This AssemblyCondition requests that a particular generalized coordinate end up with a specified value. More...
Inheritance diagram for SimTK::QValue:
Public Member Functions | |
| QValue (MobilizedBodyIndex mbx, MobilizerQIndex qx, Real value) | |
| Construct an assembly condition that requests that the specified generalized coordinate be brought to the indicated value. More... | |
| Real | getValue () const |
| Return the currently set value to be used for this generalized coordinate. More... | |
| void | setValue (Real newValue) |
| Change the value to be used for this generalized coordinate; this can be done repeatedly during tracking to follow changing requirements. More... | |
| int | getNumEquations (const State &) const |
| int | calcErrors (const State &state, Vector &error) const override |
| Calculate the amount by which this assembly condition is violated by the q values in the given state, with one scalar error per assembly equation returned in err. More... | |
| int | calcErrorJacobian (const State &state, Matrix &J) const override |
| Override to supply an analytic Jacobian for the assembly errors returned by calcErrors(). More... | |
| int | calcGoal (const State &state, Real &goal) const override |
| Calculate the current contribution (>= 0) of this assembly condition to the goal value that is being minimized. More... | |
| int | calcGoalGradient (const State &state, Vector &grad) const override |
| Override to supply an analytic gradient for this assembly condition's goal. More... | |
| Public Member Functions inherited from SimTK::AssemblyCondition | |
| AssemblyCondition (const String &name) | |
| Base class constructor just takes the assembly condition name and saves it. More... | |
| virtual | ~AssemblyCondition () |
| Destructor is virtual for use by derived classes. More... | |
| virtual int | initializeCondition () const |
| This is called whenever the Assembler is initialized in case this assembly condition wants to do some internal work before getting started. More... | |
| virtual void | uninitializeCondition () const |
| This is called whenever the containing Assembler is uninitialized in case this assembly condition has some cleanup to do. More... | |
| virtual int | getNumErrors (const State &state) const |
| Override to supply an efficient method for determining how many errors will be returned by calcErrors(). More... | |
| const char * | getName () const |
| Return the name assigned to this AssemblyCondition on construction. More... | |
| bool | isInAssembler () const |
| Test whether this AssemblyCondition has already been adopted by an Assembler. More... | |
| const Assembler & | getAssembler () const |
| Return the Assembler that has adopted this AssemblyCondition. More... | |
| AssemblyConditionIndex | getAssemblyConditionIndex () const |
| Return the AssemblyConditionIndex of this concrete AssemblyCondition within the Assembler that has adopted it. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from SimTK::AssemblyCondition | |
| int | getNumFreeQs () const |
| Ask the assembler how many free q's there are; only valid after initialization but does not invoke initialization. More... | |
| QIndex | getQIndexOfFreeQ (Assembler::FreeQIndex fx) const |
| Ask the assembler where to find the actual q in the State that corresponds to a given free q; only valid after initialization but does not invoke initialization. More... | |
| Assembler::FreeQIndex | getFreeQIndexOfQ (QIndex qx) const |
| Ask the assembler where to find the free q (if any) that corresponds to a given q in the State; only valid after initialization but does not invoke initialization. More... | |
| const MultibodySystem & | getMultibodySystem () const |
| Ask the assembler for the MultibodySystem with which it is associated. More... | |
| const SimbodyMatterSubsystem & | getMatterSubsystem () const |
| Ask the assembler for the MultibodySystem with which it is associated and extract the SimbodyMatterSubsystem contained therein. More... | |
| void | initializeAssembler () const |
| Call this method before doing anything that logically requires the Assembler, or at least this AssemblyCondition, to have been initialized. More... | |
| void | uninitializeAssembler () const |
| Call this when modifying any parameter of the concrete AssemblyCondition that would require reinitialization of the Assembler or the AssemblyCondition. More... | |
Detailed Description
This AssemblyCondition requests that a particular generalized coordinate end up with a specified value.
You can use this as a goal or a constraint, depending on how serious you are about this requirement.
Constructor & Destructor Documentation
◆ QValue()
|
inline |
Construct an assembly condition that requests that the specified generalized coordinate be brought to the indicated value.
The value can be changed subsequently using setValue().
Member Function Documentation
◆ getValue()
|
inline |
Return the currently set value to be used for this generalized coordinate.
◆ setValue()
|
inline |
Change the value to be used for this generalized coordinate; this can be done repeatedly during tracking to follow changing requirements.
◆ getNumEquations()
|
inline |
◆ calcErrors()
Calculate the amount by which this assembly condition is violated by the q values in the given state, with one scalar error per assembly equation returned in err.
The functional return should be zero if successful; negative values are reserved with -1 meaning "not implemented"; return a positive value if your implementation is unable to evaluate the error at the current state. If this method is not implemented then you must implement calcGoal() and this assembly condition may only be used as a goal, not a requirement.
Reimplemented from SimTK::AssemblyCondition.
◆ calcErrorJacobian()
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inlineoverridevirtual |
Override to supply an analytic Jacobian for the assembly errors returned by calcErrors().
The returned Jacobian must be nErr X nFreeQs; that is, if there is only one assembly error equation the returned matrix is a single row (that's the transpose of the gradient). The functional return should be zero if this succeeds; negative values are reserved with the default implementation returning -1 which indicates that the Jacobian must be calculated numerically using the calcErrors() method. Return a positive value if your implementation is unable to evaluate the Jacobian at the current state.
Reimplemented from SimTK::AssemblyCondition.
◆ calcGoal()
Calculate the current contribution (>= 0) of this assembly condition to the goal value that is being minimized.
If this isn't overridden we'll generate it by combining the m errors returned by calcErrors() in a mean sum of squares: goal = err^2/m.
Reimplemented from SimTK::AssemblyCondition.
◆ calcGoalGradient()
|
inlineoverridevirtual |
Override to supply an analytic gradient for this assembly condition's goal.
The returned gradient must be nFreeQ X 1; that is, it is a column vector giving the partial derivative of the goal with respect to each of the free q's in order. The functional return should be zero if this succeeds. The default implementation return -1 which indicates that the gradient must be calculated numerically using the calcGoal() method.
Reimplemented from SimTK::AssemblyCondition.
The documentation for this class was generated from the following file:
