1 #ifndef SimTK_SIMBODY_ASSEMBLER_H_ 2 #define SimTK_SIMBODY_ASSEMBLER_H_ 149 typedef std::set<MobilizedBodyIndex> LockedMobilizers;
150 typedef std::set<MobilizerQIndex> QSet;
151 typedef std::map<MobilizedBodyIndex, QSet> LockedQs;
152 typedef std::map<MobilizerQIndex, Vec2> QRanges;
153 typedef std::map<MobilizedBodyIndex, QRanges> RestrictedQs;
163 class AssembleFailed;
199 "Assembler::setTolerance()",
"The requested error tolerance %g" 200 " is illegal; we require 0 <= tolerance, with 0 indicating that" 201 " the default tolerance (accuracy/10) is to be used.", tolerance);
202 this->tolerance = tolerance;
210 return tolerance > 0 ? tolerance
211 : (accuracy > 0 ? accuracy/10 :
Real(0.1)/OODefaultAccuracy);
225 "Assembler::setAccuracy()",
"The requested accuracy %g is illegal;" 226 " we require 0 <= accuracy < 1, with 0 indicating that the default" 227 " accuracy (%g) is to be used.",
Real(1)/OODefaultAccuracy, accuracy);
228 this->accuracy = accuracy;
234 {
return accuracy > 0 ? accuracy :
Real(1)/OODefaultAccuracy; }
244 { assert(systemConstraints.isValid());
245 setAssemblyConditionWeight(systemConstraints,weight);
252 { assert(systemConstraints.isValid());
253 return getAssemblyConditionWeight(systemConstraints); }
264 "Assembler::setAssemblyConditionWeight()");
266 "Illegal weight %g; weight must be nonnegative.", weight);
268 weights[condition] = weight;
280 "Assembler::getAssemblyConditionWeight()");
281 return weights[condition];
288 AssemblyConditionIndex
298 AssemblyConditionIndex
309 getMatterSubsystem().convertToEulerAngles(state, internalState);
319 void initialize()
const;
323 { setInternalState(state); initialize(); }
356 setInternalState(state);
357 Real achievedCost = assemble();
358 updateFromInternalState(state);
366 Real calcCurrentGoal()
const;
375 Real calcCurrentErrorNorm()
const;
384 if (!getMatterSubsystem().getUseEulerAngles(state)) {
386 getMatterSubsystem().convertToQuaternions(getInternalState(),
390 state.
updQ() = getInternalState().getQ();
406 { uninitialize(); userLockedMobilizers.insert(mbx); }
413 { uninitialize(); userLockedMobilizers.erase(mbx); }
427 { uninitialize(); userLockedQs[mbx].insert(qx); }
434 { LockedQs::iterator p = userLockedQs.find(mbx);
435 if (p == userLockedQs.end())
return;
436 QSet& qs = p->second;
440 userLockedQs.erase(p);
452 "The given range [%g,%g] is illegal because the lower bound is" 453 " greater than the upper bound.", lowerBound, upperBound);
455 { unrestrictQ(mbx,qx);
return; }
457 userRestrictedQs[mbx][qx] =
Vec2(lowerBound,upperBound);
466 { RestrictedQs::iterator p = userRestrictedQs.find(mbx);
467 if (p == userRestrictedQs.end())
return;
468 QRanges& qranges = p->second;
469 if (qranges.erase(qx)) {
472 userRestrictedQs.erase(p);
487 int getNumGoalEvals()
const;
489 int getNumErrorEvals()
const;
491 int getNumGoalGradientEvals()
const;
493 int getNumErrorJacobianEvals()
const;
496 int getNumAssemblySteps()
const;
499 int getNumInitializations()
const;
503 void resetStats()
const;
515 { forceNumericalGradient = yesno; }
519 { forceNumericalJacobian = yesno; }
527 { useRMSErrorNorm = yesno; }
537 void uninitialize()
const;
554 reporters.push_back(&reporter);
561 {
return freeQ2Q.size(); }
567 {
return freeQ2Q[freeQIndex]; }
574 {
return q2FreeQ[qx]; }
580 else return Vec2(lower[freeQIndex], upper[freeQIndex]);
604 void setInternalStateFromFreeQs(
const Vector& freeQs) {
605 assert(freeQs.
size() == getNumFreeQs());
606 Vector& q = internalState.updQ();
607 for (FreeQIndex fx(0); fx < getNumFreeQs(); ++fx)
608 q[getQIndexOfFreeQ(fx)] = freeQs[fx];
612 Vector getFreeQsFromInternalState()
const {
613 Vector freeQs(getNumFreeQs());
614 const Vector& q = internalState.getQ();
615 for (FreeQIndex fx(0); fx < getNumFreeQs(); ++fx)
616 freeQs[fx] = q[getQIndexOfFreeQ(fx)];
620 void reinitializeWithExtraQsLocked
632 static const int OODefaultAccuracy = 1000;
635 bool forceNumericalGradient;
636 bool forceNumericalJacobian;
637 bool useRMSErrorNorm;
644 LockedMobilizers userLockedMobilizers;
647 LockedQs userLockedQs;
649 RestrictedQs userRestrictedQs;
661 AssemblyConditionIndex systemConstraints;
665 mutable bool alreadyInitialized;
671 mutable std::set<QIndex> lockedQs;
675 mutable Vector lower, upper;
682 class AssemblerSystem;
683 mutable AssemblerSystem* asmSys;
686 mutable int nAssemblySteps;
687 mutable int nInitializations;
689 friend class AssemblerSystem;
694 #endif // SimTK_SIMBODY_ASSEMBLER_H_ void unlockQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Unlock one of this mobilizer's q's if it was locked.
Definition: Assembler.h:433
Vector & updQ(SubsystemIndex)
void lockQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Lock one of this mobilizer's q's at its initial value.
Definition: Assembler.h:426
void unlockMobilizer(MobilizedBodyIndex mbx)
Unlock this mobilizer as a whole; some of its q's may remain locked if they were locked individually...
Definition: Assembler.h:412
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)
void initialize(const State &state)
Set the internal State and initialize.
Definition: Assembler.h:322
Assembler & setErrorTolerance(Real tolerance=0)
Set the assembly error tolerance.
Definition: Assembler.h:197
const SimbodyMatterSubsystem & getMatterSubsystem() const
API for SimTK Simmath's optimizers.
Definition: Optimizer.h:355
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
void addReporter(const EventReporter &reporter)
Given a reference to an EventReporter, use this Reporter to provide progress reporting.
Definition: Assembler.h:553
void updateFromInternalState(State &state) const
Given an existing State that is suitable for the Assembler's System, update its q's from those found ...
Definition: Assembler.h:382
void realize(const State &state, Stage stage=Stage::HighestRuntime) const
Realize the given state to the indicated stage.
Real getSystemConstraintsWeight() const
Return the current weight being given to the System's built-in Constraints; the default is Infinity...
Definition: Assembler.h:251
int size() const
Definition: VectorBase.h:396
Assembler & setAssemblyConditionWeight(AssemblyConditionIndex condition, Real weight)
Set the weight to be used for this AssemblyCondition.
Definition: Assembler.h:261
#define SimTK_ERRCHK2_ALWAYS(cond, whereChecked, fmt, a1, a2)
Definition: ExceptionMacros.h:289
Assembler & setInternalState(const State &state)
Set the Assembler's internal state from an existing state which must be suitable for use with the Ass...
Definition: Assembler.h:307
Every Simbody header and source file should include this header before any other Simbody header...
Vec2 getFreeQBounds(FreeQIndex freeQIndex) const
Return the allowable range for a particular free q.
Definition: Assembler.h:578
This Study attempts to find a configuration (set of joint coordinates q) of a Simbody MultibodySystem...
Definition: Assembler.h:148
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
const MultibodySystem & getMultibodySystem() const
Return a reference to the MultibodySystem associated with this Assembler (that is, the System that was supplied in the Assembler's constructor.
Definition: Assembler.h:586
bool isUsingRMSErrorNorm() const
Determine whether we are currently using the RMS norm for constraint errors; if not we're using the d...
Definition: Assembler.h:531
Real assemble(State &state)
Given an initial value for the State, modify the q's in it to satisfy all the assembly conditions to ...
Definition: Assembler.h:355
void setForceNumericalGradient(bool yesno)
This is useful for debugging but should not be used otherwise since the analytic gradient is to be pr...
Definition: Assembler.h:514
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
#define SimTK_ERRCHK1_ALWAYS(cond, whereChecked, fmt, a1)
Definition: ExceptionMacros.h:285
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
void unrestrictQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Unrestrict a particular generalized coordinate q if it was previously restricted. ...
Definition: Assembler.h:465
The SimTK::Array_<T> container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
Real getErrorToleranceInUse() const
Obtain the tolerance setting that will be used during the next assemble() or track() call...
Definition: Assembler.h:209
Spatial configuration available.
Definition: Stage.h:58
void realizeModel(State &state) const
Realize the model to be used for subsequent computations with the given state.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
QIndex getQIndexOfFreeQ(FreeQIndex freeQIndex) const
Return the absolute q index associated with a free q.
Definition: Assembler.h:566
int getNumFreeQs() const
Return the number of q's which are free to be changed by this already-initialized assembly analysis...
Definition: Assembler.h:560
Unique integer type for Subsystem-local q indexing.
#define SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE(PARENT, NAME)
Define a local Index class within a Parent class.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:446
#define SimTK_INDEXCHECK_ALWAYS(ix, ub, where)
Definition: ExceptionMacros.h:106
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
Real getAccuracyInUse() const
Obtain the accuracy setting that will be used during the next assemble() or track() call...
Definition: Assembler.h:233
Real getAssemblyConditionWeight(AssemblyConditionIndex condition) const
Return the weight currently in use for this AssemblyCondition.
Definition: Assembler.h:278
void lockMobilizer(MobilizedBodyIndex mbx)
Lock this mobilizer at its starting position.
Definition: Assembler.h:405
void setUseRMSErrorNorm(bool yesno)
Use an RMS norm for the assembly errors rather than the default infinity norm (max absolute value)...
Definition: Assembler.h:526
An EventReporter is an object that defines an event that can occur within a system.
Definition: EventReporter.h:53
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
void restrictQ(MobilizedBodyIndex mbx, MobilizerQIndex qx, Real lowerBound, Real upperBound)
Restrict a q to remain within a given range.
Definition: Assembler.h:449
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
void setForceNumericalJacobian(bool yesno)
This is useful for debugging but should not be used otherwise since the analytic Jacobian is to be pr...
Definition: Assembler.h:518
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
const State & getInternalState() const
This provides read-only access to the Assembler's internal State; you probably should use updateFromI...
Definition: Assembler.h:548
Define an assembly condition consisting of a scalar goal and/or a related set of assembly error equat...
Definition: AssemblyCondition.h:44
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
FreeQIndex getFreeQIndexOfQ(QIndex qx) const
A subset of the q's will be used as free q's for solving the assembly problem.
Definition: Assembler.h:573
bool isInitialized() const
Check whether the Assembler has been initialized since the last change was made to its contents...
Definition: Assembler.h:540
Assembler & setSystemConstraintsWeight(Real weight)
Change how the System's enabled built-in Constraints are weighted as compared to other assembly condi...
Definition: Assembler.h:243
const SimbodyMatterSubsystem & getMatterSubsystem() const
Return a reference to the SimbodyMatterSubsystem that is contained in the MultibodySystem that is ass...
Definition: Assembler.h:590
Assembler & setAccuracy(Real accuracy=0)
Set the accuracy to which a solution should be pursued.
Definition: Assembler.h:223
Vec< 2 > Vec2
This is the most common 2D vector type: a column of 2 Real values stored consecutively in memory (pac...
Definition: SmallMatrix.h:126