Expose the energy dissipation state variable in BushingForce#4054
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nickbianco merged 7 commits intomainfrom Apr 7, 2025
Merged
Expose the energy dissipation state variable in BushingForce#4054nickbianco merged 7 commits intomainfrom
BushingForce#4054nickbianco merged 7 commits intomainfrom
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FYI @nicos1993 and @stingjp. |
aymanhab
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Reviewed 3 of 4 files at r1, 2 of 2 files at r2, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @nickbianco)
CHANGELOG.md line 93 at r2 (raw file):
- Fixed bugs in `PolynomialPathFitter` when too few coordinate samples were provided. (#4039) - Exposed the "dissipated energy" state variable allocated by the `SimTK::Force::LinearBushing` that is internal to `BushingForce`. This changed fixed a bug in Moco, where adding a `BushingForce` led to a segfault due to a mismatch between the size of the
typo (changed -> change?)
aymanhab
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Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @nickbianco)
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Thanks @aymanhab! |
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Fixes issue #4042
Brief summary of changes
This change exposes the "dissipated energy" state variable allocated by the
SimTK::Force::LinearBushingthat is internal toBushingForce. This fixes the bug in #4042, which occurred because the size of the auxiliary state vector reserved by Moco did not matchSimTK::State::getZ(). This happened because Moco reserves state vectors based on the number of state variables reported by eachComponent, butBushingForcedid not report the "dissipated energy" state as part of the system, even though a slot for it is reserved in theSimTK::State.For convenience, I added the
Output"statebounds_dissipated_energy", which Moco will use to automatically set the bounds on the energy dissipation state variable (i.e., so users do not have to callsetStateInfo).Testing I've completed
Added tests to
testMocoInterface.cppandtestForces.cpp.Looking for feedback on...
CHANGELOG.md (choose one)
This change is