aIndex  )  [private]

Get the contact point for a specified contact element. Parameters: aIndex  Index to the model contact element. Returns: Pointer to the contact point. The contact point is a local variable member, so there is no danger of the pointer becoming invalid.

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Member Data Documentation

double suDecompHardUTWalk::_point[3] [private]

Point used for temporary storage of model spring point locations. See getContactPoint().

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

• suDecompHardUTWalk.h
• suDecompHardUTWalk.cpp

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