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suTrackController Class Reference

A controller class that drives a dynamic model to track kinematic trajectories and contact forces. More...

#include <suTrackController.h>

Inheritance diagram for suTrackController:

List of all members.

Public Member Functions
	suTrackController (rdModel *aModel, suTrackObjectSet *aTrackObjectSet)
	Contructor.
virtual	~suTrackController ()
	Destructor.
void	setNull ()
	Set NULL values for all member variables.
suTrackObjectSet *	getTrackObjectSet () const
	Get the track object set for this controller.
rdControlSet *	getControlSet () const
	Get the control set that the controller is using to to control the simulation.
rdArray< int > *	getParameterList ()
	Get the list of parameters in the control set that the controller is using to control the simulation.
rdFSQP *	getOptimizer () const
	Get the optimizer.
rdOptimizationTarget *	setOptimizationTarget (rdOptimizationTarget *aTarget)
	Set the optimization target for this controller.
rdOptimizationTarget *	getOptimizationTarget () const
	Get the optimization target for this controller.
void	setDT (double aDT)
	Set the requested time step size.
double	getDT () const
	Get the requested time step size.
void	setTargetTime (double aTime)
	Set the target time.
double	getTargetTime () const
	Get the target time.
void	setTargetDT (double aDT)
	Set the target time step size.
double	getTargetDT () const
	Get the target time step size.
void	setCheckTargetTime (bool aTrueFalse)
	Set whether or not to check the target time.
bool	getCheckTargetTime () const
	Get whether or not to check the target time.
rdStorage *	getPositionErrorStorage () const
	Get the storage object for position errors.
rdStorage *	getVelocityErrorStorage () const
	Get the storage object for velocity errors.
virtual void	computeControls (double &rDT, double aT, const double *aY, rdControlSet &rX)
	Compute the controls for a simulation.
Protected Attributes
rdFSQP *	_sqp
	Optimizer.
rdOptimizationTarget *	_target
	Optimization target for computing the controls.
suTrackObjectSet *	_trackObjectSet
	Set of track objects.
double	_dt
	Next integration step size that is to be taken by the integrator.
double	_lastDT
	Last integration step size that was taken before a new integration step size was set in order to step exactly to the target time.
bool	_restoreDT
	Flag indicating when the last integration step size should be restored.
double	_targetTime
	The target time is the time in the future (in normalized units) for which the controls have been calculated.
double	_targetDT
	The step size used to generate a new target time, once the old target time has been reached.
bool	_checkTargetTime
	Whether or not to check the target time.
rdStorage *	_pErrStore
	Storage object for the position errors.
rdStorage *	_vErrStore
	Storage object for the velocity errors.
rdControlSet *	_controlSet
	Control set for the simulation.
rdArray< int >	_paramList
	List of parameters in the control set that are serving as the controls in the optimization problem.

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Detailed Description

A controller class that drives a dynamic model to track kinematic trajectories and contact forces.

Author:

Frank C. Anderson, Darryl G. Thelen

Version:

1.0

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Constructor & Destructor Documentation

suTrackController::suTrackController (  rdModel *  aModel, suTrackObjectSet *  aTrackObjectSet )

Contructor. Parameters: aModel  Model that is to be controlled.

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Member Function Documentation

void suTrackController::computeControls (  double &  rDT, double  aT, const double *  aY, rdControlSet &  rX )  [virtual]

Compute the controls for a simulation. The caller should send in an initial guess. Parameters: rDT  Integration time step that is to be taken next. Note that the controller can change the value of rDT. aT  Current time. aY  Current states. rControlSet  Control set used for the simulation. This method alters the cotnrol set in order to control the simulation. Implements rdController.

bool suTrackController::getCheckTargetTime (   )  const

Get whether or not to check the target time. Returns: True if the target time will be checked. False if the target time will not be checked. See also: setTargetTime()

rdControlSet * suTrackController::getControlSet (   )  const

Get the control set that the controller is using to to control the simulation. Returns: Control set.

double suTrackController::getDT (   )  const

Get the requested time step size. Returns: Step size.

rdOptimizationTarget * suTrackController::getOptimizationTarget (   )  const

Get the optimization target for this controller. Returns: Current optimization target.

rdFSQP * suTrackController::getOptimizer (   )  const

Get the optimizer. Returns: Optimizer.

rdArray< int > * suTrackController::getParameterList (   )

Get the list of parameters in the control set that the controller is using to control the simulation. Returns: List of parameters in the control set serving as the controls.

rdStorage * suTrackController::getPositionErrorStorage (   )  const

Get the storage object for position errors. Returns: Storage of position errors.

double suTrackController::getTargetDT (   )  const

Get the target time step size. The target time step size is the step size used to compute a new target time, once the former target time has been reached by the integrator. Returns: Target time step size. See also: setTargetTime()

double suTrackController::getTargetTime (   )  const

Get the target time. The target time is the time in the future for which the controls have been calculated. If an integrator is taking time steps prior to the target time, the controls should not have to be computed again. Returns: Time in the furture for which the controls have been computed. See also: getCheckTargetTime()

suTrackObjectSet * suTrackController::getTrackObjectSet (   )  const

Get the track object set for this controller. Returns: Track object set.

rdStorage * suTrackController::getVelocityErrorStorage (   )  const

Get the storage object for velocity errors. Returns: Storage of velocity errors.

void suTrackController::setCheckTargetTime (  bool  aTrueFalse  )

Set whether or not to check the target time. Parameters: aTrueFalse  If true, the target time will be checked. If false, the target time will not be checked. See also: setTargetTime()

void suTrackController::setDT (  double  aDT  )

Set the requested time step size. Parameters: aDT  Step size (0.0 <= aDT).

rdOptimizationTarget * suTrackController::setOptimizationTarget (  rdOptimizationTarget *  aTarget  )

Set the optimization target for this controller. Parameters: aTarget  Optimization target. Returns: Previous optimization target.

void suTrackController::setTargetDT (  double  aDT  )

Set the target time step size. The target time step size is the step size used to compute a new target time, once the former target time has been reached by the integrator. Parameters: aDT  Target time step size. Must be greater than 1.0e-8. See also: setTargetTime()

void suTrackController::setTargetTime (  double  aTime  )

Set the target time. The target time is the time in the future for which the controls have been calculated. If an integrator is taking time steps prior to the target time, the controls should not have to be computed again. Parameters: aTargetTime  Time in the furture for which the controls have been computed. See also: getCheckTargetTime()

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Member Data Documentation

bool suTrackController::_restoreDT [protected]

Flag indicating when the last integration step size should be restored. Normally it is restored only following a change to the integration step size that was made to step exactly to the end of a target interval.

double suTrackController::_targetTime [protected]

The target time is the time in the future (in normalized units) for which the controls have been calculated. If an integrator is taking steps prior to the target time, the controls should not have to be computed again.

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

• suTrackController.h
• suTrackController.cpp

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