A goal is a term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds. More...

Inheritance diagram for OpenSim::MocoGoal:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
bool	enabled
	"This bool indicates whether this goal is enabled." More...

double	weight
	"In cost mode, the goal is multiplied by this weight (default: " "1)." More...

bool	divide_by_displacement
	"Divide by the model's displacement over the phase (default: " "false)" More...

bool	divide_by_duration
	"Divide by the phase duration (default: false)" More...

bool	divide_by_mass
	"Divide by the model's mass (default: false)" More...

Properties (optional)
std::string	mode
	"'cost' to enforce as a penalty, 'endpoint_constraint' to enforce " "as a constraint." More...

Properties (unnamed)
MocoConstraintInfo	MocoConstraintInfo
	"The bounds and labels for this MocoGoal, if applied as an " "endpoint constraint." More...

Properties (list)
MocoScaleFactor	scale_factors
	"Scale factors added by derived MocoGoal classes that are optimized " "via a MocoParameter. A copy of each MocoScaleFactor component is " "added to the model internal to MocoProblem, which makes the scale " "factors values available when computing the cost function for each " "MocoGoal." More...

Public Member Functions
	MocoGoal ()

	MocoGoal (std::string name)

	MocoGoal (std::string name, double weight)

void	setEnabled (bool enabled)
	Set whether this goal is used in the problem. More...

bool	getEnabled () const

void	setWeight (double weight)
	In cost mode, the goal is multiplied by this weight. More...

double	getWeight () const

void	setMode (std::string mode)
	Set the mode property to either 'cost' or 'endpoint_constraint'. More...

std::string	getModeAsString () const
	This returns the default mode of the goal, unless the user overrode the default using setMode(). More...

Mode	getMode () const

bool	getModeIsCost () const

bool	getModeIsEndpointConstraint () const

Mode	getDefaultMode () const
	Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. More...

bool	getSupportsEndpointConstraint () const
	Can this goal be used in endpoint constraint mode? More...

const MocoConstraintInfo &	getConstraintInfo () const
	Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More...

MocoConstraintInfo &	updConstraintInfo ()

void	setEndpointConstraintBounds (const std::vector< MocoBounds > &bounds)
	Set the vector of endpoint constraint bounds for this MocoGoal. More...

std::vector< MocoBounds >	getEndpointConstraintBounds () const
	Get the vector of the endpoint constraint bounds for this MocoGoal. More...

int	getNumOutputs () const
	Get the length of the return value of calcGoal(). More...

int	getNumIntegrals () const
	Get the number of integrals required by this cost. More...

SimTK::Stage	getStageDependency () const
	Obtain the stage that this goal depends on. More...

SimTK::Real	calcIntegrand (const IntegrandInput &input) const
	Calculate the integrand that should be integrated and passed to calcCost(). More...

void	calcGoal (const GoalInput &input, SimTK::Vector &goal) const
	In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost. More...

void	initializeOnModel (const Model &model) const
	Perform error checks on user input for this goal, and cache quantities needed when computing the goal value. More...

std::vector< MocoScaleFactor >	getScaleFactors () const
	Get a vector of the MocoScaleFactors added to this MocoGoal. More...

void	printDescription () const
	Print the name type and mode of this goal. More...

void	setDivideByDisplacement (bool tf)
	Set if the goal should be divided by the displacement of the system's center of mass over the phase. More...

bool	getDivideByDisplacement () const

void	setDivideByDuration (bool tf)
	Set if the goal should be divided by the phase duration. More...

bool	getDivideByDuration () const

void	setDivideByMass (bool tf)
	Set if the goal should be divided by the model's mass. More...

bool	getDivideByMass () const

std::unordered_map< std::string, int >	getInputControlIndexMap () const
	Get a map between Input control names and their indexes in the Input controls vector. More...

const SimTK::Vector &	getInputControls (const SimTK::State &state) const
	Get the vector of all InputController controls. 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
enum	Mode { Mode::Cost, Mode::EndpointConstraint }

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

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

Protected Member Functions
virtual void	initializeOnModelImpl (const Model &) const =0
	Perform any caching before the problem is solved. More...

