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::ActuatorForceTarget:

Public Member Functions
virtual	~ActuatorForceTarget ()

	ActuatorForceTarget (int aNX, CMC *aController)

void	setStressTermWeight (double aWeight)

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

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

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

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	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 a sum of two terms. The first term is the sum of actuator stresses squared. The second term is a weighted sum of terms designed to achieve a set of desired accelerations that will drive the dynamic model toward a set of target kinematic trajectories. The desired accelerations are according to the Proportional Derivative (PD) control law.

Because the performance criterion is simply a long sum of things, achieving the desired accelerations can be compromised in order to reduce the forces (or moments) applied by the actuators. This feature is what is exploited by the Residual Reduction Algorithm.

Although this target is fairly robust (meaning the optimizer should not fail to find a solution), it is a bit slower and less accurate than the "fast" target

See also: ActuatorForceTargetFast.

Version: 1.0

Author: Frank C. Anderson

Constructor & Destructor Documentation

◆ ~ActuatorForceTarget()

virtual OpenSim::ActuatorForceTarget::~ActuatorForceTarget ( )

virtual

◆ ActuatorForceTarget()

OpenSim::ActuatorForceTarget::ActuatorForceTarget	(	int	aNX,
		CMC *	aController
	)

Member Function Documentation

◆ gradientFunc()

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

overridevirtual

Reimplemented from SimTK::OptimizerSystem.

◆ objectiveFunc()

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

overridevirtual

Reimplemented from SimTK::OptimizerSystem.

◆ prepareToOptimize()

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

overridevirtual

Reimplemented from OpenSim::OptimizationTarget.

◆ setStressTermWeight()

void OpenSim::ActuatorForceTarget::setStressTermWeight ( double aWeight )

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

OpenSim/Tools/ActuatorForceTarget.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~ActuatorForceTarget()

◆ ActuatorForceTarget()

Member Function Documentation

◆ gradientFunc()

◆ objectiveFunc()

◆ prepareToOptimize()

◆ setStressTermWeight()