API  4.4
For C++ developers
Moco: Available goals

These are the goals available in Moco for use in your cost functional or as endpoint constraints. More...

Classes

class  OpenSim::MocoAccelerationTrackingGoal
 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...
 
class  OpenSim::MocoAngularVelocityTrackingGoal
 The squared difference between a model frame's angular velocity and a reference angular velocity value, summed over the frames for which a reference is provided, and integrated over the phase. More...
 
class  OpenSim::MocoContactTrackingGoal
 
class  OpenSim::MocoControlGoal
 Minimize the sum of the absolute value of the controls raised to a given exponent, integrated over the phase. More...
 
class  OpenSim::MocoControlTrackingGoal
 
class  OpenSim::MocoGoal
 A goal is a term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds. More...
 
class  OpenSim::MocoFinalTimeGoal
 Endpoint cost for final time. More...
 
class  OpenSim::MocoAverageSpeedGoal
 This goal requires the average speed of the system to match a desired average speed. More...
 
class  OpenSim::MocoInitialActivationGoal
 For all muscles with activation dynamics, the initial activation and initial excitation should be the same. More...
 
class  OpenSim::MocoInitialForceEquilibriumDGFGoal
 For all DeGrooteFregly2016Muscles with explicit tendon compliance dynamics, constrain (or minimize) the error computed from the muscle-tendon force equilibrium equation. More...
 
class  OpenSim::MocoInitialVelocityEquilibriumDGFGoal
 For DeGrooteFregly2016Muscle components with implicit tendon compliance dynamics, the initial tendon and fiber velocities are determined based the derivative of the linearized muscle-tendon equilibrium equation described in Millard et al. More...
 
class  OpenSim::MocoJointReactionGoal
 Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase. More...
 
class  OpenSim::MocoMarkerFinalGoal
 The squared distance between a single model point location and reference location in the final state. More...
 
class  OpenSim::MocoMarkerTrackingGoal
 
class  OpenSim::MocoOrientationTrackingGoal
 The squared difference between a model frame's orientation and a reference orientation value, summed over the frames for which a reference is provided, and integrated over the phase. More...
 
class  OpenSim::MocoOutputBase
 This abstract base class provides convenience methods and common interfaces for all Output-related MocoGoal's. More...
 
class  OpenSim::MocoOutputGoal
 This goal allows you to use model Outputs of type double, SimTK::Vec3, and SimTK::SpatialVec in the integrand of a goal. More...
 
class  OpenSim::MocoInitialOutputGoal
 This goal allows you to minimize or constrain a Model Output value at the beginning of a trajectory. More...
 
class  OpenSim::MocoFinalOutputGoal
 This goal allows you to minimize or constrain a Model Output value at the end of a trajectory. More...
 
class  OpenSim::MocoOutputPeriodicityGoal
 This goal allows you to minimize or constrain the difference of values from a Model Output from the beginning and end of a trajectory. More...
 
class  OpenSim::MocoOutputTrackingGoal
 This goal allows you to minimize the squared difference between a Model Output value and a user-defined function. More...
 
class  OpenSim::MocoPeriodicityGoal
 This goal enforces equality between initial and final variable values in the optimal control problem. More...
 
class  OpenSim::MocoStateTrackingGoal
 
class  OpenSim::MocoStepLengthAsymmetryGoal
 Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle. More...
 
class  OpenSim::MocoStepTimeAsymmetryGoal
 Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle. More...
 
class  OpenSim::MocoSumSquaredStateGoal
 Minimize the sum of squared states, integrated over the phase. More...
 
class  OpenSim::MocoTranslationTrackingGoal
 The squared difference between a model frame's origin position and a reference position value, summed over the frames for which a reference is provided, and integrated over the phase. More...
 

Detailed Description

These are the goals available in Moco for use in your cost functional or as endpoint constraints.

If none of these satisfy your needs, you can define your own using a plugin.