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To run any optimization, it's necessary to use SimTK::Optimizer and a class like FlippinFelinesOptimizerSystem. However, a class like FlippinFelinesOptimizerTool is not necessary; it's just something we've done to make it easier to run these optimizations. (TODO so we'll focus on the first 2).
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namespace OpenSim {
// Manages inputs to the optimization via OpenSim's XML abilities.
class FlippinFelinesOptimizerTool : public Object {
// ********** PART B **********
};
} // end namespace OpenSim
// Finds a control input that achieves flip, as determined by objective function.
class FlippinFelinesOptimizerSystem : public SimTK::OptimizerSystem {
// ...
FlippinFelinesOptimizerSystem(OpenSim::FlippinFelinesOptimizerTool & tool) :
_tool(tool), // ...
{ // ...
}
// ...
// The meat of this class; this is called by the Optimizer that has this system.
int objectiveFunc(const SimTK::Vector & parameters, bool new_parameters,
SimTK::Real & f) const
{ // ...
f = ...;
// ...
}
// ...
// Reference to the FlippinFelinesOptimizerTool.
OpenSim::FlippinFelinesOptimizerTool & _tool;
// ...
}; |
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Compare your results to those in the References folder of the 'Tutorial' code. TODO. You can do the same for the second optimization, if counterrotation_variableinertia_setup.xml and counterrotation_variableinertia_initial_parameters.xml are in the directory.
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