Solve the MocoProblem using the tropter direct collocation library. More...

Inheritance diagram for OpenSim::MocoTropterSolver:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	optim_jacobian_approximation
	"When using IPOPT, 'finite-difference-values' for Jacobian " "calculations " "by the solver, or 'exact' for Jacobian calculations by " "tropter (default)." More...

std::string	optim_sparsity_detection
	"Trajectory used to detect sparsity pattern of Jacobian/Hessian; " "'random' (default) or 'initial-guess'" More...

Properties (optional)
std::string	exact_hessian_block_sparsity_mode
	"'dense' for dense blocks on the Hessian diagonal, or " "'sparse' for sparse blocks on the Hessian diagonal, detected from " "the " "optimal control problem. If using an 'exact' Hessian " "approximation, this " "property must be set. Note: this option only takes effect when " "using " "IPOPT." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoDirectCollocationSolver
int	num_mesh_intervals
	"The number of uniformly-sized mesh intervals for the problem " "(default: 100). If a non-uniform mesh exists, the non-uniform " "mesh is used instead." More...

int	verbosity
	"0 for silent. 1 for only Moco's own output. " "2 for output from CasADi and the underlying solver (default: 2)." More...

std::string	transcription_scheme
	"'trapezoidal' for trapezoidal transcription, or 'hermite-simpson' " "(default) for separated Hermite-Simpson transcription." More...

bool	interpolate_control_midpoints
	"If the transcription scheme is set to 'hermite-simpson', then " "enable this property to constrain the control values at mesh " "interval midpoints to be linearly interpolated from the control " "values at the mesh interval endpoints. Default: true." More...

std::string	multibody_dynamics_mode
	"Multibody dynamics are expressed as 'explicit' (default) or " "'implicit' differential equations." More...

std::string	optim_solver
	"The optimization solver to use (default: ipopt)." More...

int	optim_max_iterations
	"Maximum number of iterations in the optimization solver " "(-1 for solver's default)." More...

double	optim_convergence_tolerance
	"Tolerance used to determine if the objective is minimized " "(-1 for solver's default)" More...

double	optim_constraint_tolerance
	"Tolerance used to determine if the constraints are satisfied " "(-1 for solver's default)" More...

std::string	optim_hessian_approximation
	"When using IPOPT, 'limited-memory' (default) for quasi-Newton, or " "'exact' for full " "Newton." More...

int	optim_ipopt_print_level
	"IPOPT's verbosity (see IPOPT documentation)." More...

bool	minimize_lagrange_multipliers
	"If enabled, a term minimizing the weighted, squared sum of " "any existing Lagrange multipliers is added to the optimal control " "problem. This may be useful for imposing uniqueness in the " "Lagrange multipliers when not enforcing model kinematic " "constraint derivatives or when the constraint Jacobian is " "singular. To set the weight for this term use the " "'lagrange_multiplier_weight' property. Default: false" More...

double	lagrange_multiplier_weight
	"If the 'minimize_lagrange_multipliers' property is enabled, this " "defines the weight for the cost term added to the optimal control " "problem. Default: 1" More...

MocoBounds	velocity_correction_bounds
	"For problems where model kinematic constraint derivatives are " "enforced, set the bounds on the slack variables performing the " "velocity correction to project the model coordinates back onto " "the constraint manifold. Default: [-0.1, 0.1]" More...

MocoBounds	implicit_multibody_acceleration_bounds
	"Bounds on acceleration variables in implicit dynamics mode. " "Default: [-1000, 1000]" More...

MocoBounds	implicit_auxiliary_derivative_bounds
	"Bounds on derivative variables for components with auxiliary " "dynamics in implicit form. Default: [-1000, 1000]" More...

std::string	guess_file
	"A MocoTrajectory file storing an initial guess." More...

bool	enforce_constraint_derivatives
	"'true' (default) or 'false', whether or not derivatives of " "kinematic constraints are enforced as path constraints in the " "optimal control problem." More...

double	mesh
	"Usually non-uniform, user-defined list of mesh points to sample. " "Takes precedence over uniform mesh with num_mesh_intervals." More...

Public Member Functions
	MocoTropterSolver ()

Property-related functions
const std::string &	get_optim_jacobian_approximation () const
	Get the value of the optim_jacobian_approximation property. More...

std::string &	upd_optim_jacobian_approximation ()
	Get a writable reference to the optim_jacobian_approximation property. More...

void	set_optim_jacobian_approximation (const std::string &value)
	Set the value of the optim_jacobian_approximation property. More...

const std::string &	get_optim_sparsity_detection () const
	Get the value of the optim_sparsity_detection property. More...

std::string &	upd_optim_sparsity_detection ()
	Get a writable reference to the optim_sparsity_detection property. More...

void	set_optim_sparsity_detection (const std::string &value)
	Set the value of the optim_sparsity_detection property. More...

const std::string &	get_exact_hessian_block_sparsity_mode () const
	Get the value of the exact_hessian_block_sparsity_mode property. More...

std::string &	upd_exact_hessian_block_sparsity_mode ()
	Get a writable reference to the exact_hessian_block_sparsity_mode property. More...

void	set_exact_hessian_block_sparsity_mode (const std::string &value)
	Set the value of the exact_hessian_block_sparsity_mode property. More...

Specifying an initial guess
MocoTrajectory	createGuess (const std::string &type="bounds") const
	Create a guess that you can edit and then set using setGuess(). More...

void	setGuess (MocoTrajectory guess)
	The number of time points in the trajectory does not need to match `num_mesh_intervals`; the trajectory will be interpolated to the correct size. More...

void	setGuess (const std::string &type)
	Use this convenience function if you want to choose the type of guess used, but do not want to modify it first. More...

void	setGuessFile (const std::string &file)
	This clears any previously-set guess, if any. More...

void	clearGuess ()
	Clear the stored guess and the `guess_file` if any. More...

const MocoTrajectory &	getGuess () const
	Access the guess, loading it from the guess_file if necessary. More...

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

void	setMesh (const std::vector< double > &mesh)
	Set the mesh to a user-defined list of mesh points to sample. More...

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

const int &	get_num_mesh_intervals () const
	Get the value of the num_mesh_intervals property. More...

int &	upd_num_mesh_intervals ()
	Get a writable reference to the num_mesh_intervals property. More...

void	set_num_mesh_intervals (const int &value)
	Set the value of the num_mesh_intervals property. More...

const int &	get_verbosity () const
	Get the value of the verbosity property. More...

int &	upd_verbosity ()
	Get a writable reference to the verbosity property. More...

void	set_verbosity (const int &value)
	Set the value of the verbosity property. More...

const std::string &	get_transcription_scheme () const
	Get the value of the transcription_scheme property. More...

std::string &	upd_transcription_scheme ()
	Get a writable reference to the transcription_scheme property. More...

void	set_transcription_scheme (const std::string &value)
	Set the value of the transcription_scheme property. More...

const bool &	get_interpolate_control_midpoints () const
	Get the value of the interpolate_control_midpoints property. More...

bool &	upd_interpolate_control_midpoints ()
	Get a writable reference to the interpolate_control_midpoints property. More...

void	set_interpolate_control_midpoints (const bool &value)
	Set the value of the interpolate_control_midpoints property. More...

const std::string &	get_multibody_dynamics_mode () const
	Get the value of the multibody_dynamics_mode property. More...

std::string &	upd_multibody_dynamics_mode ()
	Get a writable reference to the multibody_dynamics_mode property. More...

void	set_multibody_dynamics_mode (const std::string &value)
	Set the value of the multibody_dynamics_mode property. More...

const std::string &	get_optim_solver () const
	Get the value of the optim_solver property. More...

std::string &	upd_optim_solver ()
	Get a writable reference to the optim_solver property. More...

void	set_optim_solver (const std::string &value)
	Set the value of the optim_solver property. More...

const int &	get_optim_max_iterations () const
	Get the value of the optim_max_iterations property. More...

