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suTrackTargetDynamic Class Reference

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

#include <suTrackTargetDynamic.h>

Inheritance diagram for suTrackTargetDynamic:

List of all members.

Public Member Functions
virtual	~suTrackTargetDynamic ()
	Destructor.
	suTrackTargetDynamic (int aNX, suTrackController *aController, double aDTTarget, double aTolerance, double aFineTolerance)
	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.
void	step (double aDT, double aTI, double aTF, rdControlSet &aX, double *rY)
	Execute a variable step integration.
Private Attributes
suTrackController *	_controller
	Parent controller.
double *	_yOrig
	Array of the original states.
double *	_ypOrig
	Array of the original pseudostates.
double *	_y
	Work array of the states.
double *	_dqdt
	Work array of the derivatives of the generalized coordinates.
double *	_dudt
	Work array of the derivatives of the generalized speeds.
rdRKF *	_rkf
	Integrator.

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Detailed Description

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

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Constructor & Destructor Documentation

suTrackTargetDynamic::suTrackTargetDynamic (  int  aNX, suTrackController *  aController, double  aDTTarget, double  aTolerance, double  aFineTolerance )

Constructor. Parameters: aNX  Number of controls. aController  Controller. aTargetDT  Target time step size. aTolerance  Integration tolerance. aFineTolerance  Fine integration tolerance. See also: rdOptimizationTarget rdController rdController::setTargetTime()

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Member Function Documentation

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

Compute performance and the constraints given x. Note - used by paramopt. Implements rdOptimizationTarget.

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

Compute constraint i given x. Note that the indexing starts at 1; Implements rdOptimizationTarget.

int suTrackTargetDynamic::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.

int suTrackTargetDynamic::computePerformance (  double *  x, double *  p )  [private, virtual]

Compute performance given x. Parameters: aParams  Control parameters- these are the controls for the optimization problem. rPerf  Performance. Returns: Status (always 0 at this point). Implements rdOptimizationTarget.

void suTrackTargetDynamic::step (  double  aDT, double  aTI, double  aTF, rdControlSet &  aX, double *  rY )  [private]

Execute a variable step integration. Parameters: aDT  First integration step size to take. aTI  Initial time. aTF  Final time. aX  Controls. rY  States.

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

• suTrackTargetDynamic.h
• suTrackTargetDynamic.cpp

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