This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics. More...

Inheritance diagram for OpenSim::MocoInverse:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
TableProcessor	kinematics
	"Generalized coordinate values to prescribe." More...

bool	kinematics_allow_extra_columns
	"Allow the kinematics file to contain columns that do not name " "states in the model. " "This is false by default to help you avoid accidents." More...

bool	minimize_sum_squared_activations
	"Minimize the sum of squared activations. Default: false." More...

double	convergence_tolerance
	"The convergence tolerance (default: 1e-3)." More...

double	constraint_tolerance
	"The constraint tolerance (default: 1e-3)." More...

double	reserves_weight
	"The weight applied to the controls whose name includes " "'/reserve_'. This can be used with " "the model operator ModOpAddReserves, which names each appended " "actuator in this format. Default weight: 1." More...

Properties (optional)
int	max_iterations
	"Maximum number of solver iterations (default: solver default)." More...

Properties (list)
std::string	output_paths
	"Outputs to compute after solving the problem." " Entries can be regular expressions (e.g., '.*activation')." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoTool
double	initial_time
	"The start of the time interval. " "All data must start at or before this time. " "(default: earliest time available in all provided data)" More...

double	final_time
	"The end of the time interval. " "All data must end at or after this time. " "(default: latest time available in all provided data)" More...

double	mesh_interval
	"The time duration of each mesh interval " "(default: 0.020 seconds)." More...

bool	clip_time_range
	"Set the time range to be 1e-3 shorter on both ends to leave space " "for finite difference estimates (default: false)." More...

ModelProcessor	model
	"The musculoskeletal model to use." More...

Public Member Functions
	MocoInverse ()

void	setKinematics (TableProcessor kinematics)

MocoStudy	initialize () const

MocoInverseSolution	solve () const
	Solve the problem returned by initialize() and compute the outputs listed in output_paths. More...

Property-related functions
const TableProcessor &	get_kinematics () const
	Get the value of the kinematics property. More...

TableProcessor &	upd_kinematics ()
	Get a writable reference to the kinematics property. More...

void	set_kinematics (const TableProcessor &value)
	Set the value of the kinematics property. More...

const bool &	get_kinematics_allow_extra_columns () const
	Get the value of the kinematics_allow_extra_columns property. More...

bool &	upd_kinematics_allow_extra_columns ()
	Get a writable reference to the kinematics_allow_extra_columns property. More...

void	set_kinematics_allow_extra_columns (const bool &value)
	Set the value of the kinematics_allow_extra_columns property. More...

const bool &	get_minimize_sum_squared_activations () const
	Get the value of the minimize_sum_squared_activations property. More...

bool &	upd_minimize_sum_squared_activations ()
	Get a writable reference to the minimize_sum_squared_activations property. More...

void	set_minimize_sum_squared_activations (const bool &value)
	Set the value of the minimize_sum_squared_activations property. More...

const int &	get_max_iterations () const
	Get the value of the max_iterations property. More...

int &	upd_max_iterations ()
	Get a writable reference to the max_iterations property. More...

void	set_max_iterations (const int &value)
	Set the value of the max_iterations property. More...

const double &	get_convergence_tolerance () const
	Get the value of the convergence_tolerance property. More...

double &	upd_convergence_tolerance ()
	Get a writable reference to the convergence_tolerance property. More...

void	set_convergence_tolerance (const double &value)
	Set the value of the convergence_tolerance property. More...

const double &	get_constraint_tolerance () const
	Get the value of the constraint_tolerance property. More...

double &	upd_constraint_tolerance ()
	Get a writable reference to the constraint_tolerance property. More...

void	set_constraint_tolerance (const double &value)
	Set the value of the constraint_tolerance property. More...

const std::string &	get_output_paths (int i) const
	Get the value of the i-th element of the output_paths property. More...

std::string &	upd_output_paths (int i)
	Get a writable reference to the i-th element of the output_paths property. More...

void	set_output_paths (int i, const std::string &value)
	Set the value of the i-th element of output_paths property. More...

int	append_output_paths (const std::string &value)
	Append an element to the output_paths property. More...

const double &	get_reserves_weight () const
	Get the value of the reserves_weight property. More...

double &	upd_reserves_weight ()
	Get a writable reference to the reserves_weight property. More...

void	set_reserves_weight (const double &value)
	Set the value of the reserves_weight property. More...

Public Member Functions inherited from OpenSim::MocoTool
	MocoTool ()

void	setModel (ModelProcessor model)

const double &	get_initial_time () const
	Get the value of the initial_time property. More...

double &	upd_initial_time ()
	Get a writable reference to the initial_time property. More...

void	set_initial_time (const double &value)
	Set the value of the initial_time property. More...

const double &	get_final_time () const
	Get the value of the final_time property. More...

double &	upd_final_time ()
	Get a writable reference to the final_time property. More...

void	set_final_time (const double &value)
	Set the value of the final_time property. More...

const double &	get_mesh_interval () const
	Get the value of the mesh_interval property. More...

double &	upd_mesh_interval ()
	Get a writable reference to the mesh_interval property. More...

void	set_mesh_interval (const double &value)
	Set the value of the mesh_interval property. More...

const bool &	get_clip_time_range () const
	Get the value of the clip_time_range property. More...

bool &	upd_clip_time_range ()
	Get a writable reference to the clip_time_range property. More...

void	set_clip_time_range (const bool &value)
	Set the value of the clip_time_range property. More...

const ModelProcessor &	get_model () const
	Get the value of the model property. More...

ModelProcessor &	upd_model ()
	Get a writable reference to the model property. More...

void	set_model (const ModelProcessor &value)
	Set the value of the model property. 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...

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

typedef MocoTool	Super
	Use this typedef to refer to the superclass of this class. More...

Public Types inherited from OpenSim::MocoTool
typedef MocoTool	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...

Auto-generated functions
static MocoInverse *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "MocoInverse". More...

void	assign (Object &aObject) override
	This allows copy assignment in the Java GUI. More...

MocoInverse *	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
Static Public Member Functions inherited from OpenSim::MocoTool
static MocoTool *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "MocoTool". 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 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...

Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized. More...

Protected Member Functions inherited from OpenSim::MocoTool
void	updateTimeInfo (const std::string &dataLabel, const double &dataInitial, const double &dataFinal, TimeInfo &info) const
	This function updates a TimeInfo so the initial and final times are within the data times provided. More...

std::string	getFilePath (const std::string &file) const
	Get the canonicalized absolute pathname with respect to the setup file directory from a given pathname which can be relative or absolute. More...

std::string	getDocumentDirectory () const
	Get the (canonicalized) absolute directory containing the file from which this tool was loaded. More...

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 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...

Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. More...

Related Functions inherited from OpenSim::Object
#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...

Detailed Description

This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics.

The term "inverse" describes methods that estimate quantities from an observation; on the other hand, "forward" methods attempt to predict (unobserved) behavior. In this case, "inverse" refers to the multibody systems. This class can still be used to simulate muscles in a "forward" or predictive sense.

The kinematics file must provide values for all coordinates (even those labeled as dependent in a CoordinateCouplerConstraint); missing coordinates are set to NaN.

The provided trajectory is altered to satisfy any enabled kinematic constraints in the model.

Cost

By default, MocoInverse minimizes the sum of squared controls and constrains initial activation to be equal to initial excitation (to avoid initial activation spikes). To customize the cost, invoke initialize(), add costs manually, and solve the problem using the solver directly. Note, however, that kinematic states are not included in the solution if you use the solver directly.

Default solver settings

solver: MocoCasADiSolver
multibody_dynamics_mode: implicit
interpolate_control_midpoints: false
minimize_implicit_auxiliary_derivatives: true
implicit_auxiliary_derivatives_weight: 0.01
optim_convergence_tolerance: 1e-3
optim_constraint_tolerance: 1e-3
optim_sparsity_detection: random
optim_finite_difference_scheme: forward

If you would like to use settings other than these defaults, see "Customizing a problem" below.

MocoInverse minimizes the sum of squared controls and, optionally, the sum of squared activations. As MocoInverse becomes more mature and general, the costs will become more flexible.

