API  4.2
For C++ developers
OpenSim::MocoAccelerationTrackingGoal Class Reference

The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase. More...

+ Inheritance diagram for OpenSim::MocoAccelerationTrackingGoal:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
std::string acceleration_reference_file
 "Path to file (.sto, .csv, ...) containing acceleration reference " "data to track. Column labels should be paths to frames in the " "model, e.g. '/bodyset/torso'." More...
 
MocoWeightSet acceleration_weights
 "Set of weight objects to weight the tracking of " "individual frames' accelerations in the cost." More...
 
Properties (list)
std::string frame_paths
 "The frames in the model that this cost term will track. " "The names set here must correspond to Components that " "derive from class Frame." More...
 
- OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoGoal
bool enabled
 "This bool indicates whether this goal is enabled." More...
 
double weight
 "In cost mode, the goal is multiplied by this weight (default: " "1)." More...
 
std::string mode
 "'cost' to enforce as a penalty, 'endpoint_constraint' to enforce " "as a constraint." More...
 
MocoConstraintInfo MocoConstraintInfo
 "The bounds and labels for this MocoGoal, if applied as an " "endpoint constraint." More...
 

Public Member Functions

 MocoAccelerationTrackingGoal ()
 
 MocoAccelerationTrackingGoal (std::string name)
 
 MocoAccelerationTrackingGoal (std::string name, double weight)
 
void setAccelerationReferenceFile (const std::string &filepath)
 Set the acceleration of individual frames in ground to be tracked in the cost. More...
 
void setAccelerationReference (const TimeSeriesTableVec3 &ref)
 Each column label must be the path of a valid frame path (see setAccelerationReferenceFile()). More...
 
void setFramePaths (const std::vector< std::string > &paths)
 Set the paths to frames in the model that this cost term will track. More...
 
void setWeightForFrame (const std::string &frameName, const double &weight)
 Set the weight for an individual frame's acceleration tracking. More...
 
void setWeightSet (const MocoWeightSet &weightSet)
 Provide a MocoWeightSet to weight frame acceleration tracking in the cost. More...
 
std::string getAccelerationReferenceFile () const
 If no acceleration reference file has been provided, this returns an empty string. More...
 
- Public Member Functions inherited from OpenSim::MocoGoal
 MocoGoal ()
 
 MocoGoal (std::string name)
 
 MocoGoal (std::string name, double weight)
 
void setEnabled (bool enabled)
 Set whether this goal is used in the problem. More...
 
bool getEnabled () const
 
void setWeight (double weight)
 In cost mode, the goal is multiplied by this weight. More...
 
double getWeight () const
 
void setMode (std::string mode)
 Set the mode property to either 'cost' or 'endpoint_constraint'. More...
 
std::string getModeAsString () const
 This returns the default mode of the goal, unless the user overrode the default using setMode(). More...
 
Mode getMode () const
 
bool getModeIsCost () const
 
bool getModeIsEndpointConstraint () const
 
Mode getDefaultMode () const
 Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. More...
 
bool getSupportsEndpointConstraint () const
 Can this goal be used in endpoint constraint mode? More...
 
const MocoConstraintInfogetConstraintInfo () const
 Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More...
 
MocoConstraintInfoupdConstraintInfo ()
 
int getNumOutputs () const
 Get the length of the return value of calcGoal(). More...
 
int getNumIntegrals () const
 Get the number of integrals required by this cost. More...
 
SimTK::Stage getStageDependency () const
 Obtain the stage that this goal depends on. More...
 
SimTK::Real calcIntegrand (const IntegrandInput &input) const
 Calculate the integrand that should be integrated and passed to calcCost(). More...
 
void calcGoal (const GoalInput &input, SimTK::Vector &goal) const
 In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost. More...
 
void initializeOnModel (const Model &model) const
 Perform error checks on user input for this goal, and cache quantities needed when computing the goal value. More...
 
void printDescription () const
 Print the name type and mode of this goal. More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
 
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
 
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object. More...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element. More...
 
void updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
 Serialize this object into the XML node that represents it. More...
 
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument. More...
 
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
 
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document. More...
 
int getDocumentFileVersion () const
 If there is a document associated with this object then return its version number. More...
 
void setAllPropertiesUseDefault (bool aUseDefault)
 
bool print (const std::string &fileName) const
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
 
std::string dump () const
 dump the XML representation of this Object into an std::string and return it. More...
 
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
 
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Public Types

typedef MocoAccelerationTrackingGoal Self
 This typedef might be useful within the member functions of this class. More...
 
typedef MocoGoal Super
 Use this typedef to refer to the superclass of this class. More...
 
- Public Types inherited from OpenSim::MocoGoal
enum  Mode { Mode::Cost, Mode::EndpointConstraint }
 
typedef MocoGoal Self
 This typedef might be useful within the member functions of this class. More...
 
typedef Object Super
 Use this typedef to refer to the superclass of this class. More...
 

Protected Member Functions

void initializeOnModelImpl (const Model &model) const override
 Perform any caching before the problem is solved. More...
 
void calcIntegrandImpl (const IntegrandInput &input, double &integrand) const override
 
void calcGoalImpl (const GoalInput &input, SimTK::Vector &goal) const override
 You may need to realize the state to the stage required for your calculations. More...
 
void printDescriptionImpl () const override
 Print a more detailed description unique to each goal. More...
 
- Protected Member Functions inherited from OpenSim::MocoGoal
void setRequirements (int numIntegrals, int numOutputs, SimTK::Stage stageDependency=SimTK::Stage::Acceleration) const
 Set the number of integral terms required by this goal and the length of the vector passed into calcGoalImpl(). More...
 
virtual Mode getDefaultModeImpl () const
 
virtual bool getSupportsEndpointConstraintImpl () const
 
virtual void calcIntegrandImpl (const IntegrandInput &input, SimTK::Real &integrand) const
 You may need to realize the state to the stage required for your calculations. More...
 
const ModelgetModel () const
 For use within virtual function implementations. More...
 
double calcSystemDisplacement (const SimTK::State &initial, const SimTK::State &final) const
 
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 The default constructor is only for use by constructors of derived types. More...
 
 Object (const std::string &fileName, bool aUpdateFromXMLNode=true)
 Constructor from a file, to be called from other constructors that take a file as input. More...
 
 Object (const Object &source)
 Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly. More...
 
 Object (SimTK::Xml::Element &aElement)
 Construct the base class portion of an Object from a given Xml element that describes this Object. More...
 
template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 Define a new single-value property of known type T, with the given name, associated comment, and initial value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 Add an optional property, meaning it can contain either no value or a single value. More...
 
template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value. More...
 
template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing. More...
 
PropertyIndex getPropertyIndex (const std::string &name) const
 Look up a property by name and return its PropertyIndex if it is found. More...
 
template<class T >
PropertyIndex getPropertyIndex () const
 Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found. More...
 
template<class T >
void checkPropertyValueIsPositive (const Property< T > &p) const
 Throw an exception if any of the property's values are not positive. More...
 
template<class T >
void checkPropertyValueIsInSet (const Property< T > &p, const std::set< T > &set) const
 Throw an exception if any of the property's values are not in the provided set. More...
 
template<class T >
void checkPropertyValueIsInRangeOrSet (const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set) const
 Throw an exception if any of the property's values are neither in the provided range nor in the provided set. More...
 
void setObjectIsUpToDateWithProperties ()
 When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date. More...
 
void clearObjectIsUpToDateWithProperties ()
 For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag. More...
 
void makeObjectNamesConsistentWithProperties ()
 Make sure the name of an object is consistent with its property type. More...
 
void updateFromXMLDocument ()
 Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input. More...
 
void setDocument (XMLDocument *doc)
 Unconditionally set the XMLDocument associated with this object. More...
 
const XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 

Auto-generated functions

static MocoAccelerationTrackingGoalsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "MocoAccelerationTrackingGoal". More...
 
void assign (Object &aObject) override
 This allows copy assignment in the Java GUI. More...
 
MocoAccelerationTrackingGoalclone () const override
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::MocoGoal
static MocoGoalsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "MocoGoal". More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...
 

Detailed Description

The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase.

The reference is a trajectory of SimTK::Vec3s representing the acceleration reference data. You must provide either a file name to a STO or CSV file (or other file types for which there is a FileAdapter) or a TimeSeriesTableVec3 directly.

Errors for this cost are computed assuming that the provided reference acceleration data is the derivative of a position vector with respect to the ground frame and expressed in the ground frame. This cost is not yet suitable for tracking acceleration signals from an inertial measurement unit (IMU) as it does not account for gravitational acceleration and does not re-express body accelerations into a different (e.g., IMU) frame.

This cost requires realization to SimTK::Stage::Acceleration.

Member Typedef Documentation

◆ Self

This typedef might be useful within the member functions of this class.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

Use this typedef to refer to the superclass of this class.

Avoid using the explicit type name of the superclass; this would introduce bugs if the superclass is changed.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ MocoAccelerationTrackingGoal() [1/3]

OpenSim::MocoAccelerationTrackingGoal::MocoAccelerationTrackingGoal ( )
inline

◆ MocoAccelerationTrackingGoal() [2/3]

OpenSim::MocoAccelerationTrackingGoal::MocoAccelerationTrackingGoal ( std::string  name)
inline

◆ MocoAccelerationTrackingGoal() [3/3]

OpenSim::MocoAccelerationTrackingGoal::MocoAccelerationTrackingGoal ( std::string  name,
double  weight 
)
inline

Member Function Documentation

◆ assign()

void OpenSim::MocoAccelerationTrackingGoal::assign ( Object aObject)
inlineoverride

This allows copy assignment in the Java GUI.

Exceptions
Exceptionif the argument is not of type MocoAccelerationTrackingGoal.

◆ calcGoalImpl()

void OpenSim::MocoAccelerationTrackingGoal::calcGoalImpl ( const GoalInput input,
SimTK::Vector &  goal 
) const
inlineoverrideprotectedvirtual

You may need to realize the state to the stage required for your calculations.

Do NOT realize to a stage higher than the goal's stage dependency; doing so will cause an exception to be thrown. The Lagrange multipliers for kinematic constraints are not available.

Implements OpenSim::MocoGoal.

References OpenSim::MocoGoal::GoalInput::integral.

◆ calcIntegrandImpl()

void OpenSim::MocoAccelerationTrackingGoal::calcIntegrandImpl ( const IntegrandInput input,
double &  integrand 
) const
overrideprotected

◆ clone()

MocoAccelerationTrackingGoal* OpenSim::MocoAccelerationTrackingGoal::clone ( ) const
inlineoverridevirtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::MocoGoal.

◆ getAccelerationReferenceFile()

std::string OpenSim::MocoAccelerationTrackingGoal::getAccelerationReferenceFile ( ) const
inline

If no acceleration reference file has been provided, this returns an empty string.

◆ getClassName()

static const std::string& OpenSim::MocoAccelerationTrackingGoal::getClassName ( )
inlinestatic

This returns "MocoAccelerationTrackingGoal".

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ getConcreteClassName()

const std::string& OpenSim::MocoAccelerationTrackingGoal::getConcreteClassName ( ) const
inlineoverridevirtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also
getClassName()

Implements OpenSim::MocoGoal.

◆ initializeOnModelImpl()

void OpenSim::MocoAccelerationTrackingGoal::initializeOnModelImpl ( const Model ) const
overrideprotectedvirtual

Perform any caching before the problem is solved.

