OpenSim::JointLoadOptimization Class Reference

This class implements static optimization to compute Muscle Forces and activations. More...

#include <JointLoadOptimization.h>

Inheritance diagram for OpenSim::JointLoadOptimization:

Public Member Functions
	JointLoadOptimization (Model *aModel=0)
	JointLoadOptimization (const JointLoadOptimization &aObject)
	Copy constructor.
virtual Object *	copy () const
	Clone.
virtual	~JointLoadOptimization ()
	Destructor.
JointLoadOptimization &	operator= (const JointLoadOptimization &aJointLoadOptimization)
	Assign this object to the values of another.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
Storage *	getActivationStorage ()
	Get the activation storage.
Storage *	getForceStorage ()
	Get the force storage.
Storage *	getJointForceStorage ()
	Get the joint force storage.
bool	getUseModelForceSet ()
void	setUseModelForceSet (bool aUseModelActuatorSet)
virtual void	setModel (Model &aModel)
	Set the model for which the static optimization is to be computed.
void	setActivationExponent (const double aExponent)
double	getActivationExponent () const
void	setUseMusclePhysiology (const bool useIt)
bool	getUseMusclePhysiology () const
void	setConvergenceCriterion (const double aConvergence)
double	getConvergenceCriterion ()
void	setPrintLevel (const int aLevel)
int	getPrintLevel ()
void	setMaxIterations (const int aIterations)
int	getMaxIterations ()
void	setOptimizerDX (const double aDX)
double	getOptimizerDX ()
void	constructJointForceColumnLabels ()
	Construct column labels for the file containing joint forces.
Array< int >	findJointsToOptimize ()
	Find the joint set indicies for all joints we plan to optimize.
int	findBodyIndexForJoint (std::string &jointName)
	Find the SimTK body index associated with each joint load.
virtual int	begin (SimTK::State &s)
	This method is called at the beginning of an analysis so that any necessary initializations may be performed.
virtual int	step (const SimTK::State &s, int setNumber)
	This method is called to perform the analysis.
virtual int	end (SimTK::State &s)
	This method is called at the end of an analysis so that any necessary finalizations may be performed.
virtual int	printResults (const std::string &aBaseName, const std::string &aDir="", double aDT=-1.0, const std::string &aExtension=".sto")
	Print the results of the analysis.
Protected Member Functions
virtual int	record (const SimTK::State &s)
	Record the results.
Protected Attributes
PropertyBool	_useModelForceSetProp
	Use force set from model.
bool &	_useModelForceSet
PropertyDbl	_activationExponentProp
double &	_activationExponent
PropertyBool	_useMusclePhysiologyProp
bool &	_useMusclePhysiology
PropertyDbl	_convergenceCriterionProp
double &	_convergenceCriterion
PropertyInt	_printLevelProp
int &	_printLevel
PropertyInt	_maxIterationsProp
int &	_maxIterations
PropertyDbl	_optimizerDXProp
double &	_optimizerDX
PropertyObj	_jointTaskSetProp
Set< JointReactionReference > &	_jointTaskSet
PropertyStr	_optimizerAlgorithmProp
std::string &	_optimizerAlgorithm
PropertyDbl	_objectiveScaleFactorProp
double &	_objectiveScaleFactor
PropertyDbl	_jointTermScaleProp
double &	_jointTermScale
Storage *	_activationStorage
Storage *	_forceStorage
Storage *	_jointForceStorage
GCVSplineSet	_statesSplineSet
Array< int >	_accelerationIndices
Array< int >	_optimizedJointsIndices
SimTK::Vector	_parameters
bool	_ownsForceSet
ForceSet *	_forceSet
Model *	_modelWorkingCopy

Detailed Description

This class implements static optimization to compute Muscle Forces and activations.

It includes extra terms in the cost function for minimizing or maximizing joint forces and moments.

Author:: Matt DeMers

Constructor & Destructor Documentation

JointLoadOptimization::JointLoadOptimization ( Model * aModel = 0 )

JointLoadOptimization::JointLoadOptimization ( const JointLoadOptimization & aObject )

Copy constructor.

JointLoadOptimization::~JointLoadOptimization ( ) [virtual]

Destructor.

Member Function Documentation

int JointLoadOptimization::begin ( SimTK::State & s ) [virtual]

This method is called at the beginning of an analysis so that any necessary initializations may be performed.

