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API
4.5
For C++ developers
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This goal allows you to minimize or constrain a Model Output value at the end of a trajectory. More...
Public Member Functions | |
MocoFinalOutputGoal () | |
MocoFinalOutputGoal (std::string name) | |
MocoFinalOutputGoal (std::string name, double weight) | |
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MocoOutputBase () | |
MocoOutputBase (std::string name) | |
MocoOutputBase (std::string name, double weight) | |
void | setOutputPath (std::string path) |
Set the absolute path to the output in the model to use as the integrand for this goal. More... | |
const std::string & | getOutputPath () const |
void | setExponent (int exponent) |
Set the exponent applied to the output value in the integrand. More... | |
int | getExponent () const |
void | setOutputIndex (int index) |
Set the index to the value to be minimized when a vector type Output is specified. More... | |
int | getOutputIndex () const |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
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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 MocoConstraintInfo & | getConstraintInfo () const |
Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More... | |
MocoConstraintInfo & | updConstraintInfo () |
void | setEndpointConstraintBounds (const std::vector< MocoBounds > &bounds) |
Set the vector of endpoint constraint bounds for this MocoGoal. More... | |
std::vector< MocoBounds > | getEndpointConstraintBounds () const |
Get the vector of the endpoint constraint bounds for this MocoGoal. More... | |
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... | |
std::vector< MocoScaleFactor > | getScaleFactors () const |
Get a vector of the MocoScaleFactors added to this MocoGoal. More... | |
void | printDescription () const |
Print the name type and mode of this goal. More... | |
void | setDivideByDisplacement (bool tf) |
Set if the goal should be divided by the displacement of the system's center of mass over the phase. More... | |
bool | getDivideByDisplacement () const |
void | setDivideByDuration (bool tf) |
Set if the goal should be divided by the phase duration. More... | |
bool | getDivideByDuration () const |
void | setDivideByMass (bool tf) |
Set if the goal should be divided by the model's mass. More... | |
bool | getDivideByMass () const |
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 > | |
const Property< T > & | getPropertyByName (const std::string &name) 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... | |
template<class T > | |
Property< T > & | updPropertyByName (const std::string &name) |
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 MocoFinalOutputGoal | Self |
This typedef might be useful within the member functions of this class. More... | |
typedef MocoOutputBase | Super |
Use this typedef to refer to the superclass of this class. More... | |
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typedef MocoOutputBase | 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... | |
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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 &) const override |
Perform any caching before the problem is solved. More... | |
void | calcGoalImpl (const GoalInput &input, SimTK::Vector &values) const override |
You may need to realize the state to the stage required for your calculations. More... | |
bool | getSupportsEndpointConstraintImpl () const override |
Mode | getDefaultModeImpl () const override |
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void | initializeOnModelBase () const |
Get a reference to the Output at the specified Output path and store its data type. More... | |
double | calcOutputValue (const SimTK::State &) const |
Calculate the Output value for the provided SimTK::State. More... | |
double | setValueToExponent (double value) const |
Raise a value to the exponent set via 'setExponent()'. More... | |
const SimTK::Stage & | getDependsOnStage () const |
Get the "depends-on stage", or the SimTK::Stage we need to realize the system to in order to calculate the Output value. More... | |
void | printDescriptionImpl () const override |
Print a more detailed description unique to each goal. More... | |
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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 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 Model & | getModel () const |
For use within virtual function implementations. More... | |
double | calcSystemDisplacement (const GoalInput &input) const |
Calculate the displacement of the system's center of mass over the phase. More... | |
double | calcDuration (const GoalInput &input) const |
Calculate the duration of the phase. More... | |
double | calcSystemMass (const GoalInput &input) const |
Calculate the mass of the system. More... | |
void | appendScaleFactor (const MocoScaleFactor &scaleFactor) |
Append a MocoScaleFactor to this MocoGoal. 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 MocoFinalOutputGoal * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "MocoFinalOutputGoal". More... | |
void | assign (Object &aObject) override |
This allows copy assignment in the Java GUI. More... | |
MocoFinalOutputGoal * | clone () 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 | |
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std::string | output_path |
"The absolute path to the output in the model to use as the " "integrand for this goal." More... | |
int | exponent |
"The exponent applied to the output value in the integrand. " "The output can take on negative values in the integrand when the " "exponent is set to 1 (the default value). When the exponent is " "set to a value greater than 1, the absolute value function is " "applied to the output (before the exponent is applied), meaning " "that odd numbered exponents (greater than 1) do not take on " "negative values." More... | |
int | output_index |
"The index to the value to be minimized when a vector type " "Output is specified. For SpatialVec Outputs, indices 0, 1, " "and 2 refer to the rotational components and indices 3, 4, " "and 5 refer to the translational components. A value of -1 " "indicates to minimize the vector norm (default: -1)." More... | |
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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... | |
bool | divide_by_displacement |
"Divide by the model's displacement over the phase (default: " "false)" More... | |
bool | divide_by_duration |
"Divide by the phase duration (default: false)" More... | |
bool | divide_by_mass |
"Divide by the model's mass (default: false)" 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... | |
MocoScaleFactor | scale_factors |
"Scale factors added by derived MocoGoal classes that are optimized " "via a MocoParameter. A copy of each MocoScaleFactor component is " "added to the model internal to MocoProblem, which makes the scale " "factors values available when computing the cost function for each " "MocoGoal." More... | |
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static MocoOutputBase * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "MocoOutputBase". More... | |
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static MocoGoal * | safeDownCast (OpenSim::Object *obj) |
For use in MATLAB and Python to access the concrete class. More... | |
static const std::string & | getClassName () |
This returns "MocoGoal". 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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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 goal allows you to minimize or constrain a Model Output value at the end of a trajectory.
Outputs of type double, SimTK::Vec3, and SimTK::SpatialVec are supported. By default, when using vector type Outputs, the norm of the vector is minimized, but you can also minimize a specific element of a vector Output via setOutputIndex()
. You can also specify the exponent of the value in the integrand via setExponent()
.
This goal supports both "Cost" (default) and "EndpointConstraint" modes. In "EndpointConstraint" mode, the Output value is constrained between user-specified bounds. By default, these bounds constrain the final value to zero; use 'updConstraintInfo()' to set custom bounds.
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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inline |
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inline |
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inline |
|
inlineoverride |
This allows copy assignment in the Java GUI.
Exception | if the argument is not of type MocoFinalOutputGoal. |
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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::final_state.
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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::MocoOutputBase.
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inlinestatic |
This returns "MocoFinalOutputGoal".
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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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.
Implements OpenSim::MocoOutputBase.
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inlineoverrideprotectedvirtual |
Reimplemented from OpenSim::MocoGoal.
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inlineoverrideprotectedvirtual |
Reimplemented from OpenSim::MocoGoal.
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inlineoverrideprotectedvirtual |
Perform any caching before the problem is solved.
You must override this function and invoke setRequirements().
Implements OpenSim::MocoGoal.
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inlinestatic |
For use in MATLAB and Python to access the concrete class.
Example: cObj = MocoFinalOutputGoal.safeDownCast(obj)
. This is equivalent to dynamic_cast<MocoFinalOutputGoal*>(obj)
in C++.