Mesh interval

A smaller mesh interval increases the convergence time, but is necessary for fast motions or problems with stiff differential equations (e.g., stiff tendons). For gait, consider using a mesh interval between 0.01 and 0.05 seconds. Try solving your problem with decreasing mesh intervals and choose a mesh interval at which the solution stops changing noticeably.

Basic example

This example shows how to use MocoInverse in C++:

MocoInverse inverse;
inverse.setName("prescribed_motion");
inverse.setModel(ModelProcessor("model_file.osim") |
                 ModOpAddExternalLoads("external_loads.xml") |
                 ModOpAddReserves());
inverse.setKinematics(TableProcessor("states_reference_file.sto"));
inverse.set_mesh_interval(0.02);
MocoInverseSolution solution = inverse.solve();
solution.getMocoSolution().write("MocoInverse_solution.sto");

Customizing the tool

The example below shows how you can customize the MocoInverse tool by obtaining the underlying MocoStudy. You can change the "Default solver settings" above and add additional goals.

MocoInverse inverse;
inverse.setName("prescribed_motion");
inverse.setModel(ModelProcessor("model_file.osim") |
                 ModOpAddExternalLoads("external_loads.xml") |
                 ModOpAddReserves(1));
inverse.setKinematics(TableProcessor("states_reference_file.sto"));
inverse.set_mesh_interval(0.02);
MocoStudy study = inverse.initialize();
MocoProblem& problem = study.updProblem();
auto* emg_tracking = problem.addGoal<MocoControlTrackingGoal>("emg_tracking");
emg_tracking->setReference(TimeSeriesTable("electromyography.sto"));
auto& solver = study.updSolver<MocoCasADiSolver>();
solver.set_optim_convergence_tolerance(1e-4);
MocoSolution solution = study.solve();
solution.write("MocoInverse_solution.sto");

Do NOT change the multibody_dynamics_mode solver setting, as setting this to "implicit" is vital to how MocoInverse works.

Path constraints

If adding a MocoPathConstraint to a custom MocoInverse problem, you may want to enable the solver setting 'enforce_path_constraint_midpoints':

solver.set_enforce_path_constraint_midpoints(true);

This is because we do not enforce MocoPathConstraints at mesh interval midpoints by default with Hermite-Simpson collocation, and the property 'interpolate_control_midpoints' is set to false with MocoInverse to ensure the problem does not become over-constrained.

For example, if using a MocoControlBoundConstraint with MocoInverse, the constraint will be ignored at mesh interval midpoints if 'enforce_path_constraint_midpoints' is set to false.

Examples:: exampleMocoInverse.cpp.

Member Typedef Documentation

◆ Self

typedef MocoInverse OpenSim::MocoInverse::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef MocoTool OpenSim::MocoInverse::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

◆ MocoInverse()

OpenSim::MocoInverse::MocoInverse ( )

inline

Member Function Documentation

◆ append_output_paths()

int OpenSim::MocoInverse::append_output_paths ( const std::string & value )

inline

Append an element to the output_paths property.

◆ assign()

void OpenSim::MocoInverse::assign ( Object & aObject )

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type MocoInverse.

◆ clone()

MocoInverse* OpenSim::MocoInverse::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::MocoTool.

◆ get_constraint_tolerance()

const double& OpenSim::MocoInverse::get_constraint_tolerance ( ) const

inline

Get the value of the constraint_tolerance property.

◆ get_convergence_tolerance()

const double& OpenSim::MocoInverse::get_convergence_tolerance ( ) const

inline

Get the value of the convergence_tolerance property.

◆ get_kinematics()

const TableProcessor& OpenSim::MocoInverse::get_kinematics ( ) const

inline

Get the value of the kinematics property.

◆ get_kinematics_allow_extra_columns()

const bool& OpenSim::MocoInverse::get_kinematics_allow_extra_columns ( ) const

inline

Get the value of the kinematics_allow_extra_columns property.

◆ get_max_iterations()

const int& OpenSim::MocoInverse::get_max_iterations ( ) const

inline

Get the value of the max_iterations property.

◆ get_minimize_sum_squared_activations()

const bool& OpenSim::MocoInverse::get_minimize_sum_squared_activations ( ) const

inline

Get the value of the minimize_sum_squared_activations property.

◆ get_output_paths()

const std::string& OpenSim::MocoInverse::get_output_paths ( int i ) const

inline

Get the value of the i-th element of the output_paths property.

◆ get_reserves_weight()

const double& OpenSim::MocoInverse::get_reserves_weight ( ) const

inline

Get the value of the reserves_weight property.

◆ getClassName()

static const std::string& OpenSim::MocoInverse::getClassName ( )

inlinestatic

This returns "MocoInverse".

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::MocoInverse::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::MocoTool.

◆ initialize()

MocoStudy OpenSim::MocoInverse::initialize ( ) const

Examples:: exampleMocoInverse.cpp.

◆ safeDownCast()

static MocoInverse* OpenSim::MocoInverse::safeDownCast ( OpenSim::Object * obj )

inlinestatic

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

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

◆ set_constraint_tolerance()

void OpenSim::MocoInverse::set_constraint_tolerance ( const double & value )

inline

Set the value of the constraint_tolerance property.

◆ set_convergence_tolerance()

void OpenSim::MocoInverse::set_convergence_tolerance ( const double & value )

inline

Set the value of the convergence_tolerance property.

◆ set_kinematics()

void OpenSim::MocoInverse::set_kinematics ( const TableProcessor & value )

inline

Set the value of the kinematics property.

◆ set_kinematics_allow_extra_columns()

void OpenSim::MocoInverse::set_kinematics_allow_extra_columns ( const bool & value )

inline

Set the value of the kinematics_allow_extra_columns property.

Examples:: exampleMocoInverse.cpp.

◆ set_max_iterations()

void OpenSim::MocoInverse::set_max_iterations ( const int & value )

inline

Set the value of the max_iterations property.

◆ set_minimize_sum_squared_activations()

void OpenSim::MocoInverse::set_minimize_sum_squared_activations ( const bool & value )

inline

Set the value of the minimize_sum_squared_activations property.

◆ set_output_paths()

void OpenSim::MocoInverse::set_output_paths	(	int	i,
		const std::string &	value
	)

inline

Set the value of the i-th element of output_paths property.

◆ set_reserves_weight()

void OpenSim::MocoInverse::set_reserves_weight ( const double & value )

inline

Set the value of the reserves_weight property.

◆ setKinematics()

void OpenSim::MocoInverse::setKinematics ( TableProcessor kinematics )

inline

Examples:: exampleMocoInverse.cpp.

◆ solve()

MocoInverseSolution OpenSim::MocoInverse::solve ( ) const

Solve the problem returned by initialize() and compute the outputs listed in output_paths.

Examples:: exampleMocoInverse.cpp.

◆ upd_constraint_tolerance()

double& OpenSim::MocoInverse::upd_constraint_tolerance ( )

inline

Get a writable reference to the constraint_tolerance property.

◆ upd_convergence_tolerance()

double& OpenSim::MocoInverse::upd_convergence_tolerance ( )

inline

Get a writable reference to the convergence_tolerance property.

◆ upd_kinematics()

TableProcessor& OpenSim::MocoInverse::upd_kinematics ( )

inline

Get a writable reference to the kinematics property.

◆ upd_kinematics_allow_extra_columns()

bool& OpenSim::MocoInverse::upd_kinematics_allow_extra_columns ( )

inline

Get a writable reference to the kinematics_allow_extra_columns property.

◆ upd_max_iterations()

int& OpenSim::MocoInverse::upd_max_iterations ( )

inline

Get a writable reference to the max_iterations property.

◆ upd_minimize_sum_squared_activations()

bool& OpenSim::MocoInverse::upd_minimize_sum_squared_activations ( )

inline

Get a writable reference to the minimize_sum_squared_activations property.

◆ upd_output_paths()

std::string& OpenSim::MocoInverse::upd_output_paths ( int i )

inline

Get a writable reference to the i-th element of the output_paths property.

◆ upd_reserves_weight()

double& OpenSim::MocoInverse::upd_reserves_weight ( )

inline

Get a writable reference to the reserves_weight property.

OpenSim Property, Socket, Output, Input Documentation

◆ constraint_tolerance

double OpenSim::MocoInverse::constraint_tolerance

"The constraint tolerance (default: 1e-3)."

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

See also: get_constraint_tolerance(), upd_constraint_tolerance(), set_constraint_tolerance()

◆ convergence_tolerance

double OpenSim::MocoInverse::convergence_tolerance

"The convergence tolerance (default: 1e-3)."

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

See also: get_convergence_tolerance(), upd_convergence_tolerance(), set_convergence_tolerance()

◆ kinematics

TableProcessor OpenSim::MocoInverse::kinematics

"Generalized coordinate values to prescribe."

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

See also: get_kinematics(), upd_kinematics(), set_kinematics()

◆ kinematics_allow_extra_columns

bool OpenSim::MocoInverse::kinematics_allow_extra_columns

"Allow the kinematics file to contain columns that do not name " "states in the model. " "This is false by default to help you avoid accidents."

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

See also: get_kinematics_allow_extra_columns(), upd_kinematics_allow_extra_columns(), set_kinematics_allow_extra_columns()

◆ max_iterations

int OpenSim::MocoInverse::max_iterations

"Maximum number of solver iterations (default: solver default)."

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

See also: get_max_iterations(), upd_max_iterations(), set_max_iterations()

◆ minimize_sum_squared_activations

bool OpenSim::MocoInverse::minimize_sum_squared_activations

"Minimize the sum of squared activations. Default: false."

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

See also: get_minimize_sum_squared_activations(), upd_minimize_sum_squared_activations(), set_minimize_sum_squared_activations()

◆ output_paths

std::string OpenSim::MocoInverse::output_paths

"Outputs to compute after solving the problem." " Entries can be regular expressions (e.g., '.*activation')."

This property appears in XML files under the tag <output_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_output_paths(), upd_output_paths(), set_output_paths(), append_output_paths()

◆ reserves_weight

double OpenSim::MocoInverse::reserves_weight

"The weight applied to the controls whose name includes " "'/reserve_'. This can be used with " "the model operator ModOpAddReserves, which names each appended " "actuator in this format. Default weight: 1."

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

See also: get_reserves_weight(), upd_reserves_weight(), set_reserves_weight()

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

OpenSim/Moco/MocoInverse.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Auto-generated functions

Additional Inherited Members

Detailed Description

Cost

Default solver settings

Mesh interval

Basic example

Customizing the tool

Path constraints

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ MocoInverse()

Member Function Documentation

◆ append_output_paths()

◆ assign()

◆ clone()

◆ get_constraint_tolerance()

◆ get_convergence_tolerance()

◆ get_kinematics()

◆ get_kinematics_allow_extra_columns()

◆ get_max_iterations()

◆ get_minimize_sum_squared_activations()

◆ get_output_paths()

◆ get_reserves_weight()

◆ getClassName()

◆ getConcreteClassName()

◆ initialize()

◆ safeDownCast()

◆ set_constraint_tolerance()

◆ set_convergence_tolerance()

◆ set_kinematics()

◆ set_kinematics_allow_extra_columns()

◆ set_max_iterations()

◆ set_minimize_sum_squared_activations()

◆ set_output_paths()

◆ set_reserves_weight()

◆ setKinematics()

◆ solve()

◆ upd_constraint_tolerance()

◆ upd_convergence_tolerance()

◆ upd_kinematics()

◆ upd_kinematics_allow_extra_columns()

◆ upd_max_iterations()

◆ upd_minimize_sum_squared_activations()

◆ upd_output_paths()

◆ upd_reserves_weight()

OpenSim Property, Socket, Output, Input Documentation

◆ constraint_tolerance

◆ convergence_tolerance

◆ kinematics

◆ kinematics_allow_extra_columns

◆ max_iterations

◆ minimize_sum_squared_activations

◆ output_paths

◆ reserves_weight