This class provides an interface specification for optimizing redundant systems. More...

Inheritance diagram for OpenSim::OptimizationTarget:

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

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

Static Public Member Functions
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
static const double	SMALLDX
	Smallest allowable perturbation size for computing derivatives. More...

Protected Attributes
Array< double >	_dx
	Perturbation size for computing numerical derivatives. More...

Detailed Description

This class provides an interface specification for optimizing redundant systems.

If a class represents a redundant system for which one would like to find a set of optimal controls, the class should inherit from this class and implement the virtual functions defined here.

Author: Frank C. Anderson

Constructor & Destructor Documentation

OpenSim::OptimizationTarget::OptimizationTarget ( int aNX = 0 )

Member Function Documentation

static int OpenSim::OptimizationTarget::CentralDifferences	(	const OptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Vector &	dpdx
	)

static

static int OpenSim::OptimizationTarget::CentralDifferencesConstraint	(	const OptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Matrix &	jacobian
	)

static

static int OpenSim::OptimizationTarget::ForwardDifferences	(	const OptimizationTarget *	aTarget,
		double *	dx,
		const SimTK::Vector &	x,
		SimTK::Vector &	dpdx
	)

static

double OpenSim::OptimizationTarget::getDX ( int aIndex )

double* OpenSim::OptimizationTarget::getDXArray ( )

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

inlinevirtual

Reimplemented in OpenSim::ActuatorForceTargetFast, and OpenSim::ActuatorForceTarget.

virtual void OpenSim::OptimizationTarget::printPerformance ( double * x )

virtual

void OpenSim::OptimizationTarget::setDX ( double aVal )

void OpenSim::OptimizationTarget::setDX	(	int	aIndex,
		double	aVal
	)

void OpenSim::OptimizationTarget::setNumParameters ( const int aNX )

void OpenSim::OptimizationTarget::validatePerturbationSize ( double & aSize )

Member Data Documentation

Array<double> OpenSim::OptimizationTarget::_dx

protected

Perturbation size for computing numerical derivatives.

const double OpenSim::OptimizationTarget::SMALLDX

static

Smallest allowable perturbation size for computing derivatives.

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

OpenSim/Common/OptimizationTarget.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation