#include <rdInitialStatesTarget.h>
Public Member Functions | |
virtual | ~rdInitialStatesTarget () |
Destructor. | |
rdInitialStatesTarget (int aNX, double aTI, const double *aY, rdCMC *aController, OpenSim::ModelIntegrandForActuators *aEquilib) | |
Constructor. | |
void | generateEquilibriumStates (const double *aX, double *rY) |
Generate equilibrium actuator states given a set of controls. | |
int | compute (double *x, double *p, double *c) |
Compute performance and the constraints given x. | |
int | computeGradients (double *dx, double *x, double *dpdx, double *dcdx) |
Compute the gradients of the performance and the constraints given x. | |
int | computePerformance (double *x, double *p) |
Compute performance given x. | |
int | computePerformanceGradient (double *x, double *dpdx) |
Compute the gradient of performance given x. | |
int | computeConstraint (double *x, int i, double *c) |
Compute constraint i given x. | |
int | computeConstraintGradient (double *x, int i, double *dcdx) |
Compute the gradient of constraint i given x. | |
Private Member Functions | |
void | setNull () |
Set all member variables to their NULL values. | |
Private Attributes | |
double | _ti |
Initial time for the simulation. | |
double | _tf |
Final time for the forward integration. | |
double | _tfEqui |
Final time for the equilibrium integration. | |
rdCMC * | _controller |
Controller. | |
OpenSim::ModelIntegrandForActuators * | _equi |
OpenSim::IntegRKF * | _integEqui |
Integrator for producing equilibrium values for the initial states. | |
OpenSim::ModelIntegrand * | _forw |
Integrand for integrating forward to the next target time. | |
OpenSim::IntegRKF * | _integForw |
Integrator for integrating forward to the next target time. | |
OpenSim::Array< double > | _yi |
Work array of the initial states. | |
OpenSim::Array< double > | _y |
Work array of the states. | |
OpenSim::Array< double > | _dydt |
Array of the model state derivatives. |
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Constructor.
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Compute performance and the constraints given x. Note - used by paramopt. |
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Compute constraint i given x. Note that the indexing starts at 1; |
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Compute the gradients of the performance and the constraints given x. The array dx is an array of perturbation sizes which can be used to compute the gradients numerically. Note- used by paramopt. |
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Generate equilibrium actuator states given a set of controls.
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