ObservedPointFitter.h

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#ifndef SimTK_SIMBODY_OBSERVED_POINT_FITTER_H_
#define SimTK_SIMBODY_OBSERVED_POINT_FITTER_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTK Simbody(tm)                         *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK Core biosimulation toolkit originating from      *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org.               *
 *                                                                            *
 * Portions copyright (c) 2007 Stanford University and the Authors.           *
 * Authors: Peter Eastman                                                     *
 * Contributors:                                                              *
 *                                                                            *
 * Permission is hereby granted, free of charge, to any person obtaining a    *
 * copy of this software and associated documentation files (the "Software"), *
 * to deal in the Software without restriction, including without limitation  *
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
 * and/or sell copies of the Software, and to permit persons to whom the      *
 * Software is furnished to do so, subject to the following conditions:       *
 *                                                                            *
 * The above copyright notice and this permission notice shall be included in *
 * all copies or substantial portions of the Software.                        *
 *                                                                            *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
 * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simbody/internal/common.h"
#include "simbody/internal/MultibodySystem.h"

namespace SimTK {

class SimTK_SIMBODY_EXPORT ObservedPointFitter {
public:
    static Real findBestFit
       (const MultibodySystem&             system, 
        State&                             state, 
        const Array_<MobilizedBodyIndex>&  bodyIxs, 
        const Array_<Array_<Vec3> >&       stations, 
        const Array_<Array_<Vec3> >&       targetLocations, 
        Real                               tolerance=0.001);

    static Real findBestFit
       (const MultibodySystem&                  system, 
        State&                                  state, 
        const std::vector<MobilizedBodyIndex>&  bodyIxs, 
        const std::vector<std::vector<Vec3> >&  stations, 
        const std::vector<std::vector<Vec3> >&  targetLocations, 
        Real                                    tolerance=0.001) 
    {
        Array_<Array_<Vec3> > stationCopy(stations);
        Array_<Array_<Vec3> > targetCopy(targetLocations);
        return findBestFit(system,state,
                    ArrayViewConst_<MobilizedBodyIndex>(bodyIxs), // no copying here
                    stationCopy, targetCopy, tolerance);
    }

    static Real findBestFit
       (const MultibodySystem&             system, 
        State&                             state, 
        const Array_<MobilizedBodyIndex>&  bodyIxs, 
        const Array_<Array_<Vec3> >&       stations, 
        const Array_<Array_<Vec3> >&       targetLocations, 
        const Array_<Array_<Real> >&       weights, 
        Real                               tolerance=0.001);

    static Real findBestFit
       (const MultibodySystem&                  system, 
        State&                                  state, 
        const std::vector<MobilizedBodyIndex>&  bodyIxs, 
        const std::vector<std::vector<Vec3> >&  stations, 
        const std::vector<std::vector<Vec3> >&  targetLocations, 
        const std::vector<std::vector<Real> >&  weights, 
        Real                                    tolerance=0.001)
    {
        Array_<Array_<Vec3> > stationCopy(stations);
        Array_<Array_<Vec3> > targetCopy(targetLocations);
        Array_<Array_<Real> > weightCopy(weights);
        return findBestFit(system,state,
                    ArrayViewConst_<MobilizedBodyIndex>(bodyIxs), // no copying here
                    stationCopy, targetCopy, weightCopy,
                    tolerance);
    }


private:
    static void createClonedSystem(const MultibodySystem& original, MultibodySystem& copy, const Array_<MobilizedBodyIndex>& originalBodyIxs, Array_<MobilizedBodyIndex>& copyBodyIxs, bool& hasArtificialBaseBody);
    static void findUpstreamBodies(MobilizedBodyIndex currentBodyIx, const Array_<int> numStations, const SimbodyMatterSubsystem& matter, Array_<MobilizedBodyIndex>& bodyIxs, int requiredStations);
    static void findDownstreamBodies(MobilizedBodyIndex currentBodyIx, const Array_<int> numStations, const Array_<Array_<MobilizedBodyIndex> > children, Array_<MobilizedBodyIndex>& bodyIxs, int& requiredStations);
    static int findBodiesForClonedSystem(MobilizedBodyIndex primaryBodyIx, const Array_<int> numStations, const SimbodyMatterSubsystem& matter, const Array_<Array_<MobilizedBodyIndex> > children, Array_<MobilizedBodyIndex>& bodyIxs);
    class OptimizerFunction;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_OBSERVED_POINT_FITTER_H_