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API
4.3
For C++ developers
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This is a base class for solvers that use direct collocation to convert an optimal control problem into a generic nonlinear programming problem. More...
OpenSim Properties, Sockets, Outputs, Inputs | |
Properties (single-value) | |
int | num_mesh_intervals |
"The number of uniformly-sized mesh intervals for the problem " "(default: 100). If a non-uniform mesh exists, the non-uniform " "mesh is used instead." More... | |
int | verbosity |
"0 for silent. 1 for only Moco's own output. " "2 for output from CasADi and the underlying solver (default: 2)." More... | |
std::string | transcription_scheme |
"'trapezoidal' for trapezoidal transcription, or 'hermite-simpson' " "(default) for separated Hermite-Simpson transcription." More... | |
bool | interpolate_control_midpoints |
"If the transcription scheme is set to 'hermite-simpson', then " "enable this property to constrain the control values at mesh " "interval midpoints to be linearly interpolated from the control " "values at the mesh interval endpoints. Default: true." More... | |
std::string | multibody_dynamics_mode |
"Multibody dynamics are expressed as 'explicit' (default) or " "'implicit' differential equations." More... | |
std::string | optim_solver |
"The optimization solver to use (default: ipopt)." More... | |
int | optim_max_iterations |
"Maximum number of iterations in the optimization solver " "(-1 for solver's default)." More... | |
double | optim_convergence_tolerance |
"Tolerance used to determine if the objective is minimized " "(-1 for solver's default)" More... | |
double | optim_constraint_tolerance |
"Tolerance used to determine if the constraints are satisfied " "(-1 for solver's default)" More... | |
std::string | optim_hessian_approximation |
"When using IPOPT, 'limited-memory' (default) for quasi-Newton, or " "'exact' for full " "Newton." More... | |
int | optim_ipopt_print_level |
"IPOPT's verbosity (see IPOPT documentation)." More... | |
bool | minimize_lagrange_multipliers |
"If enabled, a term minimizing the weighted, squared sum of " "any existing Lagrange multipliers is added to the optimal control " "problem. This may be useful for imposing uniqueness in the " "Lagrange multipliers when not enforcing model kinematic " "constraint derivatives or when the constraint Jacobian is " "singular. To set the weight for this term use the " "'lagrange_multiplier_weight' property. Default: false" More... | |
double | lagrange_multiplier_weight |
"If the 'minimize_lagrange_multipliers' property is enabled, this " "defines the weight for the cost term added to the optimal control " "problem. Default: 1" More... | |
MocoBounds | velocity_correction_bounds |
"For problems where model kinematic constraint derivatives are " "enforced, set the bounds on the slack variables performing the " "velocity correction to project the model coordinates back onto " "the constraint manifold. Default: [-0.1, 0.1]" More... | |
MocoBounds | implicit_multibody_acceleration_bounds |
"Bounds on acceleration variables in implicit dynamics mode. " "Default: [-1000, 1000]" More... | |
MocoBounds | implicit_auxiliary_derivative_bounds |
"Bounds on derivative variables for components with auxiliary " "dynamics in implicit form. Default: [-1000, 1000]" More... | |
std::string | guess_file |
"A MocoTrajectory file storing an initial guess." More... | |
Properties (optional) | |
bool | enforce_constraint_derivatives |
"'true' (default) or 'false', whether or not derivatives of " "kinematic constraints are enforced as path constraints in the " "optimal control problem." More... | |
Properties (list) | |
double | mesh |
"Usually non-uniform, user-defined list of mesh points to sample. " "Takes precedence over uniform mesh with num_mesh_intervals." More... | |
Public Member Functions | |
MocoDirectCollocationSolver () | |
void | setMesh (const std::vector< double > &mesh) |
Set the mesh to a user-defined list of mesh points to sample. More... | |
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MocoSolver ()=default | |
MocoSolver (const MocoProblem &problem) | |
This calls resetProblem() with the provided problem. More... | |
virtual | ~MocoSolver ()=default |
void | resetProblem (const MocoProblem &problem) const |
Call this to prepare the solver for use on the provided problem. More... | |
MocoTrajectory | createGuessTimeStepping () const |
(Experimental) Run a forward simulation (using the OpenSim Manager, which uses a SimTK::Integrator), using the default controls for actuators and the default states as the initial states, to create a guess that is dynamically consistent (constraint errors should be small). More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
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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... | |
Object & | operator= (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 AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
Get a const reference to a property by its index number, returned as an AbstractProperty. More... | |
AbstractProperty & | updPropertyByIndex (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 AbstractProperty & | getPropertyByName (const std::string &name) const |
Get a const reference to a property by its name, returned as an AbstractProperty. More... | |
AbstractProperty & | updPropertyByName (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... | |
PropertySet & | getPropertySet () |
OBSOLETE: Get a reference to the PropertySet maintained by the Object. More... | |
const PropertySet & | getPropertySet () const |
Public Types | |
typedef MocoDirectCollocationSolver | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef MocoSolver | Super |
Use this typedef to refer to the superclass of this class. More... | |
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typedef MocoSolver | 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 | constructProperties () |
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const MocoProblemRep & | getProblemRep () const |
std::unique_ptr< ThreadsafeJar< const MocoProblemRep > > | createProblemRepJar (int size) const |
Create a library of MocoProblemReps for use in parallelized code. More... | |
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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 XMLDocument * | getDocument () const |
Get a const pointer to the document (if any) associated with this object. More... | |
XMLDocument * | updDocument () |
Get a writable pointer to the document (if any) associated with this object. More... | |
Auto-generated functions | |
static MocoDirectCollocationSolver * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "MocoDirectCollocationSolver". More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
MocoDirectCollocationSolver * | clone () const override=0 |
Create a new heap-allocated copy of the concrete object to which this Object refers. More... | |
const std::string & | getConcreteClassName () const override=0 |
Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More... | |
Property-related functions | |
const int & | get_num_mesh_intervals () const |
Get the value of the num_mesh_intervals property. More... | |
int & | upd_num_mesh_intervals () |
Get a writable reference to the num_mesh_intervals property. More... | |
void | set_num_mesh_intervals (const int &value) |
Set the value of the num_mesh_intervals property. More... | |
const int & | get_verbosity () const |
Get the value of the verbosity property. More... | |
int & | upd_verbosity () |
Get a writable reference to the verbosity property. More... | |
void | set_verbosity (const int &value) |
Set the value of the verbosity property. More... | |
const std::string & | get_transcription_scheme () const |
Get the value of the transcription_scheme property. More... | |
std::string & | upd_transcription_scheme () |
Get a writable reference to the transcription_scheme property. More... | |
void | set_transcription_scheme (const std::string &value) |
Set the value of the transcription_scheme property. More... | |
const bool & | get_interpolate_control_midpoints () const |
Get the value of the interpolate_control_midpoints property. More... | |
bool & | upd_interpolate_control_midpoints () |
Get a writable reference to the interpolate_control_midpoints property. More... | |
void | set_interpolate_control_midpoints (const bool &value) |
Set the value of the interpolate_control_midpoints property. More... | |
const std::string & | get_multibody_dynamics_mode () const |
Get the value of the multibody_dynamics_mode property. More... | |
std::string & | upd_multibody_dynamics_mode () |
Get a writable reference to the multibody_dynamics_mode property. More... | |
void | set_multibody_dynamics_mode (const std::string &value) |
Set the value of the multibody_dynamics_mode property. More... | |
const std::string & | get_optim_solver () const |
Get the value of the optim_solver property. More... | |
std::string & | upd_optim_solver () |
Get a writable reference to the optim_solver property. More... | |
void | set_optim_solver (const std::string &value) |
Set the value of the optim_solver property. More... | |
const int & | get_optim_max_iterations () const |
Get the value of the optim_max_iterations property. More... | |
int & | upd_optim_max_iterations () |
Get a writable reference to the optim_max_iterations property. More... | |
void | set_optim_max_iterations (const int &value) |
Set the value of the optim_max_iterations property. More... | |
const double & | get_optim_convergence_tolerance () const |
Get the value of the optim_convergence_tolerance property. More... | |
double & | upd_optim_convergence_tolerance () |
Get a writable reference to the optim_convergence_tolerance property. More... | |
void | set_optim_convergence_tolerance (const double &value) |
Set the value of the optim_convergence_tolerance property. More... | |
const double & | get_optim_constraint_tolerance () const |
Get the value of the optim_constraint_tolerance property. More... | |
double & | upd_optim_constraint_tolerance () |
Get a writable reference to the optim_constraint_tolerance property. More... | |
void | set_optim_constraint_tolerance (const double &value) |
Set the value of the optim_constraint_tolerance property. More... | |
const std::string & | get_optim_hessian_approximation () const |
Get the value of the optim_hessian_approximation property. More... | |
std::string & | upd_optim_hessian_approximation () |
Get a writable reference to the optim_hessian_approximation property. More... | |
void | set_optim_hessian_approximation (const std::string &value) |
Set the value of the optim_hessian_approximation property. More... | |
const int & | get_optim_ipopt_print_level () const |
Get the value of the optim_ipopt_print_level property. More... | |
int & | upd_optim_ipopt_print_level () |
Get a writable reference to the optim_ipopt_print_level property. More... | |
