Simbody
3.7

This class attempts to find the configuration of an internal coordinate model which best fits a set of observed data. More...
Static Public Member Functions  
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) 
Find the configuration of a MultibodySystem which best fits a set of target locations for stations. More...  
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) 
For compatibility with std::vector; requires extra copying. More...  
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) 
Find the configuration of a MultibodySystem which best fits a set of target locations for stations. More...  
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) 
For compatibility with std::vector; requires extra copying. More...  
This class attempts to find the configuration of an internal coordinate model which best fits a set of observed data.
The inputs to the algorithm are as follows:
The output is a State giving the set of internal coordinates that best fit the stations to the target locations.

static 
Find the configuration of a MultibodySystem which best fits a set of target locations for stations.
This is identical to the other form of findBestFit(), but assumes every station has a weight of 1.

inlinestatic 
For compatibility with std::vector; requires extra copying.

static 
Find the configuration of a MultibodySystem which best fits a set of target locations for stations.
system  the MultibodySystem being analyzed 
state  on exit, this State's Q vector contains the values which provide a best fit 
bodyIxs  a list of MobilizedBodyIndexs corresponding to the bodies for which stations are defined 
stations  the list of stations for each body. stations[i][j] is the location of the j'th station for the body given by bodyIxs[i], given in that body's reference frame. 
targetLocations  the target locations for each body, given relative to ground. targetLocations[i][j] is the target for stations[i][j]. 
weights  weights[i][j] is the weight to use for stations[i][j] when performing the fitting 
tolerance  the distance tolerance within which the best fit should be found 

inlinestatic 
For compatibility with std::vector; requires extra copying.