OpenSim::StaticOptimizationTarget Class Reference

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

#include <StaticOptimizationTarget.h>

Public Member Functions
	StaticOptimizationTarget (const SimTK::State &s, Model *aModel, int aNX, int aNC, 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 (const SimTK::State *state)
const SimTK::State *	getCurrentState () const
void	validatePerturbationSize (double &aSize)
	Ensure that a derivative perturbation is a valid size.
virtual void	printPerformance (const 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 StaticOptimizationTarget aTarget, double dx, const SimTK::Vector &x, SimTK::Matrix &jacobian)
static int	CentralDifferences (const StaticOptimizationTarget 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

Detailed Description

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

Author:: Jeff Reinbolt

Constructor & Destructor Documentation

StaticOptimizationTarget::StaticOptimizationTarget	(	const SimTK::State &	s,
		Model *	aModel,
		int	aNP,
		int	aNC,
		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::StaticOptimizationTarget::CentralDifferences	(	const StaticOptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Vector &	dpdx
	)			`[static]`

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

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

int StaticOptimizationTarget::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 StaticOptimizationTarget::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::StaticOptimizationTarget::getActivationExponent ( ) const [inline]

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

Get an optimal force.

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

double StaticOptimizationTarget::getDX ( int aIndex )

Get the derivative perturbation size.

double * StaticOptimizationTarget::getDXArray ( )

Get a pointer to the vector of derivative perturbation sizes.

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

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

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

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

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

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

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

Set the derivative perturbation size.

void StaticOptimizationTarget::setDX ( double aVal )

Set the derivative perturbation size for all controls.

void StaticOptimizationTarget::setModel ( Model & aModel )

______________________________________________________________________________

Set the model.

Parameters:

aModel

Model.

void StaticOptimizationTarget::setNumConstraints ( const int aNC )

______________________________________________________________________________

Set the number of constraints.

Parameters:

aNC

Number of constraints.

void StaticOptimizationTarget::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.

See also:: setDX()

void StaticOptimizationTarget::setStatesSplineSet ( GCVSplineSet aStatesSplineSet )

______________________________________________________________________________

Set the states spline set.

Parameters:

aStatesSplineSet

States spline set.

void StaticOptimizationTarget::setStatesStore ( const Storage * aStatesStore )

______________________________________________________________________________

Set the states storage.

Parameters:

aStatesStore

States storage.

void StaticOptimizationTarget::validatePerturbationSize ( double & aSize )

Ensure that a derivative perturbation is a valid size.

Member Data Documentation

Array<int> OpenSim::StaticOptimizationTarget::_accelerationIndices [protected]

double OpenSim::StaticOptimizationTarget::_activationExponent [protected]

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

Perturbation size for computing numerical derivatives.

bool OpenSim::StaticOptimizationTarget::_useMusclePhysiology [protected]

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

Smallest allowable perturbation size for computing derivatives.

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

OpenSim/Analyses/StaticOptimizationTarget.h
OpenSim/Analyses/StaticOptimizationTarget.cpp

OpenSim::StaticOptimizationTarget Class Reference

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation