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suTrackTarget Class Reference

An optimization target for finding controls that drive a model to track a kinematic trajectory. More...

#include <suTrackTarget.h>

Inheritance diagram for suTrackTarget:

rdOptimizationTarget List of all members.

Public Member Functions

virtual ~suTrackTarget ()
 Destructor.

 suTrackTarget (int aNX, suTrackController *aController)
 Constructor.


Private Member Functions

void setNull ()
 Set all member variables to their NULL values.

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

suTrackController * _controller
 Parent controller.

double * _yOrig
 Original array of the states.

double * _y
 Work array of the states.

double * _dydt
 Array of the derivatives of the states.

double * _dqdt
 Array of the derivatives of the generalized coordinates.

double * _dudt
 Array of the derivatives of the generalized speeds.

Detailed Description

An optimization target for finding controls that drive a model to track a kinematic trajectory.

Member Function Documentation

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

Compute performance and the constraints given x.

Note - used by paramopt.

Implements rdOptimizationTarget.

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

Compute constraint i given x.

Note that the indexing starts at 1;

Implements rdOptimizationTarget.

int suTrackTarget::computeGradients (  double *  dx,
double *  x,
double *  dpdx,
double *  dcdx
)  [private, 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.

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