API  4.5
For C++ developers
OpenSim::MocoInverse Class Reference

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 TableProcessorget_kinematics () const
 Get the value of the kinematics property. More...
 
TableProcessorupd_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 ModelProcessorget_model () const
 Get the value of the model property. More...
 
ModelProcessorupd_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...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () 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 MocoInversesafeDownCast (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...
 
MocoInverseclone () 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 MocoToolsafeDownCast (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 ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized. More...
 
- Protected 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 XMLDocumentgetDocument () const
 Get a const pointer to the document (if any) associated with this object. More...
 
XMLDocumentupdDocument ()
 Get a writable pointer to the document (if any) associated with this object. More...
 
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes. 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

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

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

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

Constructor & Destructor Documentation

◆ 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
Exceptionif 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

◆ 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

◆ 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: