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virtual MocoSolution * | clone () const override |
| Returns a dynamically-allocated copy of this solution. More...
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bool | success () const |
| Was the problem solved successfully? If not, then you cannot access the solution until you call unlock(). More...
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double | getObjective () const |
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| operator bool () const |
| Same as success(). More...
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const std::string & | getStatus () const |
| Obtain a solver-dependent string describing the return status of the optimization. More...
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int | getNumIterations () const |
| Number of solver iterations at which this solution was obtained (-1 if not set). More...
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double | getSolverDuration () const |
| Get the amount of time (clock time, not CPU time) spent within solve(). More...
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Some solvers provide a breakdown of the terms in the objective.
Use these functions to access this breakdown. Some terms may come from MocoGoals in the problem, while other terms may be added by the solver.
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int | getNumObjectiveTerms () const |
| Returns the number of terms in the objective. More...
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std::vector< std::string > | getObjectiveTermNames () const |
| Get the names of all terms in the objective (either from MocoGoals in the problem or added by the solver). More...
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double | getObjectiveTerm (const std::string &name) const |
| Get the value of a term in the objective by name. More...
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double | getObjectiveTermByIndex (int index) const |
| Get the value of a term in the objective, using an index. More...
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void | printObjectiveBreakdown () const |
| Print to the console the terms in the objective and their values. More...
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MocoSolution & | unseal () |
| If the solver did not succeed, call this to enable read and write access to the (failed) solution. More...
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MocoSolution & | seal () |
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bool | isSealed () const |
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| MocoTrajectory ()=default |
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| MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names) |
| Create a trajectory with no data. More...
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| MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names) |
| Create a trajectory (including columns for derivatives) with no data. More...
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| MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::RowVector ¶meters) |
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| MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::Matrix &derivativesTrajectory, const SimTK::RowVector ¶meters) |
| This constructor is for use with the implicit dynamics mode, and allows specifying a derivativesTrajectory. More...
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| MocoTrajectory (const SimTK::Vector &time, const std::map< std::string, NamesAndData< SimTK::Matrix >> &continuousVars, const NamesAndData< SimTK::RowVector > ¶meters={}) |
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| MocoTrajectory (const std::string &filepath) |
| Read a MocoTrajectory from an STO file (see STOFileAdapter). More...
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virtual | ~MocoTrajectory ()=default |
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bool | empty () const |
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bool | hasCoordinateStates () const |
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void | setNumTimes (int numTimes) |
| Resize the time vector and the time dimension of the states, controls, multipliers, and derivatives trajectories, and set all times, states, controls, multipliers, and derivatives to NaN. More...
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double | resampleWithNumTimes (int numTimes) |
| Uniformly resample (interpolate) the trajectory so that it retains the same initial and final times but now has the provided number of time points. More...
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double | resampleWithInterval (double desiredTimeInterval) |
| Uniformly resample (interpolate) the trajectory to try to achieve the provided time interval between mesh points, while preserving the initial and final times. More...
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double | resampleWithFrequency (double desiredNumTimePointsPerSecond) |
| Uniformly resample (interpolate) the trajectory to try to achieve the provided frequency of time points per second of the trajectory, while preserving the initial and final times. More...
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void | resample (SimTK::Vector newTime) |
| Resample (interpolate) the data in this trajectory at the provided times. More...
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void | setTime (const SimTK::Vector &time) |
| Set the time vector. More...
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void | setState (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single state variable across time. More...
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void | setControl (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single control variable across time. More...
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void | setMultiplier (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single Lagrange multiplier variable across time. More...
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void | setDerivative (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single state derivative variable across time. More...
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void | setParameter (const std::string &name, const SimTK::Real &value) |
| Set the value of a single parameter variable. More...
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void | setTime (std::initializer_list< double > time) |
| Set the time vector. More...
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void | setState (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single state variable across time. More...
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void | setControl (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single control variable across time. More...
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void | setMultiplier (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single Lagrange multiplier variable across time. More...
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void | setDerivative (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single state derivative variable across time. More...
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void | setStatesTrajectory (const TimeSeriesTable &states, bool allowMissingColumns=false, bool allowExtraColumns=false) |
| Set the states trajectory. More...
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void | insertStatesTrajectory (const TimeSeriesTable &subsetOfStates, bool overwrite=false) |
| Add additional state columns. More...
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void | insertControlsTrajectory (const TimeSeriesTable &subsetOfControls, bool overwrite=false) |
| Add additional control columns. More...
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void | generateSpeedsFromValues () |
| Compute coordinate speeds based on coordinate position values and append to the trajectory. More...
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void | generateAccelerationsFromValues () |
| Compute coordinate accelerations based on coordinate position values and append to the trajectory. More...
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void | generateAccelerationsFromSpeeds () |
| Compute coordinate accelerations based on coordinate speeds and append to the trajectory. More...
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void | trimToIndices (int newStartIndex, int newFinalIndex) |
| Trim the trajectory to include the rows starting at newStartIndex and and ending at newFinalIndex. More...