This method is meant to be called at the begining of an integration

Parameters:

s

Current state .

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

void JointLoadOptimization::constructJointForceColumnLabels ( )

Construct column labels for the file containing joint forces.

Object * JointLoadOptimization::copy ( ) const [virtual]

Clone.

Reimplemented from OpenSim::Analysis.

int JointLoadOptimization::end ( SimTK::State & s ) [virtual]

This method is called at the end of an analysis so that any necessary finalizations may be performed.

Parameters:

s

Current state

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int JointLoadOptimization::findBodyIndexForJoint ( std::string & jointName )

Find the SimTK body index associated with each joint load.

In simtk land, joints and joint loads are associated with the child body that the joint connects to the existing tree structure. We'll use this when collecting joint loads from computeReactions or calcMobilizerReactionForces. These functions conform to SimTK bodyset indexing, not OpenSim's JointSet indexing.

Array< int > JointLoadOptimization::findJointsToOptimize ( )

Find the joint set indicies for all joints we plan to optimize.

double OpenSim::JointLoadOptimization::getActivationExponent ( ) const [inline]

Storage * JointLoadOptimization::getActivationStorage ( )

Get the activation storage.

Returns:: Activation storage.

double OpenSim::JointLoadOptimization::getConvergenceCriterion ( ) [inline]

Storage * JointLoadOptimization::getForceStorage ( )

Get the force storage.

Returns:: Force storage.

Storage * JointLoadOptimization::getJointForceStorage ( )

Get the joint force storage.

Returns:: joint Force storage.

int OpenSim::JointLoadOptimization::getMaxIterations ( ) [inline]

double OpenSim::JointLoadOptimization::getOptimizerDX ( ) [inline]

int OpenSim::JointLoadOptimization::getPrintLevel ( ) [inline]

bool OpenSim::JointLoadOptimization::getUseModelForceSet ( ) [inline]

bool OpenSim::JointLoadOptimization::getUseMusclePhysiology ( ) const [inline]

JointLoadOptimization & JointLoadOptimization::operator= ( const JointLoadOptimization & aJointLoadOptimization )

Assign this object to the values of another.

Returns:: Reference to this object.

Reimplemented from OpenSim::Analysis.

virtual int OpenSim::JointLoadOptimization::printResults	(	const std::string &	aBaseName,
		const std::string &	aDir = `""`,
		double	aDT = `-1.0`,
		const std::string &	aExtension = `".sto"`
	)			`[virtual]`

Print the results of the analysis.

Parameters:

	aFileName	File to which to print the data.
	aDT	Time interval between results (linear interpolation is used). If not included as an argument or negative, all time steps are printed without interpolation.

Returns:: -1 on error, 0 otherwise.

Reimplemented from OpenSim::Analysis.

int JointLoadOptimization::record ( const SimTK::State & s ) [protected, virtual]

Record the results.

void OpenSim::JointLoadOptimization::setActivationExponent ( const double aExponent ) [inline]

void OpenSim::JointLoadOptimization::setConvergenceCriterion ( const double aConvergence ) [inline]

void OpenSim::JointLoadOptimization::setMaxIterations ( const int aIterations ) [inline]

void JointLoadOptimization::setModel ( Model & aModel ) [virtual]

Set the model for which the static optimization is to be computed.

Parameters:

aModel

Model pointer

Reimplemented from OpenSim::Analysis.

void OpenSim::JointLoadOptimization::setOptimizerDX ( const double aDX ) [inline]

void OpenSim::JointLoadOptimization::setPrintLevel ( const int aLevel ) [inline]

void JointLoadOptimization::setStorageCapacityIncrements ( int aIncrement )

Set the capacity increments of all storage instances.

Parameters:

aIncrement

Increment by which storage capacities will be increased when storage capacities run out.

void OpenSim::JointLoadOptimization::setUseModelForceSet ( bool aUseModelActuatorSet ) [inline]

void OpenSim::JointLoadOptimization::setUseMusclePhysiology ( const bool useIt ) [inline]

int JointLoadOptimization::step	(	const SimTK::State &	s,
		int	stepNumber
	)			`[virtual]`

This method is called to perform the analysis.

It can be called during the execution of a forward integrations or after the integration by feeding it the necessary data.

This method should be overriden in derived classes. It is included here so that the derived class will not have to implement it if it is not necessary.

Parameters:

s

Current state .