#include <TorqueMuscleFittingToolkit.h>

Inheritance diagram for FitTorqueMuscleParameters:

Public Member Functions
	FitTorqueMuscleParameters (const RigidBodyDynamics::Math::VectorNd &jointAngle, const RigidBodyDynamics::Math::VectorNd &jointAngularVelocity, const RigidBodyDynamics::Math::VectorNd &jointTorque, double maxActivation, double maxPassiveTorqueAngleMultiplier, double taLambda, double tvLambda, Millard2016TorqueMuscle &tqMcl)

virtual bool	get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, Ipopt::TNLP::IndexStyleEnum &index_style)

virtual bool	get_bounds_info (Ipopt::Index n, Ipopt::Number x_l, Ipopt::Number x_u, Ipopt::Index m, Ipopt::Number g_l, Ipopt::Number g_u)

virtual bool	get_starting_point (Ipopt::Index n, bool init_x, Ipopt::Number x, bool init_z, Ipopt::Number z_L, Ipopt::Number z_U, Ipopt::Index m, bool init_lambda, Ipopt::Number lambda)

virtual bool	eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value)

virtual bool	eval_grad_f (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Number grad_f)

virtual bool	eval_g (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Index m, Ipopt::Number g)

virtual bool	eval_jac_g (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Index m, Ipopt::Index nele_jac, Ipopt::Index iRow, Ipopt::Index jCol, Ipopt::Number values)

virtual void	finalize_solution (Ipopt::SolverReturn status, Ipopt::Index n, const Ipopt::Number x, const Ipopt::Number z_L, const Ipopt::Number z_U, Ipopt::Index m, const Ipopt::Number g, const Ipopt::Number lambda, Ipopt::Number obj_value, const Ipopt::IpoptData ip_data, Ipopt::IpoptCalculatedQuantities *ip_cq)

virtual bool	eval_h (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Number obj_factor, Ipopt::Index m, const Ipopt::Number lambda, bool new_lambda, Ipopt::Index nele_hess, Ipopt::Index iRow, Ipopt::Index jCol, Ipopt::Number *values)

double	getSolutionActiveTorqueAngleAngleScaling ()

double	getSolutionPassiveTorqueAngleBlendingParameter ()

double	getSolutionTorqueAngularVelocityOmegaMaxScale ()

double	getSolutionPassiveTorqueAngleCurveOffset ()

double	getSolutionMaximumActiveIsometricTorqueScale ()

double	getObjectiveValue ()

RigidBodyDynamics::Math::VectorNd &	getConstraintError ()

void	updOptimizationVariables (const Ipopt::Number *x)

Private Attributes
unsigned int	mN

unsigned int	mM

double	mMaxActivation

double	mMinActivation

double	mMaxTp

double	mTauIso

double	mTaAngleAtOneNormTorque

double	mOmegaMax

double	mTaLambda

double	mTvLambda

double	mTaAngleScaleStart

double	mTvOmegaMaxScaleStart

double	mTpLambdaStart

double	mTpAngleOffsetStart

double	mTauScalingStart

double	mTaAngleScaleLB

double	mTvOmegaMaxScaleLB

double	mTpLambdaLB

double	mTpAngleOffsetLB

double	mTauScalingLB

double	mTaAngleScaleUB

double	mTvOmegaMaxScaleUB

double	mTpLambdaUB

double	mTpAngleOffsetUB

double	mTauScalingUB

double	mTaAngleScale

double	mTvOmegaMaxScale

double	mTpLambda

double	mTpAngleOffset

double	mTauScaling

unsigned int	mIndexTaAngleScale

unsigned int	mIndexTvOmegaMaxScale

unsigned int	mIndexTpLambda

unsigned int	mIndexTpOffset

unsigned int	mIndexTauScaling

unsigned int	mConIdxTauActMaxStart

unsigned int	mConIdxTauActMaxEnd

unsigned int	mConIdxTauActMinStart

unsigned int	mConIdxTauActMinEnd

unsigned int	mConIdxTauPassiveStart

unsigned int	mConIdxTauPassiveEnd

const RigidBodyDynamics::Math::VectorNd &	mJointAngle

const RigidBodyDynamics::Math::VectorNd &	mJointAngularVelocity

const RigidBodyDynamics::Math::VectorNd &	mJointTorque

RigidBodyDynamics::Math::VectorNd	mXOffset

RigidBodyDynamics::Math::VectorNd	mDtp_Dx

RigidBodyDynamics::Math::VectorNd	mConstraintErrors

double	mObjValue

RigidBodyDynamics::Math::VectorNd	mWeights

Millard2016TorqueMuscle &	mTqMcl

TorqueMuscleInfo	mTmi

TorqueMuscleSummary	mTms

Detailed Description

Definition at line 179 of file TorqueMuscleFittingToolkit.h.

Constructor & Destructor Documentation

◆ FitTorqueMuscleParameters()

FitTorqueMuscleParameters	(	const RigidBodyDynamics::Math::VectorNd &	jointAngle,
		const RigidBodyDynamics::Math::VectorNd &	jointAngularVelocity,
		const RigidBodyDynamics::Math::VectorNd &	jointTorque,
		double	maxActivation,
		double	maxPassiveTorqueAngleMultiplier,
		double	taLambda,
		double	tvLambda,
		Millard2016TorqueMuscle &	tqMcl
	)

Member Function Documentation

◆ eval_f()

virtual bool eval_f	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number &	obj_value
	)

virtual

◆ eval_g()

virtual bool eval_g	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Index	m,
		Ipopt::Number *	g
	)

virtual

◆ eval_grad_f()

virtual bool eval_grad_f	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number *	grad_f
	)

virtual

◆ eval_h()

virtual bool eval_h	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number	obj_factor,
		Ipopt::Index	m,
		const Ipopt::Number *	lambda,
		bool	new_lambda,
		Ipopt::Index	nele_hess,
		Ipopt::Index *	iRow,
		Ipopt::Index *	jCol,
		Ipopt::Number *	values
	)

virtual

◆ eval_jac_g()

virtual bool eval_jac_g	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Index	m,
		Ipopt::Index	nele_jac,
		Ipopt::Index *	iRow,
		Ipopt::Index *	jCol,
		Ipopt::Number *	values
	)

virtual

◆ finalize_solution()

virtual void finalize_solution	(	Ipopt::SolverReturn	status,
		Ipopt::Index	n,
		const Ipopt::Number *	x,
		const Ipopt::Number *	z_L,
		const Ipopt::Number *	z_U,
		Ipopt::Index	m,
		const Ipopt::Number *	g,
		const Ipopt::Number *	lambda,
		Ipopt::Number	obj_value,
		const Ipopt::IpoptData *	ip_data,
		Ipopt::IpoptCalculatedQuantities *	ip_cq
	)

virtual

◆ get_bounds_info()

virtual bool get_bounds_info	(	Ipopt::Index	n,
		Ipopt::Number *	x_l,
		Ipopt::Number *	x_u,
		Ipopt::Index	m,
		Ipopt::Number *	g_l,
		Ipopt::Number *	g_u
	)

virtual

◆ get_nlp_info()

virtual bool get_nlp_info	(	Ipopt::Index &	n,
		Ipopt::Index &	m,
		Ipopt::Index &	nnz_jac_g,
		Ipopt::Index &	nnz_h_lag,
		Ipopt::TNLP::IndexStyleEnum &	index_style
	)

virtual

◆ get_starting_point()

virtual bool get_starting_point	(	Ipopt::Index	n,
		bool	init_x,
		Ipopt::Number *	x,
		bool	init_z,
		Ipopt::Number *	z_L,
		Ipopt::Number *	z_U,
		Ipopt::Index	m,
		bool	init_lambda,
		Ipopt::Number *	lambda
	)