A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production. More...

#include <ActuatorForceTargetFast.h>

Inheritance diagram for OpenSim::ActuatorForceTargetFast:

Public Member Functions
virtual	~ActuatorForceTargetFast ()

	ActuatorForceTargetFast (SimTK::State &s, int aNX, CMC *aController)

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

int	objectiveFunc (const SimTK::Vector &aF, bool new_coefficients, SimTK::Real &rP) const

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

int	constraintFunc (const SimTK::Vector &x, bool new_coefficients, SimTK::Vector &constraints) const

int	constraintJacobian (const SimTK::Vector &x, bool new_coefficients, SimTK::Matrix &jac) const

CMC *	getController ()

Public Member Functions inherited from OpenSim::OptimizationTarget
	OptimizationTarget (int aNX=0)

void	setNumParameters (const int aNX)

void	setDX (double aVal)

void	setDX (int aIndex, double aVal)

double	getDX (int aIndex)

double *	getDXArray ()

void	validatePerturbationSize (double &aSize)

virtual void	printPerformance (double *x)

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::OptimizationTarget
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 int	ForwardDifferences (const OptimizationTarget aTarget, double dx, const SimTK::Vector &x, SimTK::Vector &dpdx)

Static Public Attributes inherited from OpenSim::OptimizationTarget
static const double	SMALLDX
	Smallest allowable perturbation size for computing derivatives. More...

Protected Attributes inherited from OpenSim::OptimizationTarget
Array< double >	_dx
	Perturbation size for computing numerical derivatives. More...

Detailed Description

A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production.

The performance criterion is the sum of actutor stresses squared. The desired accelerations are achieved by imposing a set of constraints. The desired accelerations are computed according to the Proportional Derivative (PD) control in order to drive the dynamic model toward a set of target kinematic trajectories.

Because the desired accelerations are achieved by imposing a set of linear hard constraints, this optimiztion target can fail if the desired accelreations cannot be achieved. To insure that the constraints can be achieved, a number of sufficiently strong actuators can be added to the model. Althernatively, one can use a different optimization target ActuatorForceTarget. The benefits of using the fast target are both speed and tracking accuracy.

Version: 1.0

Author: Frank C. Anderson

Constructor & Destructor Documentation

virtual OpenSim::ActuatorForceTargetFast::~ActuatorForceTargetFast ( )

virtual

OpenSim::ActuatorForceTargetFast::ActuatorForceTargetFast	(	SimTK::State &	s,
		int	aNX,
		CMC *	aController
	)

Member Function Documentation

int OpenSim::ActuatorForceTargetFast::constraintFunc	(	const SimTK::Vector &	x,
		bool	new_coefficients,
		SimTK::Vector &	constraints
	)		const

int OpenSim::ActuatorForceTargetFast::constraintJacobian	(	const SimTK::Vector &	x,
		bool	new_coefficients,
		SimTK::Matrix &	jac
	)		const

CMC* OpenSim::ActuatorForceTargetFast::getController ( )

inline

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

int OpenSim::ActuatorForceTargetFast::objectiveFunc	(	const SimTK::Vector &	aF,
		bool	new_coefficients,
		SimTK::Real &	rP
	)		const

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

virtual

Reimplemented from OpenSim::OptimizationTarget.

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

/home/fitze/repos/opensim/Branches/OpenSim32ForDoxygen/OpenSim/Tools/ActuatorForceTargetFast.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation