1#ifndef SimTK_SIMBODY_ASSEMBLER_H_
2#define SimTK_SIMBODY_ASSEMBLER_H_
149 typedef std::set<MobilizedBodyIndex> LockedMobilizers;
150 typedef std::set<MobilizerQIndex> QSet;
151 typedef std::map<MobilizedBodyIndex, QSet> LockedQs;
152 typedef std::map<MobilizerQIndex, Vec2> QRanges;
153 typedef std::map<MobilizedBodyIndex, QRanges> RestrictedQs;
199 "Assembler::setTolerance()",
"The requested error tolerance %g"
200 " is illegal; we require 0 <= tolerance, with 0 indicating that"
201 " the default tolerance (accuracy/10) is to be used.", tolerance);
202 this->tolerance = tolerance;
210 return tolerance > 0 ? tolerance
211 : (accuracy > 0 ? accuracy/10 :
Real(0.1)/OODefaultAccuracy);
225 "Assembler::setAccuracy()",
"The requested accuracy %g is illegal;"
226 " we require 0 <= accuracy < 1, with 0 indicating that the default"
227 " accuracy (%g) is to be used.",
Real(1)/OODefaultAccuracy, accuracy);
228 this->accuracy = accuracy;
234{
return accuracy > 0 ? accuracy :
Real(1)/OODefaultAccuracy; }
244{ assert(systemConstraints.isValid());
245 setAssemblyConditionWeight(systemConstraints,weight);
252{ assert(systemConstraints.isValid());
253 return getAssemblyConditionWeight(systemConstraints); }
264 "Assembler::setAssemblyConditionWeight()");
266 "Illegal weight %g; weight must be nonnegative.", weight);
268 weights[condition] = weight;
280 "Assembler::getAssemblyConditionWeight()");
281 return weights[condition];
288AssemblyConditionIndex
298AssemblyConditionIndex
309 getMatterSubsystem().convertToEulerAngles(state, internalState);
310 system.realizeModel(internalState);
323{ setInternalState(state); initialize(); }
356 setInternalState(state);
357 Real achievedCost = assemble();
358 updateFromInternalState(state);
383 system.realizeModel(state);
384 if (!getMatterSubsystem().getUseEulerAngles(state)) {
386 getMatterSubsystem().convertToQuaternions(getInternalState(),
390 state.
updQ() = getInternalState().getQ();
406{ uninitialize(); userLockedMobilizers.insert(mbx); }
413{ uninitialize(); userLockedMobilizers.erase(mbx); }
427{ uninitialize(); userLockedQs[mbx].insert(qx); }
434{ LockedQs::iterator p = userLockedQs.find(mbx);
435 if (p == userLockedQs.end())
return;
436 QSet& qs = p->second;
440 userLockedQs.erase(p);
452 "The given range [%g,%g] is illegal because the lower bound is"
453 " greater than the upper bound.", lowerBound, upperBound);
455 { unrestrictQ(mbx,qx);
return; }
457 userRestrictedQs[mbx][qx] =
Vec2(lowerBound,upperBound);
466{ RestrictedQs::iterator p = userRestrictedQs.find(mbx);
467 if (p == userRestrictedQs.end())
return;
468 QRanges& qranges = p->second;
469 if (qranges.erase(qx)) {
472 userRestrictedQs.erase(p);
515{ forceNumericalGradient = yesno; }
519{ forceNumericalJacobian = yesno; }
527{ useRMSErrorNorm = yesno; }
554 reporters.push_back(&reporter);
561{
return freeQ2Q.size(); }
567{
return freeQ2Q[freeQIndex]; }
574{
return q2FreeQ[qx]; }
580 else return Vec2(lower[freeQIndex], upper[freeQIndex]);
591{
return system.getMatterSubsystem(); }
604void setInternalStateFromFreeQs(
const Vector& freeQs) {
605 assert(freeQs.