void	setRequirements (int numIntegrals, int numOutputs, SimTK::Stage stageDependency=SimTK::Stage::Acceleration) const
	Set the number of integral terms required by this goal and the length of the vector passed into calcGoalImpl(). More...

virtual Mode	getDefaultModeImpl () const

virtual bool	getSupportsEndpointConstraintImpl () const

virtual void	calcIntegrandImpl (const IntegrandInput &input, SimTK::Real &integrand) const
	You may need to realize the state to the stage required for your calculations. More...

virtual void	calcGoalImpl (const GoalInput &input, SimTK::Vector &goal) const =0
	You may need to realize the state to the stage required for your calculations. More...

virtual void	printDescriptionImpl () const
	Print a more detailed description unique to each goal. More...

const Model &	getModel () const
	For use within virtual function implementations. More...

double	calcSystemDisplacement (const GoalInput &input) const
	Calculate the displacement of the system's center of mass over the phase. More...

double	calcDuration (const GoalInput &input) const
	Calculate the duration of the phase. More...

double	calcSystemMass (const GoalInput &input) const
	Calculate the mass of the system. More...

void	appendScaleFactor (const MocoScaleFactor &scaleFactor)
	Append a MocoScaleFactor to this MocoGoal. More...

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 *)
	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 MocoGoal *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

MocoGoal *	clone () const override=0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override=0
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

Nested Classes
struct	GoalInput

struct	IntegrandInput

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...

template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
	Same as the other signature but the class name and property name are provided as two separate strings. More...

static Object *	makeObjectFromFile (const std::string &fileName)
	Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...

static void	setDebugLevel (int newLevel)
	Set the amount of logging output. More...

static int	getDebugLevel ()
	Get the current setting of debug level. More...

static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

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

Protected 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

A goal is a term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds.

Goals depend on the phase's initial and final states and controls, and optionally on the integral of a quantity over the phase. Not all goals support endpoint constraint mode; see getSupportsEndpointConstraint(). If a goal does support endpoint constraint mode, then the default mode is available via getMode(). Use endpoint constraint mode if you require the goal to be met strictly and do not want to allow a trade-off between this goal and other goals. The calculation of the goal may differ between cost and endpoint constraint modes; cost mode may require that outputs are squared, for example.

Stage dependency

Some goals require less of IntegrandInput and GoalInput than others. To ensure goals are computed efficiently, goals can specify a stage dependency, which tells solvers what to do when preparing IntegrandInput and GoalInput. Here are the expectations for each SimTK::Stage:

SimTK::Stage::Topology: the time field of IntegrandInput and initial_time and final_time fields of GoalInput are available.
SimTK::Stage::Model: controls fields of IntegrandInput and GoalInput are available.
SimTK::Stage::Instance: MocoParameters are applied to the model.
SimTK::Stage::Time: state variables (SimTK::State::getY(), etc.) are available, and SimTK::Stage::getTime() is updated.
SimTK::Stage::Position: state, initial_state, and final_state can be used to compute position-dependent quantities.
SimTK::Stage::Velocity: state, initial_state, and final_state can be used to compute velocity-dependent quantities.
SimTK::Stage::Dynamics: state, initial_state, and final_state can be used to compute force-dependent quantities.
SimTK::Stage::Acceleration: state, initial_state, and final_state can be used to compute acceleration-dependent quantities, such as body accelerations and joint reactions.

Scale factors

Goals may include an option to add scale factors to the MocoProblem using appendScaleFactor(), which takes a MocoScaleFactor object for its argument. A copy of this component is added to the Model internal to MocoProblemRep and its property value is optimized via a MocoParameter. Scale factor usage is specific to each MocoGoal (if used at all).

For developers: Every time the problem is solved, a copy of this goal is used. An individual instance of a goal is only ever used in a single problem. Therefore, there is no need to clear cache variables that you create in initializeImpl(). Also, information stored in this goal does not persist across multiple solves.

Examples:: exampleSlidingMassAdvanced.cpp.

Member Typedef Documentation

◆ Self

typedef MocoGoal OpenSim::MocoGoal::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef Object OpenSim::MocoGoal::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.

Member Enumeration Documentation

◆ Mode

enum OpenSim::MocoGoal::Mode

strong

Enumerator
Cost
EndpointConstraint

Constructor & Destructor Documentation

◆ MocoGoal() [1/3]

OpenSim::MocoGoal::MocoGoal ( )

◆ MocoGoal() [2/3]

OpenSim::MocoGoal::MocoGoal ( std::string name )

◆ MocoGoal() [3/3]

OpenSim::MocoGoal::MocoGoal	(	std::string	name,
		double	weight
	)

Member Function Documentation

◆ appendScaleFactor()

void OpenSim::MocoGoal::appendScaleFactor ( const MocoScaleFactor & scaleFactor )

inlineprotected

Append a MocoScaleFactor to this MocoGoal.

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type MocoGoal.

◆ calcDuration()

double OpenSim::MocoGoal::calcDuration ( const GoalInput & input ) const

protected

Calculate the duration of the phase.

◆ calcGoal()

void OpenSim::MocoGoal::calcGoal	(	const GoalInput &	input,
		SimTK::Vector &	goal
	)		const

inline

In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost.

In endpoint constraint mode, each element of the vector is a different scalar equation to enforce as a constraint. The length of the returned vector is getNumOutputs().

Precondition(s):: initializeOnModel() has been invoked.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost().

◆ calcGoalImpl()

virtual void OpenSim::MocoGoal::calcGoalImpl	(	const GoalInput &	input,
		SimTK::Vector &	goal
	)		const

protectedpure virtual

You may need to realize the state to the stage required for your calculations.

Do NOT realize to a stage higher than the goal's stage dependency; doing so will cause an exception to be thrown. The Lagrange multipliers for kinematic constraints are not available.

◆ calcIntegrand()

SimTK::Real OpenSim::MocoGoal::calcIntegrand ( const IntegrandInput & input ) const

inline

Calculate the integrand that should be integrated and passed to calcCost().

If getNumIntegrals() is not zero, this must be implemented.

Precondition(s):: initializeOnModel() has been invoked.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost_integrand().

◆ calcIntegrandImpl()

void OpenSim::MocoGoal::calcIntegrandImpl	(	const IntegrandInput &	input,
		SimTK::Real &	integrand
	)		const

inlineprotectedvirtual

You may need to realize the state to the stage required for your calculations.

Do NOT realize to a stage higher than the goal's stage dependency; doing so will cause an exception to be thrown. The Lagrange multipliers for kinematic constraints are not available.

Reimplemented in OpenSim::MocoControlTrackingGoal, OpenSim::MocoStateTrackingGoal, OpenSim::MocoOrientationTrackingGoal, OpenSim::MocoGeneralizedForceTrackingGoal, OpenSim::MocoTranslationTrackingGoal, OpenSim::MocoControlGoal, OpenSim::MocoMarkerTrackingGoal, OpenSim::MocoJointReactionGoal, and OpenSim::MocoSumSquaredStateGoal.

◆ calcSystemDisplacement()

double OpenSim::MocoGoal::calcSystemDisplacement ( const GoalInput & input ) const

protected

Calculate the displacement of the system's center of mass over the phase.

Referenced by OpenSim::MocoAverageSpeedGoal::getDefaultModeImpl().

◆ calcSystemMass()

double OpenSim::MocoGoal::calcSystemMass ( const GoalInput & input ) const

protected

Calculate the mass of the system.

◆ clone()

MocoGoal* OpenSim::MocoGoal::clone ( ) const

overridepure virtual

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::Object.

◆ getClassName()

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

inlinestatic

This returns "MocoGoal".

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::MocoGoal::getConcreteClassName ( ) const

overridepure virtual

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::Object.

◆ getConstraintInfo()

const MocoConstraintInfo& OpenSim::MocoGoal::getConstraintInfo ( ) const

inline

Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode.

This info is ignored if getSupportsEndpointConstraint() is false.

◆ getDefaultMode()

Mode OpenSim::MocoGoal::getDefaultMode ( ) const

inline

Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint.

