This class attempts to find the configuration of an internal coordinate model which best fits a set of observed data.
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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...
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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...
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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...
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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...
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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:
- A MultibodySystem which describes the model to fit
- A set of points (called "stations") whose locations are defined relative to particular bodies
- The target location for each station, defined relative to ground
- (optional) A weight for each station, giving its relative importance for fitting
The output is a State giving the set of internal coordinates that best fit the stations to the target locations.