size() == getNumFreeQs());
606 Vector& q = internalState.updQ();
607 for (FreeQIndex fx(0); fx < getNumFreeQs(); ++fx)
608 q[getQIndexOfFreeQ(fx)] = freeQs[fx];
609 system.realize(internalState, Stage::Position);
612Vector getFreeQsFromInternalState()
const {
613 Vector freeQs(getNumFreeQs());
614 const Vector& q = internalState.getQ();
615 for (FreeQIndex fx(0); fx < getNumFreeQs(); ++fx)
616 freeQs[fx] = q[getQIndexOfFreeQ(fx)];
620void reinitializeWithExtraQsLocked
621 (
const Array_<QIndex>& toBeLocked)
const;
628const MultibodySystem& system;
629Array_<const EventReporter*> reporters;
632static const int OODefaultAccuracy = 1000;
635bool forceNumericalGradient;
636bool forceNumericalJacobian;
644LockedMobilizers userLockedMobilizers;
647LockedQs userLockedQs;
649RestrictedQs userRestrictedQs;
654Array_<AssemblyCondition*,AssemblyConditionIndex>
656Array_<Real,AssemblyConditionIndex> weights;
661AssemblyConditionIndex systemConstraints;
665mutable bool alreadyInitialized;
668mutable Array_<QIndex> extraQsLocked;
671mutable std::set<QIndex> lockedQs;
672mutable Array_<FreeQIndex,QIndex> q2FreeQ;
673mutable Array_<QIndex,FreeQIndex> freeQ2Q;
675mutable Vector lower, upper;
678mutable Array_<AssemblyConditionIndex> errors;
679mutable Array_<int> nTermsPerError;
680mutable Array_<AssemblyConditionIndex> goals;
682class AssemblerSystem;
683mutable AssemblerSystem* asmSys;
684mutable Optimizer* optimizer;
686mutable int nAssemblySteps;
687mutable int nInitializations;
689friend class AssemblerSystem;
#define SimTK_ERRCHK2_ALWAYS(cond, whereChecked, fmt, a1, a2)
Definition ExceptionMacros.h:289
#define SimTK_INDEXCHECK_ALWAYS(ix, ub, where)
Definition ExceptionMacros.h:106
#define SimTK_ERRCHK1_ALWAYS(cond, whereChecked, fmt, a1)
Definition ExceptionMacros.h:285
#define SimTK_DEFINE_UNIQUE_INDEX_TYPE(NAME)
Use this macro to define a unique "Index" type which is just a type-safe non-negative int,...
Definition SimTKcommon/include/SimTKcommon/internal/common.h:426
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 Study attempts to find a configuration (set of joint coordinates q) of a Simbody MultibodySystem...
Definition Assembler.h:148
Assembler & setSystemConstraintsWeight(Real weight)
Change how the System's enabled built-in Constraints are weighted as compared to other assembly condi...
Definition Assembler.h:243
void initialize(const State &state)
Set the internal State and initialize.
Definition Assembler.h:322
Assembler & setAssemblyConditionWeight(AssemblyConditionIndex condition, Real weight)
Set the weight to be used for this AssemblyCondition.
Definition Assembler.h:261
AssemblyConditionIndex adoptAssemblyGoal(AssemblyCondition *p, Real weight=1)
Add an assembly goal to this Assembler study, taking over ownership of the heap-allocated AssemblyCon...
void setForceNumericalJacobian(bool yesno)
This is useful for debugging but should not be used otherwise since the analytic Jacobian is to be pr...
Definition Assembler.h:518
bool isUsingRMSErrorNorm() const
Determine whether we are currently using the RMS norm for constraint errors; if not we're using the d...
Definition Assembler.h:531
int getNumErrorEvals() const
Return the number of assembly error condition evaluations.
Real getAssemblyConditionWeight(AssemblyConditionIndex condition) const
Return the weight currently in use for this AssemblyCondition.
Definition Assembler.h:278
Assembler & setAccuracy(Real accuracy=0)
Set the accuracy to which a solution should be pursued.
Definition Assembler.h:223
Assembler(const MultibodySystem &system)
Create an Assembler study for the given MultibodySystem.
void restrictQ(MobilizedBodyIndex mbx, MobilizerQIndex qx, Real lowerBound, Real upperBound)
Restrict a q to remain within a given range.
Definition Assembler.h:449
~Assembler()
Destruct the Assembler objects and any Assembly Condition objects it contains.
void lockMobilizer(MobilizedBodyIndex mbx)
Lock this mobilizer at its starting position.
Definition Assembler.h:405
Real calcCurrentErrorNorm() const
This is the weighted norm of the assembly constraint errors directly comparable with the assembly err...
Real getAccuracyInUse() const
Obtain the accuracy setting that will be used during the next assemble() or track() call.
Definition Assembler.h:233
void setForceNumericalGradient(bool yesno)
This is useful for debugging but should not be used otherwise since the analytic gradient is to be pr...
Definition Assembler.h:514
const SimbodyMatterSubsystem & getMatterSubsystem() const
Return a reference to the SimbodyMatterSubsystem that is contained in the MultibodySystem that is ass...
Definition Assembler.h:590
void resetStats() const
Reset all counters to zero; except for the number of initializations counter this also happens whenev...
Real calcCurrentGoal() const
Return the goal value attained by the internal State's current settings for the free q's; this is a w...
Real assemble(State &state)
Given an initial value for the State, modify the q's in it to satisfy all the assembly conditions to ...
Definition Assembler.h:355
int getNumAssemblySteps() const
Return the number of assembly steps; that is, the number of calls to assemble() or track() since last...
AssemblyConditionIndex adoptAssemblyError(AssemblyCondition *p)
Add an assembly error condition to this Assembler study, taking over ownership of the heap-allocated ...
Vec2 getFreeQBounds(FreeQIndex freeQIndex) const
Return the allowable range for a particular free q.
Definition Assembler.h:578
int getNumErrorJacobianEvals() const
Return the number of assembly error condition Jacobian evaluations.
QIndex getQIndexOfFreeQ(FreeQIndex freeQIndex) const
Return the absolute q index associated with a free q.
Definition Assembler.h:566
int getNumFreeQs() const
Return the number of q's which are free to be changed by this already-initialized assembly analysis.
Definition Assembler.h:560
Assembler & setInternalState(const State &state)
Set the Assembler's internal state from an existing state which must be suitable for use with the Ass...
Definition Assembler.h:307
int getNumGoalEvals() const
Return the number of goal evaluations.
Assembler & setErrorTolerance(Real tolerance=0)
Set the assembly error tolerance.
Definition Assembler.h:197
void unlockMobilizer(MobilizedBodyIndex mbx)
Unlock this mobilizer as a whole; some of its q's may remain locked if they were locked individually.
Definition Assembler.h:412
void lockQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Lock one of this mobilizer's q's at its initial value.
Definition Assembler.h:426
FreeQIndex getFreeQIndexOfQ(QIndex qx) const
A subset of the q's will be used as free q's for solving the assembly problem.
Definition Assembler.h:573
void addReporter(const EventReporter &reporter)
Given a reference to an EventReporter, use this Reporter to provide progress reporting.
Definition Assembler.h:553
int getNumInitializations() const
Return the number of system initializations performed since this Assembler was created or the most re...
bool isInitialized() const
Check whether the Assembler has been initialized since the last change was made to its contents.
Definition Assembler.h:540
void unlockQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Unlock one of this mobilizer's q's if it was locked.
Definition Assembler.h:433
void setUseRMSErrorNorm(bool yesno)
Use an RMS norm for the assembly errors rather than the default infinity norm (max absolute value).
Definition Assembler.h:526
Real assemble()
Starting with the current value of the internally-maintained State, modify the q's in it to satisfy a...
Real getErrorToleranceInUse() const
Obtain the tolerance setting that will be used during the next assemble() or track() call.
Definition Assembler.h:209
const State & getInternalState() const
This provides read-only access to the Assembler's internal State; you probably should use updateFromI...
Definition Assembler.h:548
void uninitialize() const
Uninitialize the Assembler.
const MultibodySystem & getMultibodySystem() const
Return a reference to the MultibodySystem associated with this Assembler (that is,...
Definition Assembler.h:586
void updateFromInternalState(State &state) const
Given an existing State that is suitable for the Assembler's System, update its q's from those found ...
Definition Assembler.h:382
void initialize() const
Initialize the Assembler to prepare for performing assembly analysis.
int getNumGoalGradientEvals() const
Return the number of goal gradient evaluations.
SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE(Assembler, FreeQIndex)
Assembler::FreeQIndex is a unique integer type used for accessing the subset of q's that the Assemble...
Real getSystemConstraintsWeight() const
Return the current weight being given to the System's built-in Constraints; the default is Infinity.
Definition Assembler.h:251
Real track(Real frameTime=-1)
Continue a series of assembly steps that is already in progress, without restarting or reanalyzing th...
void unrestrictQ(MobilizedBodyIndex mbx, MobilizerQIndex qx)
Unrestrict a particular generalized coordinate q if it was previously restricted.
Definition Assembler.h:465
Define an assembly condition consisting of a scalar goal and/or a related set of assembly error equat...
Definition AssemblyCondition.h:44
An EventReporter is an object that defines an event that can occur within a system.
Definition EventReporter.h:53
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition MultibodySystem.h:48
Unique integer type for Subsystem-local q indexing.
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
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
Vector & updQ(SubsystemIndex)
int size() const
Definition VectorBase.h:396
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
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:606