1 #ifndef SimTK_SIMBODY_OBSERVED_POINT_FITTER_H_
2 #define SimTK_SIMBODY_OBSERVED_POINT_FITTER_H_
58 Real tolerance=0.001);
64 const std::vector<MobilizedBodyIndex>& bodyIxs,
65 const std::vector<std::vector<Vec3> >& stations,
66 const std::vector<std::vector<Vec3> >& targetLocations,
71 return findBestFit(system,state,
73 stationCopy, targetCopy, tolerance);
97 Real tolerance=0.001);
103 const std::vector<MobilizedBodyIndex>& bodyIxs,
104 const std::vector<std::vector<Vec3> >& stations,
105 const std::vector<std::vector<Vec3> >& targetLocations,
106 const std::vector<std::vector<Real> >& weights,
107 Real tolerance=0.001)
112 return findBestFit(system,state,
114 stationCopy, targetCopy, weightCopy,
124 class OptimizerFunction;
Includes internal headers providing declarations for the basic SimTK Core classes,...
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
This Array_ helper class is the base class for ArrayView_ which is the base class for Array_; here we...
Definition: Array.h:324
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:1520
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This class attempts to find the configuration of an internal coordinate model which best fits a set o...
Definition: ObservedPointFitter.h:45
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.
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.
Definition: ObservedPointFitter.h:101
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.
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.
Definition: ObservedPointFitter.h:62
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
void copy(Row< 1, E1, S1 > &r1, const Row< 1, E2, S2 > &r2)
Definition: Row.h:105
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
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:607