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...

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)

Public Member Functions inherited from SimTK::OptimizerSystem
	OptimizerSystem ()

	OptimizerSystem (int nParameters)

virtual	~OptimizerSystem ()

virtual int	objectiveFunc (const Vector &parameters, bool new_parameters, Real &f) const

virtual int	gradientFunc (const Vector &parameters, bool new_parameters, Vector &gradient) const

virtual int	constraintFunc (const Vector &parameters, bool new_parameters, Vector &constraints) const

virtual int	constraintJacobian (const Vector &parameters, bool new_parameters, Matrix &jac) const

virtual int	hessian (const Vector &parameters, bool new_parameters, Vector &gradient) const

void	setNumParameters (const int nParameters)

void	setNumEqualityConstraints (const int n)

void	setNumInequalityConstraints (const int n)

void	setNumLinearEqualityConstraints (const int n)

void	setNumLinearInequalityConstraints (const int n)

void	setParameterLimits (const Vector &lower, const Vector &upper)

int	getNumParameters () const

int	getNumConstraints () const

int	getNumEqualityConstraints () const

int	getNumInequalityConstraints () const

int	getNumLinearEqualityConstraints () const

int	getNumNonlinearEqualityConstraints () const

int	getNumLinearInequalityConstraints () const

int	getNumNonlinearInequalityConstraints () const

bool	getHasLimits () const

void	getParameterLimits (Real lower, Real upper) const

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:

OpenSim/Tools/ActuatorForceTargetFast.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation