OpenSim::OptimizationTarget Class Reference

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)

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

OptimizationTarget()

OpenSim::OptimizationTarget::OptimizationTarget

(

int

aNX = 0

)

Member Function Documentation

CentralDifferences()

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

static

CentralDifferencesConstraint()

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

static

ForwardDifferences()

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

static

getDX()

double OpenSim::OptimizationTarget::getDX

(

int

aIndex

)

getDXArray()

double* OpenSim::OptimizationTarget::getDXArray

(

)

prepareToOptimize()

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

inlinevirtual

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

printPerformance()

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

virtual

setDX() [1/2]

void OpenSim::OptimizationTarget::setDX

(

double

aVal

)

setDX() [2/2]

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

setNumParameters()

void OpenSim::OptimizationTarget::setNumParameters

(

const int

aNX

)

validatePerturbationSize()

void OpenSim::OptimizationTarget::validatePerturbationSize

(

double &

aSize

)

Member Data Documentation

_dx

Array<double> OpenSim::OptimizationTarget::_dx

protected

Perturbation size for computing numerical derivatives.

SMALLDX

const double OpenSim::OptimizationTarget::SMALLDX

static

Smallest allowable perturbation size for computing derivatives.

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

• OpenSim/Common/OptimizationTarget.h