You must override this function and invoke setRequirements().

Precondition(s):^^ The model is initialized (initSystem()) and getModel()
is available. The passed-in model is equivalent to getModel(). Use this opportunity to check for errors in user input.

Implements OpenSim::MocoGoal.

◆ printDescriptionImpl()

void OpenSim::MocoAccelerationTrackingGoal::printDescriptionImpl ( ) const
overrideprotectedvirtual

Print a more detailed description unique to each goal.

Reimplemented from OpenSim::MocoGoal.

◆ safeDownCast()

static MocoAccelerationTrackingGoal* OpenSim::MocoAccelerationTrackingGoal::safeDownCast ( OpenSim::Object obj)
inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = MocoAccelerationTrackingGoal.safeDownCast(obj). This is equivalent to dynamic_cast<MocoAccelerationTrackingGoal*>(obj) in C++.

◆ setAccelerationReference()

void OpenSim::MocoAccelerationTrackingGoal::setAccelerationReference ( const TimeSeriesTableVec3 ref)
inline

Each column label must be the path of a valid frame path (see setAccelerationReferenceFile()).

Calling this function clears the acceleration_reference_file property.

◆ setAccelerationReferenceFile()

void OpenSim::MocoAccelerationTrackingGoal::setAccelerationReferenceFile ( const std::string &  filepath)
inline

Set the acceleration of individual frames in ground to be tracked in the cost.

The column labels of the provided reference must be paths to frames in the model, e.g. /bodyset/torso. If the frame_paths property is empty, all frames with data in this reference will be tracked. Otherwise, only the frames specified via setFramePaths() will be tracked. Calling this function clears the table set by setAccelerationReference() if it exists.

◆ setFramePaths()

void OpenSim::MocoAccelerationTrackingGoal::setFramePaths ( const std::vector< std::string > &  paths)
inline

Set the paths to frames in the model that this cost term will track.

The names set here must correspond to OpenSim::Components that derive from OpenSim::Frame, which includes 'linear_acceleration' (SimTK::Vec3) as an output. Replaces the frame path set if it already exists.

◆ setWeightForFrame()

void OpenSim::MocoAccelerationTrackingGoal::setWeightForFrame ( const std::string &  frameName,
const double &  weight 
)
inline

Set the weight for an individual frame's acceleration tracking.

If a weight is already set for the requested frame, then the provided weight replaces the previous weight. An exception is thrown if a weight for an unknown frame is provided.

◆ setWeightSet()

void OpenSim::MocoAccelerationTrackingGoal::setWeightSet ( const MocoWeightSet weightSet)
inline

Provide a MocoWeightSet to weight frame acceleration tracking in the cost.

Replaces the weight set if it already exists.

OpenSim Property, Socket, Output, Input Documentation

◆ acceleration_reference_file

std::string OpenSim::MocoAccelerationTrackingGoal::acceleration_reference_file

"Path to file (.sto, .csv, ...) containing acceleration reference " "data to track. Column labels should be paths to frames in the " "model, e.g. '/bodyset/torso'."

This property appears in XML files under the tag <acceleration_reference_file>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_acceleration_reference_file(), upd_acceleration_reference_file(), set_acceleration_reference_file()

◆ acceleration_weights

MocoWeightSet OpenSim::MocoAccelerationTrackingGoal::acceleration_weights

"Set of weight objects to weight the tracking of " "individual frames' accelerations in the cost."

This property appears in XML files under the tag <acceleration_weights>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also
get_acceleration_weights(), upd_acceleration_weights(), set_acceleration_weights()

◆ frame_paths

std::string OpenSim::MocoAccelerationTrackingGoal::frame_paths

"The frames in the model that this cost term will track. " "The names set here must correspond to Components that " "derive from class Frame."

This property appears in XML files under the tag <frame_paths>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.

See also
get_frame_paths(), upd_frame_paths(), set_frame_paths(), append_frame_paths()

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