int &	upd_optim_max_iterations ()
	Get a writable reference to the optim_max_iterations property. More...

void	set_optim_max_iterations (const int &value)
	Set the value of the optim_max_iterations property. More...

const double &	get_optim_convergence_tolerance () const
	Get the value of the optim_convergence_tolerance property. More...

double &	upd_optim_convergence_tolerance ()
	Get a writable reference to the optim_convergence_tolerance property. More...

void	set_optim_convergence_tolerance (const double &value)
	Set the value of the optim_convergence_tolerance property. More...

const double &	get_optim_constraint_tolerance () const
	Get the value of the optim_constraint_tolerance property. More...

double &	upd_optim_constraint_tolerance ()
	Get a writable reference to the optim_constraint_tolerance property. More...

void	set_optim_constraint_tolerance (const double &value)
	Set the value of the optim_constraint_tolerance property. More...

const std::string &	get_optim_hessian_approximation () const
	Get the value of the optim_hessian_approximation property. More...

std::string &	upd_optim_hessian_approximation ()
	Get a writable reference to the optim_hessian_approximation property. More...

void	set_optim_hessian_approximation (const std::string &value)
	Set the value of the optim_hessian_approximation property. More...

const int &	get_optim_ipopt_print_level () const
	Get the value of the optim_ipopt_print_level property. More...

int &	upd_optim_ipopt_print_level ()
	Get a writable reference to the optim_ipopt_print_level property. More...

void	set_optim_ipopt_print_level (const int &value)
	Set the value of the optim_ipopt_print_level property. More...

const bool &	get_enforce_constraint_derivatives () const
	Get the value of the enforce_constraint_derivatives property. More...

bool &	upd_enforce_constraint_derivatives ()
	Get a writable reference to the enforce_constraint_derivatives property. More...

void	set_enforce_constraint_derivatives (const bool &value)
	Set the value of the enforce_constraint_derivatives property. More...

const bool &	get_minimize_lagrange_multipliers () const
	Get the value of the minimize_lagrange_multipliers property. More...

bool &	upd_minimize_lagrange_multipliers ()
	Get a writable reference to the minimize_lagrange_multipliers property. More...

void	set_minimize_lagrange_multipliers (const bool &value)
	Set the value of the minimize_lagrange_multipliers property. More...

const double &	get_lagrange_multiplier_weight () const
	Get the value of the lagrange_multiplier_weight property. More...

double &	upd_lagrange_multiplier_weight ()
	Get a writable reference to the lagrange_multiplier_weight property. More...

void	set_lagrange_multiplier_weight (const double &value)
	Set the value of the lagrange_multiplier_weight property. More...

const MocoBounds &	get_velocity_correction_bounds () const
	Get the value of the velocity_correction_bounds property. More...

MocoBounds &	upd_velocity_correction_bounds ()
	Get a writable reference to the velocity_correction_bounds property. More...

void	set_velocity_correction_bounds (const MocoBounds &value)
	Set the value of the velocity_correction_bounds property. More...

const MocoBounds &	get_implicit_multibody_acceleration_bounds () const
	Get the value of the implicit_multibody_acceleration_bounds property. More...

MocoBounds &	upd_implicit_multibody_acceleration_bounds ()
	Get a writable reference to the implicit_multibody_acceleration_bounds property. More...

void	set_implicit_multibody_acceleration_bounds (const MocoBounds &value)
	Set the value of the implicit_multibody_acceleration_bounds property. More...

const MocoBounds &	get_implicit_auxiliary_derivative_bounds () const
	Get the value of the implicit_auxiliary_derivative_bounds property. More...

MocoBounds &	upd_implicit_auxiliary_derivative_bounds ()
	Get a writable reference to the implicit_auxiliary_derivative_bounds property. More...

void	set_implicit_auxiliary_derivative_bounds (const MocoBounds &value)
	Set the value of the implicit_auxiliary_derivative_bounds property. More...

Public Member Functions inherited from OpenSim::MocoSolver
	MocoSolver ()=default

	MocoSolver (const MocoProblem &problem)
	This calls resetProblem() with the provided problem. More...

virtual	~MocoSolver ()=default

void	resetProblem (const MocoProblem &problem) const
	Call this to prepare the solver for use on the provided problem. More...

MocoTrajectory	createGuessTimeStepping () const
	(Experimental) Run a forward simulation (using the OpenSim Manager, which uses a SimTK::Integrator), using the default controls for actuators and the default states as the initial states, to create a guess that is dynamically consistent (constraint errors should be small). More...

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

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

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

Public Types inherited from OpenSim::MocoDirectCollocationSolver
typedef MocoDirectCollocationSolver	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::MocoSolver
typedef MocoSolver	Self
	This typedef might be useful within the member functions of this class. More...

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

Static Public Member Functions
static bool	isAvailable ()
	Returns true if Moco was compiled with the Tropter library; returns false otherwise. More...

static void	printOptimizationSolverOptions (std::string solver="ipopt")
	Print the available options for the underlying optimization solver. More...

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

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

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

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

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...

Protected Member Functions
std::shared_ptr< const TropterProblemBase< double > >	createTropterProblem () const

std::unique_ptr< tropter::DirectCollocationSolver< double > >	createTropterSolver (std::shared_ptr< const TropterProblemBase< double >> ocp) const

MocoSolution	solveImpl () const override
	This is the meat of a solver: solve the problem and return the solution. More...

void	checkGuess (const MocoTrajectory &guess) const
	Check that the provided guess is compatible with the problem and this solver. More...

Protected Member Functions inherited from OpenSim::MocoDirectCollocationSolver
void	constructProperties ()

const std::string &	get_guess_file () const
	Get the value of the guess_file property. More...

std::string &	upd_guess_file ()
	Get a writable reference to the guess_file property. More...

void	set_guess_file (const std::string &value)
	Set the value of the guess_file property. More...

const double &	get_mesh (int i) const
	Get the value of the i-th element of the mesh property. More...

double &	upd_mesh (int i)
	Get a writable reference to the i-th element of the mesh property. More...

void	set_mesh (int i, const double &value)
	Set the value of the i-th element of mesh property. More...

int	append_mesh (const double &value)
	Append an element to the mesh property. More...

Protected Member Functions inherited from OpenSim::MocoSolver
const MocoProblemRep &	getProblemRep () const

std::unique_ptr< ThreadsafeJar< const MocoProblemRep > >	createProblemRepJar (int size) const
	Create a library of MocoProblemReps for use in parallelized code. More...

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...

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

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

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

MocoTropterSolver *	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...

Nested Classes
class	ExplicitTropterProblem

class	ImplicitTropterProblem

class	OCProblem
	Internal tropter optimal control problem. More...

class	TropterProblemBase

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

Static Protected Member Functions inherited from OpenSim::MocoSolver
static void	setSolutionStats (MocoSolution &, bool success, double objective, const std::string &status, int numIterations, double duration, std::vector< std::pair< std::string, double >> objectiveBreakdown={})
	This is a service for derived classes, because MocoSolution::setStatus(), MocoSolution::setSuccess(), etc. More...

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

Solve the MocoProblem using the tropter direct collocation library.

tropter** is a free and open-source C++ library that supports computing the Jacobian and Hessian via either automatic differentiation or finite differences, and uses IPOPT for solving the nonlinear optimization problem.

This class allows you to configure tropter's settings.

Supported optimization solvers

The following optimization solvers can be specified for the optim_solver property:

ipopt
snopt

Using this solver in C++ requires that a tropter shared library is available, but tropter header files are not required. No tropter symbols are exposed in Moco's interface.

Member Typedef Documentation

◆ Self

typedef MocoTropterSolver OpenSim::MocoTropterSolver::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef MocoDirectCollocationSolver OpenSim::MocoTropterSolver::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

◆ MocoTropterSolver()

OpenSim::MocoTropterSolver::MocoTropterSolver ( )

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type MocoTropterSolver.

◆ checkGuess()

void OpenSim::MocoTropterSolver::checkGuess ( const MocoTrajectory & guess ) const

protected

Check that the provided guess is compatible with the problem and this solver.

◆ clearGuess()

void OpenSim::MocoTropterSolver::clearGuess ( )

Clear the stored guess and the guess_file if any.

◆ clone()

MocoTropterSolver* OpenSim::MocoTropterSolver::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::MocoDirectCollocationSolver.

◆ createGuess()

MocoTrajectory OpenSim::MocoTropterSolver::createGuess ( const std::string & type = "bounds" ) const

Create a guess that you can edit and then set using setGuess().

The types of guesses available are:

bounds: variable values are the midpoint between the variables' bounds (the value for variables with ony one bound is the specified bound). This is the default type.
random: values are randomly generated within the bounds.
time-stepping: see MocoSolver::createGuessTimeStepping().
Note
Calling this method does not set an initial guess to be used in the solver; you must call setGuess() or setGuessFile() for that.

Precondition(s):
You must have called resetProblem().

◆ createTropterProblem()

std::shared_ptr<const TropterProblemBase<double> > OpenSim::MocoTropterSolver::createTropterProblem ( ) const

protected

◆ createTropterSolver()

std::unique_ptr<tropter::DirectCollocationSolver<double> > OpenSim::MocoTropterSolver::createTropterSolver ( std::shared_ptr< const TropterProblemBase< double >> ocp ) const

protected

◆ get_exact_hessian_block_sparsity_mode()

const std::string& OpenSim::MocoTropterSolver::get_exact_hessian_block_sparsity_mode ( ) const

inline

Get the value of the exact_hessian_block_sparsity_mode property.

◆ get_optim_jacobian_approximation()

const std::string& OpenSim::MocoTropterSolver::get_optim_jacobian_approximation ( ) const

inline

Get the value of the optim_jacobian_approximation property.

◆ get_optim_sparsity_detection()

const std::string& OpenSim::MocoTropterSolver::get_optim_sparsity_detection ( ) const

inline

Get the value of the optim_sparsity_detection property.

◆ getClassName()

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

inlinestatic

This returns "MocoTropterSolver".

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::MocoTropterSolver::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::MocoDirectCollocationSolver.

◆ getGuess()

const MocoTrajectory& OpenSim::MocoTropterSolver::getGuess ( ) const

Access the guess, loading it from the guess_file if necessary.

This throws an exception if you have not set a guess (or guess file). If you have not set a guess (or guess file), this returns an empty guess, and when solving, we will generate a guess using bounds.

◆ isAvailable()

static bool OpenSim::MocoTropterSolver::isAvailable ( )

static

Returns true if Moco was compiled with the Tropter library; returns false otherwise.

◆ printOptimizationSolverOptions()

static void OpenSim::MocoTropterSolver::printOptimizationSolverOptions ( std::string solver = "ipopt" )

static

Print the available options for the underlying optimization solver.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_exact_hessian_block_sparsity_mode()

void OpenSim::MocoTropterSolver::set_exact_hessian_block_sparsity_mode ( const std::string & value )

inline

Set the value of the exact_hessian_block_sparsity_mode property.

◆ set_optim_jacobian_approximation()

void OpenSim::MocoTropterSolver::set_optim_jacobian_approximation ( const std::string & value )

inline

Set the value of the optim_jacobian_approximation property.

◆ set_optim_sparsity_detection()

void OpenSim::MocoTropterSolver::set_optim_sparsity_detection ( const std::string & value )

inline

Set the value of the optim_sparsity_detection property.

◆ setGuess() [1/2]

void OpenSim::MocoTropterSolver::setGuess ( MocoTrajectory guess )

The number of time points in the trajectory does not need to match num_mesh_intervals; the trajectory will be interpolated to the correct size.

If you have updated the problem since the solver was initialized, you may need to invoke MocoSolver::resetProblem() for the provided guess to be recognized as compatible with the problem. This clears the guess_file, if one exists.

◆ setGuess() [2/2]

void OpenSim::MocoTropterSolver::setGuess ( const std::string & type )

inline

Use this convenience function if you want to choose the type of guess used, but do not want to modify it first.

◆ setGuessFile()

void OpenSim::MocoTropterSolver::setGuessFile ( const std::string & file )

This clears any previously-set guess, if any.

The file is not loaded until solving or if you call getGuess(). Set to an empty string to clear the guess file.

◆ solveImpl()

MocoSolution OpenSim::MocoTropterSolver::solveImpl ( ) const

overrideprotectedvirtual

This is the meat of a solver: solve the problem and return the solution.

Implements OpenSim::MocoSolver.

◆ upd_exact_hessian_block_sparsity_mode()

std::string& OpenSim::MocoTropterSolver::upd_exact_hessian_block_sparsity_mode ( )

inline

Get a writable reference to the exact_hessian_block_sparsity_mode property.

◆ upd_optim_jacobian_approximation()

std::string& OpenSim::MocoTropterSolver::upd_optim_jacobian_approximation ( )

inline

Get a writable reference to the optim_jacobian_approximation property.

◆ upd_optim_sparsity_detection()

std::string& OpenSim::MocoTropterSolver::upd_optim_sparsity_detection ( )

inline

Get a writable reference to the optim_sparsity_detection property.

OpenSim Property, Socket, Output, Input Documentation

◆ exact_hessian_block_sparsity_mode

std::string OpenSim::MocoTropterSolver::exact_hessian_block_sparsity_mode

"'dense' for dense blocks on the Hessian diagonal, or " "'sparse' for sparse blocks on the Hessian diagonal, detected from " "the " "optimal control problem. If using an 'exact' Hessian " "approximation, this " "property must be set. Note: this option only takes effect when " "using " "IPOPT."

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

See also: get_exact_hessian_block_sparsity_mode(), upd_exact_hessian_block_sparsity_mode(), set_exact_hessian_block_sparsity_mode()

◆ optim_jacobian_approximation

std::string OpenSim::MocoTropterSolver::optim_jacobian_approximation

"When using IPOPT, 'finite-difference-values' for Jacobian " "calculations " "by the solver, or 'exact' for Jacobian calculations by " "tropter (default)."

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

See also: get_optim_jacobian_approximation(), upd_optim_jacobian_approximation(), set_optim_jacobian_approximation()

◆ optim_sparsity_detection

std::string OpenSim::MocoTropterSolver::optim_sparsity_detection

"Trajectory used to detect sparsity pattern of Jacobian/Hessian; " "'random' (default) or 'initial-guess'"

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

See also: get_optim_sparsity_detection(), upd_optim_sparsity_detection(), set_optim_sparsity_detection()

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

OpenSim/Moco/MocoTropterSolver.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Static Public Member Functions

Protected Member Functions

Auto-generated functions

Nested Classes

Additional Inherited Members

Detailed Description

Supported optimization solvers

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ MocoTropterSolver()

Member Function Documentation

◆ assign()

◆ checkGuess()

◆ clearGuess()

◆ clone()

◆ createGuess()

◆ createTropterProblem()

◆ createTropterSolver()

◆ get_exact_hessian_block_sparsity_mode()

◆ get_optim_jacobian_approximation()

◆ get_optim_sparsity_detection()

◆ getClassName()

◆ getConcreteClassName()

◆ getGuess()

◆ isAvailable()

◆ printOptimizationSolverOptions()

◆ safeDownCast()

◆ set_exact_hessian_block_sparsity_mode()

◆ set_optim_jacobian_approximation()

◆ set_optim_sparsity_detection()

◆ setGuess() [1/2]

◆ setGuess() [2/2]

◆ setGuessFile()

◆ solveImpl()

◆ upd_exact_hessian_block_sparsity_mode()

◆ upd_optim_jacobian_approximation()

◆ upd_optim_sparsity_detection()

OpenSim Property, Socket, Output, Input Documentation

◆ exact_hessian_block_sparsity_mode

◆ optim_jacobian_approximation

◆ optim_sparsity_detection