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int | getNumTimes () const |
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const SimTK::Vector & | getTime () const |
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double | getInitialTime () const |
| The first time in the time vector. More...
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double | getFinalTime () const |
| The last time in the time vector. More...
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int | getNumStates () const |
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int | getNumControls () const |
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int | getNumMultipliers () const |
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int | getNumDerivatives () const |
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int | getNumValues () const |
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int | getNumSpeeds () const |
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int | getNumMultibodyStates () const |
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int | getNumAuxiliaryStates () const |
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int | getNumAccelerations () const |
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int | getNumDerivativesWithoutAccelerations () const |
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int | getNumParameters () const |
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const std::vector< std::string > & | getStateNames () const |
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const std::vector< std::string > & | getControlNames () const |
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const std::vector< std::string > & | getMultiplierNames () const |
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const std::vector< std::string > & | getDerivativeNames () const |
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std::vector< std::string > | getValueNames () const |
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std::vector< std::string > | getSpeedNames () const |
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std::vector< std::string > | getMultibodyStateNames () const |
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std::vector< std::string > | getAuxiliaryStateNames () const |
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std::vector< std::string > | getAccelerationNames () const |
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std::vector< std::string > | getDerivativeNamesWithoutAccelerations () const |
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const std::vector< std::string > & | getParameterNames () const |
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SimTK::VectorView_< double > | getState (const std::string &name) const |
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SimTK::VectorView_< double > | getControl (const std::string &name) const |
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SimTK::VectorView_< double > | getMultiplier (const std::string &name) const |
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SimTK::VectorView_< double > | getDerivative (const std::string &name) const |
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const SimTK::Real & | getParameter (const std::string &name) const |
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const SimTK::Matrix & | getStatesTrajectory () const |
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const SimTK::Matrix & | getControlsTrajectory () const |
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const SimTK::Matrix & | getMultipliersTrajectory () const |
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const SimTK::Matrix & | getDerivativesTrajectory () const |
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SimTK::Matrix | getValuesTrajectory () const |
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SimTK::Matrix | getSpeedsTrajectory () const |
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SimTK::Matrix | getMultibodyStatesTrajectory () const |
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SimTK::Matrix | getAuxiliaryStatesTrajectory () const |
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SimTK::Matrix | getAccelerationsTrajectory () const |
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SimTK::Matrix | getDerivativesWithoutAccelerationsTrajectory () const |
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const SimTK::RowVector & | getParameters () const |
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bool | isCompatible (const MocoProblemRep &, bool requireAccelerations=false, bool throwOnError=false) const |
| Do the state, control, multiplier, derivative, and parameter names in this trajectory match those in the problem? This may not catch all possible incompatibilities. More...
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bool | isNumericallyEqual (const MocoTrajectory &other, double tol=SimTK::NTraits< SimTK::Real >::getDefaultTolerance()) const |
| Check if this trajectory is numerically equal to another trajectory. More...
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double | compareContinuousVariablesRMS (const MocoTrajectory &other, std::map< std::string, std::vector< std::string >> columnsToUse={}) const |
| Compute the root-mean-square error between the continuous variables of this trajectory and another. More...
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double | compareContinuousVariablesRMSPattern (const MocoTrajectory &other, std::string columnType, std::string pattern) const |
| This is an alternative interface for compareContinuousVariablesRMS() that uses regular expression patterns to select columns. More...
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double | compareParametersRMS (const MocoTrajectory &other, std::vector< std::string > parameterNames={}) const |
| Compute the root-mean-square error between the parameters in this trajectory and another. More...
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void | write (const std::string &filepath) const |
| Save the trajectory to a STO file. Use the ."sto" file extension. More...
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TimeSeriesTable | exportToStatesTable () const |
| This table can be saved as a Storage file that can be used in the OpenSim GUI to visualize a motion, or as input to OpenSim's conventional tools (e.g., AnalyzeTool). More...
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TimeSeriesTable | exportToControlsTable () const |
| Export the controls trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToMultipliersTable () const |
| Export the multipliers trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToDerivativesTable () const |
| Export the derivatives trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToValuesTable () const |
| Export the coordinate values from the states trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToSpeedsTable () const |
| Export the coordinate speeds from the states trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToAccelerationsTable () const |
| Export the coordinate accelerations from the derivatives trajectory to a TimeSeriesTable. More...
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TimeSeriesTable | exportToDerivativesWithoutAccelerationsTable () const |
| Export the derivatives trajectory without coordinate accelerations to a TimeSeriesTable. More...
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StatesTrajectory | exportToStatesTrajectory (const MocoProblem &) const |
| Controls are not carried over to the StatesTrajectory. More...
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StatesTrajectory | exportToStatesTrajectory (const Model &) const |
| This is similar to the above function but requires only a model, not a MocoProblem. More...
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void | randomizeReplace (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1)) |
| Randomize all data except time using the provided random number generator. More...
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void | randomizeAdd (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1)) |
| Randomize all data except time using the provided random number generator. More...
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