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.
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.
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, const std::vector< std::vector< Real > > &weights, Real tolerance=0.001)
	For compatibility with std::vector; requires extra copying.

Detailed Description

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.

Member Function Documentation

static Real SimTK::ObservedPointFitter::findBestFit	(	const MultibodySystem &	system,
		State &	state,
		const Array_< MobilizedBodyIndex > &	bodyIxs,
		const Array_< Array_< Vec3 > > &	stations,
		const Array_< Array_< Vec3 > > &	targetLocations,
		Real	tolerance = `0.001`
	)		`[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.

static Real SimTK::ObservedPointFitter::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`
	)		`[inline, static]`

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

static Real SimTK::ObservedPointFitter::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`
	)		`[static]`

Find the configuration of a MultibodySystem which best fits a set of target locations for stations.

Parameters:

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

Returns:: the RMS distance of points in the best fit conformation from their target locations

static Real SimTK::ObservedPointFitter::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`
	)		`[inline, static]`

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

The documentation for this class was generated from the following file: