OpenSim::JointLoadOptimizationTarget Class Reference

This class provides an interface specification for static optimization Objective Function. More...

#include <JointLoadOptimizationTarget.h>

Public Member Functions
	JointLoadOptimizationTarget (const SimTK::State &s, Model *aModel, int aNX, int aNC, Set< JointReactionReference > &aRefSet, const bool useMusclePhysiology=true)
	Construct an optimization target.
void	setModel (Model &aModel)
	______________________________________________________________________________
void	setStatesStore (const Storage *aStatesStore)
	______________________________________________________________________________
void	setStatesSplineSet (GCVSplineSet aStatesSplineSet)
	______________________________________________________________________________
void	setNumParams (const int aNP)
	______________________________________________________________________________
void	setNumConstraints (const int aNC)
	______________________________________________________________________________
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	getActuation (SimTK::State &s, const SimTK::Vector &parameters, SimTK::Vector &forces)
	Get an optimal force.
void	setActivationExponent (double aActivationExponent)
double	getActivationExponent () const
void	setCurrentState (SimTK::State *state)
const SimTK::State *	getCurrentState () const
void	setJointReferences (Set< JointReactionReference > &aSet)
void	getJointLoadsToPrint (SimTK::State &s, const SimTK::Vector &parameters, SimTK::Vector &jointLoads)
void	setObjectiveScaleFactor (double aFactor)
void	setJointTermScaleFactor (double aFactor)
void	validatePerturbationSize (double &aSize)
	Ensure that a derivative perturbation is a valid size.
virtual void	printPerformance (SimTK::State &s, double *x)
void	computeActuatorAreas (const SimTK::State &s)
bool	prepareToOptimize (SimTK::State &s, double *x)
int	objectiveFunc (const SimTK::Vector &x, const bool new_coefficients, SimTK::Real &rP) const
int	gradientFunc (const SimTK::Vector &x, const bool new_coefficients, SimTK::Vector &gradient) const
int	constraintFunc (const SimTK::Vector &x, const bool new_coefficients, SimTK::Vector &constraints) const
	Compute acceleration constraints given parameters.
int	constraintJacobian (const SimTK::Vector &x, const bool new_coefficients, SimTK::Matrix &jac) const
	Compute the gradient of constraint given parameters.
Static Public Member Functions
static int	CentralDifferencesConstraint (const JointLoadOptimizationTarget aTarget, double dx, const SimTK::Vector &x, SimTK::Matrix &jacobian)
static int	CentralDifferences (const JointLoadOptimizationTarget 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
double	_activationExponent
bool	_useMusclePhysiology
Array< double >	_dx
	Perturbation size for computing numerical derivatives.
Array< int >	_accelerationIndices
Set< JointReactionReference > &	_jointReferenceSet
double	_objectiveScaleFactor
double	_jointTermScaleFactor
SimTK::Vector_< SimTK::Vec3 >	_loadDescriptionIndices

Detailed Description

This class provides an interface specification for static optimization Objective Function.

This objective function includes terms for minimizing or maximizing joint joint force.

Author:: Jeff Reinbolt

Constructor & Destructor Documentation

JointLoadOptimizationTarget::JointLoadOptimizationTarget	(	const SimTK::State &	s,
		Model *	aModel,
		int	aNP,
		int	aNC,
		Set< JointReactionReference > &	aRefSet,
		const bool	useMusclePhysiology = `true`
	)

Construct an optimization target.

Parameters:

	aNP	The number of parameters.
	aNC	The number of constraints.
	aT	Current time in the integration.
	aX	Current control values.
	aY	Current states.
	aDYDT	Current state derivatives.

Member Function Documentation

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

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

void JointLoadOptimizationTarget::computeActuatorAreas ( const SimTK::State & s )

int JointLoadOptimizationTarget::constraintFunc	(	const SimTK::Vector &	parameters,
		const bool	new_parameters,
		SimTK::Vector &	constraints
	)			const

Compute acceleration constraints given parameters.

Parameters:

	parameters	Vector of optimization parameters.
	constraints	Vector of optimization constraints.

Returns:: Status (normal termination = 0, error < 0).

int JointLoadOptimizationTarget::constraintJacobian	(	const SimTK::Vector &	parameters,
		const bool	new_parameters,
		SimTK::Matrix &	jac
	)			const

Compute the gradient of constraint given parameters.

Parameters:

	parameters	Vector of parameters.
	jac	Derivative of constraint with respect to the parameters.

Returns:: Status (normal termination = 0, error < 0).

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

void JointLoadOptimizationTarget::getActuation	(	SimTK::State &	s,
		const SimTK::Vector &	parameters,
		SimTK::Vector &	forces
	)

Get an optimal force.

const SimTK::State* OpenSim::JointLoadOptimizationTarget::getCurrentState ( ) const [inline]

double JointLoadOptimizationTarget::getDX ( int aIndex )

Get the derivative perturbation size.

double * JointLoadOptimizationTarget::getDXArray ( )

Get a pointer to the vector of derivative perturbation sizes.

void JointLoadOptimizationTarget::getJointLoadsToPrint	(	SimTK::State &	s,
		const SimTK::Vector &	parameters,
		SimTK::Vector &	jointLoads
	)

int OpenSim::JointLoadOptimizationTarget::gradientFunc	(	const SimTK::Vector &	x,
		const bool	new_coefficients,
		SimTK::Vector &	gradient
	)			const

int OpenSim::JointLoadOptimizationTarget::objectiveFunc	(	const SimTK::Vector &	x,
		const bool	new_coefficients,
		SimTK::Real &	rP
	)			const

bool JointLoadOptimizationTarget::prepareToOptimize	(	SimTK::State &	s,
		double *	x
	)

void JointLoadOptimizationTarget::printPerformance	(	SimTK::State &	s,
		double *	x
	)			`[virtual]`

void OpenSim::JointLoadOptimizationTarget::setActivationExponent ( double aActivationExponent ) [inline]

void OpenSim::JointLoadOptimizationTarget::setCurrentState ( SimTK::State * state ) [inline]

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

Set the derivative perturbation size.

void JointLoadOptimizationTarget::setDX ( double aVal )

Set the derivative perturbation size for all controls.

void OpenSim::JointLoadOptimizationTarget::setJointReferences ( Set< JointReactionReference > & aSet ) [inline]

void OpenSim::JointLoadOptimizationTarget::setJointTermScaleFactor ( double aFactor ) [inline]

void JointLoadOptimizationTarget::setModel ( Model & aModel )

______________________________________________________________________________

Set the model.

Parameters:

aModel

Model.

void JointLoadOptimizationTarget::setNumConstraints ( const int aNC )

______________________________________________________________________________

Set the number of constraints.

Parameters:

aNC

Number of constraints.

void JointLoadOptimizationTarget::setNumParams ( const int aNP )

______________________________________________________________________________

Set the number of paramters.

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

Parameters:

aNP

Number of parameters.