void | set_optim_ipopt_print_level (const int &value) |
Set the value of the optim_ipopt_print_level property. More... | |
const bool & | get_enforce_constraint_derivatives () const |
Get the value of the enforce_constraint_derivatives property. More... | |
bool & | upd_enforce_constraint_derivatives () |
Get a writable reference to the enforce_constraint_derivatives property. More... | |
void | set_enforce_constraint_derivatives (const bool &value) |
Set the value of the enforce_constraint_derivatives property. More... | |
const bool & | get_minimize_lagrange_multipliers () const |
Get the value of the minimize_lagrange_multipliers property. More... | |
bool & | upd_minimize_lagrange_multipliers () |
Get a writable reference to the minimize_lagrange_multipliers property. More... | |
void | set_minimize_lagrange_multipliers (const bool &value) |
Set the value of the minimize_lagrange_multipliers property. More... | |
const double & | get_lagrange_multiplier_weight () const |
Get the value of the lagrange_multiplier_weight property. More... | |
double & | upd_lagrange_multiplier_weight () |
Get a writable reference to the lagrange_multiplier_weight property. More... | |
void | set_lagrange_multiplier_weight (const double &value) |
Set the value of the lagrange_multiplier_weight property. More... | |
const MocoBounds & | get_velocity_correction_bounds () const |
Get the value of the velocity_correction_bounds property. More... | |
MocoBounds & | upd_velocity_correction_bounds () |
Get a writable reference to the velocity_correction_bounds property. More... | |
void | set_velocity_correction_bounds (const MocoBounds &value) |
Set the value of the velocity_correction_bounds property. More... | |
const MocoBounds & | get_implicit_multibody_acceleration_bounds () const |
Get the value of the implicit_multibody_acceleration_bounds property. More... | |
MocoBounds & | upd_implicit_multibody_acceleration_bounds () |
Get a writable reference to the implicit_multibody_acceleration_bounds property. More... | |
void | set_implicit_multibody_acceleration_bounds (const MocoBounds &value) |
Set the value of the implicit_multibody_acceleration_bounds property. More... | |
const MocoBounds & | get_implicit_auxiliary_derivative_bounds () const |
Get the value of the implicit_auxiliary_derivative_bounds property. More... | |
MocoBounds & | upd_implicit_auxiliary_derivative_bounds () |
Get a writable reference to the implicit_auxiliary_derivative_bounds property. More... | |
void | set_implicit_auxiliary_derivative_bounds (const MocoBounds &value) |
Set the value of the implicit_auxiliary_derivative_bounds property. More... | |
const std::string & | get_guess_file () const |
Get the value of the guess_file property. More... | |
std::string & | upd_guess_file () |
Get a writable reference to the guess_file property. More... | |
void | set_guess_file (const std::string &value) |
Set the value of the guess_file property. More... | |
const double & | get_mesh (int i) const |
Get the value of the i-th element of the mesh property. More... | |
double & | upd_mesh (int i) |
Get a writable reference to the i-th element of the mesh property. More... | |
void | set_mesh (int i, const double &value) |
Set the value of the i-th element of mesh property. More... | |
int | append_mesh (const double &value) |
Append an element to the mesh property. More... | |
Additional Inherited Members | |
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static MocoSolver * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "MocoSolver". More... | |
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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 Object * | getDefaultInstanceOfType (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 Object * | newInstanceOfType (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 Object * | makeObjectFromFile (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 Object * | SafeCopy (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... | |
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static const std::string | DEFAULT_NAME |
Name used for default objects when they are serialized. More... | |
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static void | setSolutionStats (MocoSolution &, bool success, double objective, const std::string &status, int numIterations, double duration, std::vector< std::pair< std::string, double >> objectiveBreakdown={}) |
This is a service for derived classes, because MocoSolution::setStatus(), MocoSolution::setSuccess(), etc. More... | |
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PropertySet | _propertySet |
OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More... | |
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#define | OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass) |
Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object. More... | |
#define | OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass) |
Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object. More... | |
#define | OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass) |
Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>. More... | |
#define | OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass) |
Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object. More... | |
This is a base class for solvers that use direct collocation to convert an optimal control problem into a generic nonlinear programming problem.
The best resource for learning about direct collocation is the Betts textbook:
Betts, John T. Practical methods for optimal control and estimation using nonlinear programming. Vol. 19. Siam, 2010.
The transcription_scheme
setting allows you to choose between 'trapezoidal' and 'hermite-simpson' transcription schemes. The 'trapezoidal' option replaces the dynamics differential constraints with finite differences based on trapezoidal rule integration. The 'hermite-simpson' option uses a Hermite interpolant and Simpson integration to construct the finite differences. The 'hermite-simpson' option uses the separated Hermite-Simpson transcription approach, which allows control values at mesh interval midpoints to be free variables (see Betts textbook for more details). The setting interpolate_control_midpoints
constrains control midpoint variables to be linearly interpolated from the mesh interval endpoint values (default and recommended setting). If solving problems including model kinematic constraints, the 'hermite-simpson' option is required (see Kinematic constraints section below).
For Hermite-Simpson transcription, the direct collocation solvers enforce the path constraints (e.g., MocoPathConstraint) at only the mesh interval endpoints (not midpoints), but control signal variables exist at both mesh interval endpoints and midpoints. Keep this in mind when using path constraints on controls (e.g., MocoControlBoundConstraint). If interpolate_control_midpoints
is false, the values of a control at midpoints may differ greatly from the values at mesh interval endpoints.
The multibody_dynamics_mode
setting allows you to choose between expressing multibody dynamics as explicit differential equations (e.g., \( \dot{y} = f(y) \)) or implicit differential equations (e.g., \( 0 = f(y, \dot{y}) \), or inverse dynamics). Whether auxiliary dynamics (e.g., muscle fiber and activation dynamics) are implicit or explicit depends on the model component implementing those dynamics.
All holonomic kinematic constraints included as OpenSim model constraints are supported. Both the 'trapezoidal' and 'hermite-simpson' transcription schemes support kinematic constraints, but the 'hermite-transcription' scheme handles kinematic constraints much more robustly; in practice, the 'trapezoidal' scheme is not used for models with kinematic constraints. Kinematic constraints are automatically detected if present in the model and are converted to path constraints in the optimal control problem based on the method presented in Posa et al. 2016, 'Optimization and stabilization of trajectories for constrained dynamical systems'; see Kinematic constraints. The minimize_lagrange_multipliers
and lagrange_multiplier_weight
settings allow you to enable and set the weight for the minimization of all Lagrange multipliers associated with kinematic constraints in the problem. The velocity_correction_bounds
setting allows you to set the bounds on the velocity correction variables that project state variables onto the constraint manifold when necessary to properly enforce defect constraints (see Posa et al. 2016 for details).
This typedef might be useful within the member functions of this class.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
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.
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Append an element to the mesh property.
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This allows copy assignment in the Java GUI.
Exception | if the argument is not of type MocoDirectCollocationSolver. |
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overridepure virtual |
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::MocoSolver.
Implemented in OpenSim::MocoCasADiSolver, and OpenSim::MocoTropterSolver.
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Get the value of the enforce_constraint_derivatives property.
Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::addKinematicConstraints(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcKinematicConstraintErrors().
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Get the value of the guess_file property.
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Get the value of the implicit_auxiliary_derivative_bounds property.
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Get the value of the implicit_multibody_acceleration_bounds property.
Referenced by OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::ImplicitTropterProblem().
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Get the value of the interpolate_control_midpoints property.
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Get the value of the lagrange_multiplier_weight property.
Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost_integrand().
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Get the value of the i-th element of the mesh property.
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Get the value of the minimize_lagrange_multipliers property.
Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::addCosts(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::addKinematicConstraints().
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Get the value of the multibody_dynamics_mode property.
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Get the value of the num_mesh_intervals property.
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Get the value of the optim_constraint_tolerance property.
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Get the value of the optim_convergence_tolerance property.
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Get the value of the optim_hessian_approximation property.
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Get the value of the optim_ipopt_print_level property.
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Get the value of the optim_max_iterations property.
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Get the value of the optim_solver property.
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Get the value of the transcription_scheme property.
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Get the value of the velocity_correction_bounds property.
Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::addKinematicConstraints().
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Get the value of the verbosity property.
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inlinestatic |
This returns "MocoDirectCollocationSolver".
See getConcreteClassName() if you want the class name of the underlying concrete object instead.
This is generated by the OpenSim_DECLARE_*_OBJECT
macros.
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overridepure virtual |
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.
Implements OpenSim::MocoSolver.
Implemented in OpenSim::MocoCasADiSolver, and OpenSim::MocoTropterSolver.
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inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = MocoDirectCollocationSolver.safeDownCast(obj)
. This is equivalent to dynamic_cast<MocoDirectCollocationSolver*>(obj)
in C++.
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Set the value of the enforce_constraint_derivatives property.
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Set the value of the guess_file property.
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Set the value of the implicit_auxiliary_derivative_bounds property.
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Set the value of the implicit_multibody_acceleration_bounds property.
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Set the value of the interpolate_control_midpoints property.
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Set the value of the lagrange_multiplier_weight property.
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Set the value of the i-th element of mesh property.
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Set the value of the minimize_lagrange_multipliers property.
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Set the value of the multibody_dynamics_mode property.
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Set the value of the num_mesh_intervals property.
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Set the value of the optim_constraint_tolerance property.
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Set the value of the optim_convergence_tolerance property.
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Set the value of the optim_hessian_approximation property.
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Set the value of the optim_ipopt_print_level property.
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Set the value of the optim_max_iterations property.
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Set the value of the optim_solver property.
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Set the value of the transcription_scheme property.
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Set the value of the velocity_correction_bounds property.
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Set the value of the verbosity property.
void OpenSim::MocoDirectCollocationSolver::setMesh | ( | const std::vector< double > & | mesh | ) |
Set the mesh to a user-defined list of mesh points to sample.
This takes precedence over the uniform mesh that would be specified with num_mesh_intervals. The user-defined mesh must start with 0, be strictly increasing (no duplicate entries), and end with 1.
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Get a writable reference to the enforce_constraint_derivatives property.
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Get a writable reference to the guess_file property.
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Get a writable reference to the implicit_auxiliary_derivative_bounds property.
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Get a writable reference to the implicit_multibody_acceleration_bounds property.
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Get a writable reference to the interpolate_control_midpoints property.
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Get a writable reference to the lagrange_multiplier_weight property.
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Get a writable reference to the i-th element of the mesh property.
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Get a writable reference to the minimize_lagrange_multipliers property.
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Get a writable reference to the multibody_dynamics_mode property.
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Get a writable reference to the num_mesh_intervals property.
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Get a writable reference to the optim_constraint_tolerance property.
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Get a writable reference to the optim_convergence_tolerance property.
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Get a writable reference to the optim_hessian_approximation property.
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Get a writable reference to the optim_ipopt_print_level property.
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Get a writable reference to the optim_max_iterations property.
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Get a writable reference to the optim_solver property.
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Get a writable reference to the transcription_scheme property.
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Get a writable reference to the velocity_correction_bounds property.
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Get a writable reference to the verbosity property.
bool OpenSim::MocoDirectCollocationSolver::enforce_constraint_derivatives |
"'true' (default) or 'false', whether or not derivatives of " "kinematic constraints are enforced as path constraints in the " "optimal control problem."
This property appears in XML files under the tag <enforce_constraint_derivatives>. This property was generated with the OpenSim_DECLARE_OPTIONAL_PROPERTY macro; see Property to learn about the property system.
std::string OpenSim::MocoDirectCollocationSolver::guess_file |
"A MocoTrajectory file storing an initial guess."
This property appears in XML files under the tag <guess_file>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
MocoBounds OpenSim::MocoDirectCollocationSolver::implicit_auxiliary_derivative_bounds |
"Bounds on derivative variables for components with auxiliary " "dynamics in implicit form. Default: [-1000, 1000]"
This property appears in XML files under the tag <implicit_auxiliary_derivative_bounds>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
MocoBounds OpenSim::MocoDirectCollocationSolver::implicit_multibody_acceleration_bounds |
"Bounds on acceleration variables in implicit dynamics mode. " "Default: [-1000, 1000]"
This property appears in XML files under the tag <implicit_multibody_acceleration_bounds>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
bool OpenSim::MocoDirectCollocationSolver::interpolate_control_midpoints |
"If the transcription scheme is set to 'hermite-simpson', then " "enable this property to constrain the control values at mesh " "interval midpoints to be linearly interpolated from the control " "values at the mesh interval endpoints. Default: true."
This property appears in XML files under the tag <interpolate_control_midpoints>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::MocoDirectCollocationSolver::lagrange_multiplier_weight |
"If the 'minimize_lagrange_multipliers' property is enabled, this " "defines the weight for the cost term added to the optimal control " "problem. Default: 1"
This property appears in XML files under the tag <lagrange_multiplier_weight>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::MocoDirectCollocationSolver::mesh |
"Usually non-uniform, user-defined list of mesh points to sample. " "Takes precedence over uniform mesh with num_mesh_intervals."
This property appears in XML files under the tag <mesh>. 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.
bool OpenSim::MocoDirectCollocationSolver::minimize_lagrange_multipliers |
"If enabled, a term minimizing the weighted, squared sum of " "any existing Lagrange multipliers is added to the optimal control " "problem. This may be useful for imposing uniqueness in the " "Lagrange multipliers when not enforcing model kinematic " "constraint derivatives or when the constraint Jacobian is " "singular. To set the weight for this term use the " "'lagrange_multiplier_weight' property. Default: false"
This property appears in XML files under the tag <minimize_lagrange_multipliers>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
std::string OpenSim::MocoDirectCollocationSolver::multibody_dynamics_mode |
"Multibody dynamics are expressed as 'explicit' (default) or " "'implicit' differential equations."
This property appears in XML files under the tag <multibody_dynamics_mode>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
int OpenSim::MocoDirectCollocationSolver::num_mesh_intervals |
"The number of uniformly-sized mesh intervals for the problem " "(default: 100). If a non-uniform mesh exists, the non-uniform " "mesh is used instead."
This property appears in XML files under the tag <num_mesh_intervals>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::MocoDirectCollocationSolver::optim_constraint_tolerance |
"Tolerance used to determine if the constraints are satisfied " "(-1 for solver's default)"
This property appears in XML files under the tag <optim_constraint_tolerance>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
double OpenSim::MocoDirectCollocationSolver::optim_convergence_tolerance |
"Tolerance used to determine if the objective is minimized " "(-1 for solver's default)"
This property appears in XML files under the tag <optim_convergence_tolerance>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
std::string OpenSim::MocoDirectCollocationSolver::optim_hessian_approximation |
"When using IPOPT, 'limited-memory' (default) for quasi-Newton, or " "'exact' for full " "Newton."
This property appears in XML files under the tag <optim_hessian_approximation>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
int OpenSim::MocoDirectCollocationSolver::optim_ipopt_print_level |
"IPOPT's verbosity (see IPOPT documentation)."
This property appears in XML files under the tag <optim_ipopt_print_level>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
int OpenSim::MocoDirectCollocationSolver::optim_max_iterations |
"Maximum number of iterations in the optimization solver " "(-1 for solver's default)."
This property appears in XML files under the tag <optim_max_iterations>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
std::string OpenSim::MocoDirectCollocationSolver::optim_solver |
"The optimization solver to use (default: ipopt)."
This property appears in XML files under the tag <optim_solver>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
std::string OpenSim::MocoDirectCollocationSolver::transcription_scheme |
"'trapezoidal' for trapezoidal transcription, or 'hermite-simpson' " "(default) for separated Hermite-Simpson transcription."
This property appears in XML files under the tag <transcription_scheme>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
MocoBounds OpenSim::MocoDirectCollocationSolver::velocity_correction_bounds |
"For problems where model kinematic constraint derivatives are " "enforced, set the bounds on the slack variables performing the " "velocity correction to project the model coordinates back onto " "the constraint manifold. Default: [-0.1, 0.1]"
This property appears in XML files under the tag <velocity_correction_bounds>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.
int OpenSim::MocoDirectCollocationSolver::verbosity |
"0 for silent. 1 for only Moco's own output. " "2 for output from CasADi and the underlying solver (default: 2)."
This property appears in XML files under the tag <verbosity>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.