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API
4.3
For C++ developers
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This class provides an interface specification for optimizing redundant systems. More...
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) |
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... | |
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.
OpenSim::OptimizationTarget::OptimizationTarget | ( | int | aNX = 0 | ) |
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static |
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static |
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double OpenSim::OptimizationTarget::getDX | ( | int | aIndex | ) |
double* OpenSim::OptimizationTarget::getDXArray | ( | ) |
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inlinevirtual |
Reimplemented in OpenSim::ActuatorForceTarget, and OpenSim::ActuatorForceTargetFast.
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virtual |
void OpenSim::OptimizationTarget::setDX | ( | double | aVal | ) |
void OpenSim::OptimizationTarget::setDX | ( | int | aIndex, |
double | aVal | ||
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void OpenSim::OptimizationTarget::setNumParameters | ( | const int | aNX | ) |
void OpenSim::OptimizationTarget::validatePerturbationSize | ( | double & | aSize | ) |
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protected |
Perturbation size for computing numerical derivatives.
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static |
Smallest allowable perturbation size for computing derivatives.