OpenSim::OptimizationTarget Class Reference

This class provides an interface specification for optimizing redundant systems. More...

#include <OptimizationTarget.h>

Inheritance diagram for OpenSim::OptimizationTarget:

List of all members.

Public Member Functions
	OptimizationTarget (int aNX=0)
	Construct an optimization target.
void	setNumParameters (const int aNX)
	______________________________________________________________________________
void	setDX (double aVal)
	Set the derivative perturbation size for all controls.
void	setDX (int aIndex, double aVal)
	Set the derivative perturbation size.
double	getDX (int aIndex)
	Get the derivative perturbation size.
double *	getDXArray ()
	Get a pointer to the vector of derivative perturbation sizes.
void	validatePerturbationSize (double &aSize)
	Ensure that a derivative perturbation is a valid size.
virtual bool	prepareToOptimize (const SimTK::State &s, double *x)
virtual void	printPerformance (double *x)
Static Public Member Functions
static int	CentralDifferencesConstraint (const OptimizationTarget *aTarget, double *dx, const SimTK::Vector &x, SimTK::Matrix &jacobian)
static int	CentralDifferences (const OptimizationTarget *aTarget, double *dx, const SimTK::Vector &x, SimTK::Vector &dpdx)
Static Public Attributes
static const double	SMALLDX = 1.0e-14
	Smallest allowable perturbation size for computing derivatives.
Protected Attributes
Array< double >	_dx
	Perturbation size for computing numerical derivatives.

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Detailed Description

This class provides an interface specification for optimizing redundant systems.

If a class represents a redundant system for which one would like to find a set of optimal controls, the class should inherit from this class and implement the virtual functions defined here.

Author:

Frank C. Anderson

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Constructor & Destructor Documentation

OptimizationTarget::OptimizationTarget

(

int

aNX = 0

)

Construct an optimization target.

Parameters:

aNX

The number of controls.

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Member Function Documentation

static int OpenSim::OptimizationTarget::CentralDifferences	(	const OptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Vector &	dpdx
	)			[static]

static int OpenSim::OptimizationTarget::CentralDifferencesConstraint	(	const OptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Matrix &	jacobian
	)			[static]

double OptimizationTarget::getDX

(

int

aIndex

)

Get the derivative perturbation size.

double * OptimizationTarget::getDXArray

(

)

Get a pointer to the vector of derivative perturbation sizes.

virtual bool OpenSim::OptimizationTarget::prepareToOptimize	(	const SimTK::State &	s,
		double *	x
	)			[inline, virtual]

Reimplemented in OpenSim::ActuatorForceTarget, and OpenSim::ActuatorForceTargetFast.

void OptimizationTarget::printPerformance

(

double *

x

)

[virtual]

Reimplemented in OpenSim::IKTarget.

void OptimizationTarget::setDX	(	int	aIndex,
		double	aVal
	)

Set the derivative perturbation size.

void OptimizationTarget::setDX

(

double

aVal

)

Set the derivative perturbation size for all controls.

void OptimizationTarget::setNumParameters

(

const int

aNX

)

______________________________________________________________________________

Set the number of controls.

The number of controls can be set at any time. However, the perturbation sizes for the controls (i.e., _dx) is destroyed. Therefore, the perturbation sizes must be reset.

Parameters:

aNX

Number of controls.

See also:

setDX()

void OptimizationTarget::validatePerturbationSize

(

double &

aSize

)

Ensure that a derivative perturbation is a valid size.

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Member Data Documentation

Array<double> OpenSim::OptimizationTarget::_dx [protected]

Perturbation size for computing numerical derivatives.

const double OptimizationTarget::SMALLDX = 1.0e-14 [static]

Smallest allowable perturbation size for computing derivatives.

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

• OpenSim/Common/OptimizationTarget.h
• OpenSim/Common/OptimizationTarget.cpp