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/**
* Helper function for writing data to the log.
* */
double processObjTerm(std::string name, double weight, double term) const
{
if (_objectiveCalls % _outputPeriod == 0)
_optLog << " " << name << " " << weight * term;
return weight * term;
}
/**
* The following functions must be |
The following functions must be 'const'
...
because
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objectiveFunc()
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is
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const;
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we cannot
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call
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member
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functions
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within
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a
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const
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member
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function
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unless
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those
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functions
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are
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also
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const.
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These
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functions
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are
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also
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defined
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inline
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(definition
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is
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inside
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the
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class
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definition)
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for
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efficiency:
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the
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compiler
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will
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'paste'
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the
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function
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body
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into
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the
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place
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where
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the
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function
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is
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called.
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double anteriorLegsDownTerm(
double roll, double rollRate, double rollAccel) const
{
if (_tool.get_anterior_legs_down_weight() != 0.0)
{
return processObjTerm("anterior_legs_down", _tool.get_anterior_legs_down_weight(),
pow(roll - SimTK::Pi, 2) + _relw * pow(rollRate, 2) + _relw * pow(rollAccel, 2));
}
return 0.0;
}
double posteriorLegsDownTerm(
double twist, double twistRate, double twistAccel) const
{
if (_tool.get_posterior_legs_down_weight() != 0.0)
{
return processObjTerm("posterior_legs_down", _tool.get_posterior_legs_down_weight(),
pow(twist - 0.0, 2) + _relw * pow(twistRate, 2) + _relw * pow(twistAccel, 2));
}
return 0.0;
}
double sagittalSymmetryTerm(
double hunch, double pitch, double pitchRate, double pitchAccel) const
{
if (_tool.get_sagittal_symmetry_weight() != 0.0)
{
return processObjTerm("sagittal_symmetry", _tool.get_sagittal_symmetry_weight(),
pow(hunch + 2 * pitch, 2) + _relw * pow(pitchRate, 2) + _relw * pow(pitchAccel, 2));
}
return 0.0;
} |
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