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suPreTrackContact Class Reference

A class for computing the states and psuedo states necessary to satisfy contact constraints of the UT Walking Model or classes derived from the UT Walking Model. More...

#include <suPreTrackContact.h>

List of all members.

Public Member Functions
	suPreTrackContact (rdUTWalking8 *aModel, rdStorage *aGenCrds, rdStorage *psdStates, rdStorage *aKinetics, rdStorage *aSprings)
	Construct a preTrackContract analysis based on an rdUTWalking8 model and the generalized coordinates, pseudostates, and kinetics corresponding to the motion to be processed.
virtual	~suPreTrackContact ()
	Destructor.
rdStorage *	getGenCrdStorage ()
	Get a pointer to the rdStorage containing the new generalized coordinates.
rdStorage *	getPsdStateStorage ()
	Get a pointer to the rdStorage containing the new pseudostates.
void	compute (double aT, int aTIndex)
	Compute the states and psuedo-states that are consistent with the contact contraints.
int	suComputeVertPerformance (double *x, double *p)
	Compute performance given x.
int	suComputeVertPerformanceGradient (double *x, double *dpdx)
	Compute performance gradient given x.
int	suComputeVertConstraint (double *x, int ic, double *c)
	Compute a constraint given x.
int	suComputeVertConstraintGradient (double *x, int ic, double *dcdx)
	Compute constraint gradient given x.
int	suComputeHorizPerformance (double *x, double *p)
	Compute performance given x.
int	suComputeHorizPerformanceGradient (double *x, double *dpdx)
	Compute gradient of performance given x.
int	suComputeHorizConstraint (double *x, int ic, double *c)
	Compute a constraint given x.
Protected Attributes
double	_wXS
	Performance criterion weight for the spring forces.
double	_wExpTight
	Performance criterion weight for the accurate experimental data.
double	_wExpLoose
	Performance criterion weight for the poor experimental data.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
int	initializeVertControls ()
	Initialize vertical control values to initial values of the generalized coordinates.
int	updateGenCoords (double *x)
	Update the generalized coordinates based on the current controls.
int	appendGenCoords ()
	Update the generalized coordinates based on optimized controls.
int	updatePsdStates (double *x)
	Update the generalized coordinates based on the current controls.
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)
	Given a direction and the spring number, return the position of the spring relative to the ankle in the specified direction.
int	getNumSpringsInContact (int startSpring, int endSpring)
	Count the number of springs in contact with the ground.
Private Attributes
int	_counter
	Counter for number of times that compute has been called.
rdUTWalking8 *	_model
	Pointer to the model.
int	_nvControls
	Number of vertical controls.
int	_nhControls
	Number of horizontal controls *.
int	_nvConstraints
	Number of vertical constraints *.
int	_nhConstraints
	Number of horizontal constraints *.
double	_spos [rdUTWalking8_NS][3]
	Positions of all spring points *.
double	_svel [rdUTWalking8_NS][3]
	Velocities of all spring points *.
double	_sfrc [rdUTWalking8_NS][3]
	Forces at all spring points *.
double *	_xVertLast
	Last good values of the controls.
double *	_xVert
	Controls for vertical force oprimization *.
rdStorage *	_expKineticsStore
	The experimental kinetics *.
rdStorage *	_qOrigStore
	The rdStorage of original genCoords to be processed *.
rdStorage *	_ypOrigStore
	The original pseudo states to be processed *.
double *	_expKinetics
	Array containing the experimental kinetic data *.
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.
double *	_yp
	Array containing the psuedo states in the process of being altered *.
rdStorage *	_newGenCrds
	The consistent genCoords post-optimization.
rdStorage *	_newPsdStates
	The consistent pseudo-states post-optimization.
double *	_springInContact
	Pointer to storage for spring contact array *.
double	_time
	The time for which the contact consistency is being evaluated *.
suContactTargetVertical *	_vertContTarg
	The vertical optimization target *.
suContactTargetHorizontal *	_horizContTarg
	The vertical optimization target *.
rdFSQP *	_sqpVert
	The vertical optimization target *.
rdFSQP *	_sqpHoriz
	The horizontal optimization target *.
double **	_dcdxVertPast
	Vector to hold past vertical contraint gradients.
double *	_dpdxVertPast
	Vector to hold past vertical performance gradients.
int	_vStatus
	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 states and psuedo states necessary to satisfy contact constraints of the UT Walking Model or classes derived from the UT Walking Model.

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Member Function Documentation

rdStorage * suPreTrackContact::getGenCrdStorage (   )

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

rdStorage * suPreTrackContact::getPsdStateStorage (   )

Get a pointer to the rdStorage containing the new pseudostates. Returns: Pointer to the pseudoStateStorage

double suPreTrackContact::getSprPosRelToAnkle (  int  direction, int  spring )  [private]

Given a direction and the spring number, return the position of the spring relative to the ankle in the specified direction. Location is returned relative to ankle in global coordinates.

int suPreTrackContact::suComputeHorizPerformanceGradient (  double *  x, double *  dpdx )

Compute gradient of performance given x. CURRENTLY NOT USED - GRADIENTS ARE CALCULATED NUMERICALLY

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Member Data Documentation

double* suPreTrackContact::_q [private]

Array containing the gen coords in the process of being altered. *

double* suPreTrackContact::_qOrig [private]

Array containing the original genCoords in quaternions. *

double* suPreTrackContact::_qOrigRad [private]

Array containing the original generalized coordinates in radians. *

double* suPreTrackContact::_u [private]

Array of generalized speeds. *

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

• suPreTrackContact.h
• suPreTrackContact.cpp

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