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suPreTrack Class Reference

A class for computing the generalized coordinates necessary to satisfy contact constraints of the UT Walking Model. More...

#include <suPreTrack.h>

List of all members.

Public Member Functions
	suPreTrack (rdUTWalking8 *aModel, rdStorage *aQ, rdStorage *aSpringPositions)
	Construct a preTrack object based on an rdUTWalking8 model and the generalized coordinates, pseudostates, and kinetics corresponding to the motion to be processed.
virtual	~suPreTrack ()
	Destructor.
rdStorage *	getQNewStorage ()
	Get a pointer to the rdStorage containing the new generalized coordinates.
void	compute (double aT, int aTIndex)
	Compute the right limb generalized coordinates.
int	suComputePerformance (double *x, double *p)
	Compute performance given x.
int	suComputePerformanceGradient (double *x, double *dpdx)
	Compute performance gradient given x.
int	suComputeConstraint (double *x, int ic, double *c)
	Compute a constraint given x.
int	suComputeConstraintGradient (double *x, int ic, double *dcdx)
	Compute constraint gradient given x.
Protected Attributes
double	_wLarge
	Performance criterion weight for the accurate experimental data.
double	_wSmall
	Performance criterion weight for the poor experimental data.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
int	initializeControls ()
	Initialize right control values to initial values of the generalized coordinates.
int	updateQ (double *x)
	Update the generalized coordinates based on the current controls for the right leg.
int	updateModel ()
	Update the model based on the current controls so that spring positions and forces can be evaluated.
double	getSprForce (int direction, int spring)
	Given the spring number and direction return the force in the spring.
double	getSprPos (int direction, int spring)
	Given the spring number and direction return the position of the spring.
double	getSumSprForce (int direction, int startSpring, int endSpring)
	Given the starting spring number and the ending spring number and a direction return the sum of the forces in the springs in that direction.
double	getSprPosRelToAnkle (int direction, int spring)
int	getNumSpringsInContact (int startSpring, int endSpring)
	Count the number of springs in contact with the ground.
int	appendQNew ()
	Update the generalized coordinates based on optimized controls.
Private Attributes
int	_counter
	Counter for number of times that compute has been called.
rdUTWalking8 *	_model
	Pointer to the model.
suContactTargetRight *	_target
	The optimization target.
double	_sposOrig [rdUTWalking8_NS][3]
	Original positions of spring points.
double	_spos [rdUTWalking8_NS][3]
	Positions of spring points.
double	_svel [rdUTWalking8_NS][3]
	Velocities of all spring points.
double	_sfrc [rdUTWalking8_NS][3]
	Forces at all spring points.
double *	_x
	Controls.
rdStorage *	_sposOrigStore
	The rdStorage of original spring points.
rdStorage *	_qOrigStore
	The rdStorage of original genCoords to be processed.
double *	_qOrigRad
	Array containing the original generalized coordinates in radians.
double *	_qOrig
	Array containing the original genCoords in quaternions.
double *	_q
	Array containing the gen coords in the process of being altered.
double *	_u
	Array of generalized speeds.
rdStorage *	_qNew
	The consistent genCoords post-optimization.
double *	_springInContact
	Pointer to storage for spring contact array *.
double	_time
	The time for which the contact consistency is being evaluated *.
rdFSQP *	_sqp
	Optimizatizer.
double **	_dcdxLast
	Vector to hold past vertical contraint gradients.
double *	_dpdxLast
	Vector to hold past vertical performance gradients.
int	_status
	Return status of the optimization problem.
rdStorage *	_springStore
	rdStorage with optimal walking data *
double *	_controls
double *	_states

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Detailed Description

A class for computing the generalized coordinates necessary to satisfy contact constraints of the UT Walking Model.

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Member Function Documentation

rdStorage * suPreTrack::getQNewStorage (   )

Get a pointer to the rdStorage containing the new generalized coordinates. Returns: Pointer to the storage of generalized coordinates.

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

• suPreTrack.h
• suPreTrack.cpp

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