OpenSim::IKTarget Class Reference

A Class that represents an inverse kinematics optimization target. More...

#include <IKTarget.h>

Inheritance diagram for OpenSim::IKTarget:

List of all members.

Classes
struct	coordinateInfo
struct	markerToSolve
Public Member Functions
	IKTarget (const SimTK::State &s, Model &aModel, IKTaskSet &aIKTaskSet, Storage &aExperimentalDataStorage)
virtual	~IKTarget (void)
	Destructor.
void	prepareToSolve (SimTK::State &s, int aIndex, double *qGuess)
	prepareToSolve specifies the row of the Storage instance _experimentalDataStorage that the optimizer is trying to solve.
void	printTasks () const
void	printPerformance (double *x)
void	interrupt ()
void	getComputedMarkerLocations (Array< double > &aMarkerLocations) const
	getComputedMarkerLocations returns current commputed (model) marker locations for debugging and display purposes
void	getExperimentalMarkerLocations (Array< double > &aMarkerLocations) const
	getExperimentalMarkerLocations returns current experimental marker locations for debugging and display purposes
void	getPrescribedCoordinateValues (const SimTK::State &s, Array< double > &aQValues) const
	getComputedMarkerLocations returns current marker locations for debugging and display purposes
void	getUnprescribedCoordinateNames (Array< std::string > &aNameArray)
void	getPrescribedCoordinateNames (Array< std::string > &aNameArray)
void	getOutputMarkerNames (Array< std::string > &aNameArray)
Model &	getModel ()
int	getNumUnprescribedCoordinates ()
int	getNumOutputMarkers ()
const Coordinate *	getUnprescribedCoordinate (int i) const
void	setCurrentState (SimTK::State *state)
const SimTK::State *	getCurrentState () const
int	objectiveFunc (const SimTK::Vector &parameters, const bool new_parameters, SimTK::Real &f) const
	Compute objective function (sum of squared errors in marker positions) using current values (x) for controls.
int	gradientFunc (const SimTK::Vector &parameters, const bool new_parameters, SimTK::Vector &gradient) const
	Compute derivative of objective function using finite differences.
int	iterativeOptimization (SimTK::State &s, SimTK::Vector &results)
	Compute derivative of objective function using finite differences.
const double &	getWorstMarkerError () const
const double &	getWorstCoordinateError () const
const std::string &	getNameOfWorstMarker () const
const std::string &	getNameOfWorstCoordinate () const
Static Public Attributes
static const double	_perturbation = 1e-3

---

Detailed Description

A Class that represents an inverse kinematics optimization target.

This solves the problem of computing Qs that minimize the sum of the squared differences between a set of markers on a on the nominal model and passed in marker positions.

Author:

Ayman Habib, Peter Loan

Version:

1.0

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Constructor & Destructor Documentation

IKTarget::IKTarget	(	const SimTK::State &	s,
		Model &	aModel,
		IKTaskSet &	aIKTaskSet,
		Storage &	aExperimentalDataStorage
	)

Number of controls -- also allocates _dx.

IKTarget::~IKTarget

(

void

)

[virtual]

Destructor.

---

Member Function Documentation

void IKTarget::getComputedMarkerLocations

(

OpenSim::Array< double > &

aMarkerLocations

)

const

getComputedMarkerLocations returns current commputed (model) marker locations for debugging and display purposes

const SimTK::State* OpenSim::IKTarget::getCurrentState

(

)

const [inline]

void IKTarget::getExperimentalMarkerLocations

(

OpenSim::Array< double > &

aMarkerLocations

)

const

getExperimentalMarkerLocations returns current experimental marker locations for debugging and display purposes

Model& OpenSim::IKTarget::getModel

(

)

[inline]

const std::string& OpenSim::IKTarget::getNameOfWorstCoordinate

(

)

const [inline]

const std::string& OpenSim::IKTarget::getNameOfWorstMarker

(

)

const [inline]

int OpenSim::IKTarget::getNumOutputMarkers

(

)

[inline]

int OpenSim::IKTarget::getNumUnprescribedCoordinates

(

)

[inline]

void OpenSim::IKTarget::getOutputMarkerNames

(

Array< std::string > &

aNameArray

)

void OpenSim::IKTarget::getPrescribedCoordinateNames

(

Array< std::string > &

aNameArray

)

void IKTarget::getPrescribedCoordinateValues	(	const SimTK::State &	s,
		OpenSim::Array< double > &	aQValues
	)			const

getComputedMarkerLocations returns current marker locations for debugging and display purposes

const Coordinate* OpenSim::IKTarget::getUnprescribedCoordinate

(

int

i

)

const [inline]

void OpenSim::IKTarget::getUnprescribedCoordinateNames

(

Array< std::string > &

aNameArray

)

const double& OpenSim::IKTarget::getWorstCoordinateError

(

)

const [inline]

const double& OpenSim::IKTarget::getWorstMarkerError

(

)

const [inline]

int IKTarget::gradientFunc	(	const SimTK::Vector &	parameters,
		const bool	new_parameters,
		SimTK::Vector &	gradient
	)			const

Compute derivative of objective function using finite differences.

void OpenSim::IKTarget::interrupt

(

)

[inline]

int IKTarget::iterativeOptimization	(	SimTK::State &	s,
		SimTK::Vector &	results
	)

Compute derivative of objective function using finite differences.

int IKTarget::objectiveFunc	(	const SimTK::Vector &	x,
		const bool	new_parameters,
		SimTK::Real &	f
	)			const

Compute objective function (sum of squared errors in marker positions) using current values (x) for controls.

Value of error is returned in p

void IKTarget::prepareToSolve	(	SimTK::State &	s,
		int	aIndex,
		double *	qGuess
	)

prepareToSolve specifies the row of the Storage instance _experimentalDataStorage that the optimizer is trying to solve.

It also sets the values of the prescribed coordinates and returns the initial guess for the unprescribed coordinates.

void IKTarget::printPerformance

(

double *

x

)

[virtual]

Reimplemented from OpenSim::OptimizationTarget.

void IKTarget::printTasks

(

)

const

void OpenSim::IKTarget::setCurrentState

(

SimTK::State *

state

)

[inline]

---

Member Data Documentation

const double IKTarget::_perturbation = 1e-3 [static]

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

• OpenSim/Tools/IKTarget.h
• OpenSim/Tools/IKTarget.cpp