◆ getDefaultModeImpl()

virtual Mode OpenSim::MocoGoal::getDefaultModeImpl ( ) const

inlineprotectedvirtual

Reimplemented in OpenSim::MocoAverageSpeedGoal, OpenSim::MocoOutputPeriodicityGoal, OpenSim::MocoFinalOutputGoal, OpenSim::MocoInitialOutputGoal, OpenSim::MocoOutputExtremumGoal, OpenSim::MocoOutputGoal, OpenSim::MocoPeriodicityGoal, OpenSim::MocoInitialForceEquilibriumDGFGoal, OpenSim::MocoInitialVelocityEquilibriumDGFGoal, and OpenSim::MocoInitialActivationGoal.

◆ getDivideByDisplacement()

bool OpenSim::MocoGoal::getDivideByDisplacement ( ) const

inline

◆ getDivideByDuration()

bool OpenSim::MocoGoal::getDivideByDuration ( ) const

inline

◆ getDivideByMass()

bool OpenSim::MocoGoal::getDivideByMass ( ) const

inline

◆ getEnabled()

bool OpenSim::MocoGoal::getEnabled ( ) const

inline

◆ getEndpointConstraintBounds()

std::vector<MocoBounds> OpenSim::MocoGoal::getEndpointConstraintBounds ( ) const

inline

Get the vector of the endpoint constraint bounds for this MocoGoal.

Note: the return value is constructed fresh on every call from the internal property. Avoid repeated calls to this function.

◆ getInputControlIndexMap()

std::unordered_map<std::string, int> OpenSim::MocoGoal::getInputControlIndexMap ( ) const

Get a map between Input control names and their indexes in the Input controls vector.

This map will only include Input controls associated with InputControllers added by the user (i.e., not ActuatorInputController).

Precondition: initializeOnModel() has been invoked and a ControlDistributor is available in the model.

◆ getInputControls()

const SimTK::Vector& OpenSim::MocoGoal::getInputControls ( const SimTK::State & state ) const

Get the vector of all InputController controls.

This includes both controls from InputControllers added by the user and controls from the ActuatorInputController added by MocoProblemRep.

Precondition: initializeOnModel() has been invoked and a ControlDistributor is available in the model.

◆ getMode()

Mode OpenSim::MocoGoal::getMode ( ) const

inline

◆ getModeAsString()

std::string OpenSim::MocoGoal::getModeAsString ( ) const

inline

This returns the default mode of the goal, unless the user overrode the default using setMode().

◆ getModeIsCost()

bool OpenSim::MocoGoal::getModeIsCost ( ) const

inline

◆ getModeIsEndpointConstraint()

bool OpenSim::MocoGoal::getModeIsEndpointConstraint ( ) const

inline

◆ getModel()

const Model& OpenSim::MocoGoal::getModel ( ) const

inlineprotected

For use within virtual function implementations.

◆ getNumIntegrals()

int OpenSim::MocoGoal::getNumIntegrals ( ) const

inline

Get the number of integrals required by this cost.

This returns either 0 (for a strictly-endpoint cost) or 1.

Precondition(s):: initializeOnModel() has been invoked.

◆ getNumOutputs()

int OpenSim::MocoGoal::getNumOutputs ( ) const

inline

Get the length of the return value of calcGoal().

◆ getScaleFactors()

std::vector<MocoScaleFactor> OpenSim::MocoGoal::getScaleFactors ( ) const

inline

Get a vector of the MocoScaleFactors added to this MocoGoal.

Note: the return value is constructed fresh on every call from the internal property. Avoid repeated calls to this function.

◆ getStageDependency()

SimTK::Stage OpenSim::MocoGoal::getStageDependency ( ) const

inline

Obtain the stage that this goal depends on.

Solvers can use this to more efficiently decide how to set the IntegrandInput and GoalInput. See the MocoGoal class description for details about the different stages. The stage dependency is the same for both modes of the goal (cost and endpoint constraint).

◆ getSupportsEndpointConstraint()

bool OpenSim::MocoGoal::getSupportsEndpointConstraint ( ) const

inline

Can this goal be used in endpoint constraint mode?

◆ getSupportsEndpointConstraintImpl()

virtual bool OpenSim::MocoGoal::getSupportsEndpointConstraintImpl ( ) const

inlineprotectedvirtual

Reimplemented in OpenSim::MocoAverageSpeedGoal, OpenSim::MocoOutputPeriodicityGoal, OpenSim::MocoFinalOutputGoal, OpenSim::MocoInitialOutputGoal, OpenSim::MocoOutputExtremumGoal, OpenSim::MocoOutputGoal, OpenSim::MocoPeriodicityGoal, OpenSim::MocoInitialForceEquilibriumDGFGoal, OpenSim::MocoInitialVelocityEquilibriumDGFGoal, and OpenSim::MocoInitialActivationGoal.

◆ getWeight()

double OpenSim::MocoGoal::getWeight ( ) const

inline

◆ initializeOnModel()

void OpenSim::MocoGoal::initializeOnModel ( const Model & model ) const

inline

Perform error checks on user input for this goal, and cache quantities needed when computing the goal value.

This function must be invoked before invoking calcIntegrand() or calcGoal().

Note: If the ControlDistributor at path "/control_distributor" added by MocoProblemRep is available in the model, this function will store a reference to it, after which getInputControlIndexMap() and getInputControls() are valid.

◆ initializeOnModelImpl()

virtual void OpenSim::MocoGoal::initializeOnModelImpl ( const Model & ) const

protectedpure virtual

Perform any caching before the problem is solved.

You must override this function and invoke setRequirements().

Precondition(s):: The model is initialized (initSystem()) and getModel() is available. The passed-in model is equivalent to getModel(). Use this opportunity to check for errors in user input.

◆ printDescription()

void OpenSim::MocoGoal::printDescription ( ) const

Print the name type and mode of this goal.

In cost mode, this prints the weight.

◆ printDescriptionImpl()

virtual void OpenSim::MocoGoal::printDescriptionImpl ( ) const

inlineprotectedvirtual

Print a more detailed description unique to each goal.

◆ safeDownCast()

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

inlinestatic

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

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

◆ setDivideByDisplacement()

void OpenSim::MocoGoal::setDivideByDisplacement ( bool tf )

inline

Set if the goal should be divided by the displacement of the system's center of mass over the phase.

Note: Increases the stage dependency of this goal to SimTK::Stage::Position, if it is not already equal or higher.

◆ setDivideByDuration()

void OpenSim::MocoGoal::setDivideByDuration ( bool tf )

inline

Set if the goal should be divided by the phase duration.

Note: Increases the stage dependency of this goal to SimTK::Stage::Topology, if it is not already equal or higher

◆ setDivideByMass()

void OpenSim::MocoGoal::setDivideByMass ( bool tf )

inline

Set if the goal should be divided by the model's mass.

Note: Increases the stage dependency of this goal to SimTK::Stage::Instance, if it is not already equal or higher.

◆ setEnabled()

void OpenSim::MocoGoal::setEnabled ( bool enabled )

inline

Set whether this goal is used in the problem.

◆ setEndpointConstraintBounds()

void OpenSim::MocoGoal::setEndpointConstraintBounds ( const std::vector< MocoBounds > & bounds )

inline

Set the vector of endpoint constraint bounds for this MocoGoal.

This vector must have length equal to the number of outputs for this goal, otherwise an exception is thrown. This info is ignored if getSupportsEndpointConstraint() is false.

◆ setMode()

void OpenSim::MocoGoal::setMode ( std::string mode )

inline

Set the mode property to either 'cost' or 'endpoint_constraint'.

This should be set before initializing. Setting to 'endpoint_constraint' if getSupportsEndpointConstraint() is false causes an exception during initializing.

◆ setRequirements()

void OpenSim::MocoGoal::setRequirements	(	int	numIntegrals,
		int	numOutputs,
		SimTK::Stage	stageDependency = `SimTK::Stage::Acceleration`
	)		const

inlineprotected

Set the number of integral terms required by this goal and the length of the vector passed into calcGoalImpl().

This must be set within initializeOnModelImpl(), otherwise an exception is thrown during initialization. The number of integrals must be either 0 or 1. The stageDependency can be set to lower stages to avoid unnecessary calculations. For example, if the goal does not depend on forces, then the solver does not need to prepare the IntegrandInput and GoalInput for force calculations. See the MocoGoal class description for help with choosing the stage dependency. If you are not sure what your stageDependency is, leave it as SimTK::Stage::Acceleration to be safe.

You must still realize to the appropriate stage within the integrand and goal functions. Setting the stageDependency to stage X does not mean that the SimTK::State is realized to stage X as a precondition of calcIntegrandImpl() and calcGoalImpl().

If solving a MocoProblem with a model user-added Controllers, the solvers will internally realize the SimTK::State to SimTK::Stage::Velocity in order to compute the control values from the model. However, you do not need to raise the stageDependency to SimTK::Stage::Velocity to access the control values in goal.

◆ setWeight()

void OpenSim::MocoGoal::setWeight ( double weight )

inline

In cost mode, the goal is multiplied by this weight.

Use the weight to control the relative importance of terms in the cost functional. The weight is ignored (e.g., set to 1) in endpoint constraint mode.

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleMocoInverse.cpp, and exampleMocoTrack.cpp.

◆ updConstraintInfo()

MocoConstraintInfo& OpenSim::MocoGoal::updConstraintInfo ( )

inline

OpenSim Property, Socket, Output, Input Documentation

◆ divide_by_displacement

bool OpenSim::MocoGoal::divide_by_displacement

"Divide by the model's displacement over the phase (default: " "false)"

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

See also: get_divide_by_displacement(), upd_divide_by_displacement(), set_divide_by_displacement()

◆ divide_by_duration

bool OpenSim::MocoGoal::divide_by_duration

"Divide by the phase duration (default: false)"

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

See also: get_divide_by_duration(), upd_divide_by_duration(), set_divide_by_duration()

◆ divide_by_mass

bool OpenSim::MocoGoal::divide_by_mass

"Divide by the model's mass (default: false)"

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

See also: get_divide_by_mass(), upd_divide_by_mass(), set_divide_by_mass()

◆ enabled

bool OpenSim::MocoGoal::enabled

"This bool indicates whether this goal is enabled."

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

See also: get_enabled(), upd_enabled(), set_enabled()

◆ MocoConstraintInfo

MocoConstraintInfo OpenSim::MocoGoal::MocoConstraintInfo

"The bounds and labels for this MocoGoal, if applied as an " "endpoint constraint."

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

See also: get_MocoConstraintInfo(), upd_MocoConstraintInfo(), set_MocoConstraintInfo()

◆ mode

std::string OpenSim::MocoGoal::mode

"'cost' to enforce as a penalty, 'endpoint_constraint' to enforce " "as a constraint."

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

See also: get_mode(), upd_mode(), set_mode()

◆ scale_factors

MocoScaleFactor OpenSim::MocoGoal::scale_factors

"Scale factors added by derived MocoGoal classes that are optimized " "via a MocoParameter. A copy of each MocoScaleFactor component is " "added to the model internal to MocoProblem, which makes the scale " "factors values available when computing the cost function for each " "MocoGoal."

This property appears in XML files under the tag <scale_factors>. 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_scale_factors(), upd_scale_factors(), set_scale_factors(), append_scale_factors()

◆ weight

double OpenSim::MocoGoal::weight

"In cost mode, the goal is multiplied by this weight (default: " "1)."

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

See also: get_weight(), upd_weight(), set_weight()

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

OpenSim/Moco/MocoGoal/MocoGoal.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Auto-generated functions

Nested Classes

Additional Inherited Members

Detailed Description

Stage dependency

Scale factors

Member Typedef Documentation

◆ Self

◆ Super

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ MocoGoal() [1/3]

◆ MocoGoal() [2/3]

◆ MocoGoal() [3/3]

Member Function Documentation

◆ appendScaleFactor()

◆ assign()

◆ calcDuration()

◆ calcGoal()

◆ calcGoalImpl()

◆ calcIntegrand()

◆ calcIntegrandImpl()

◆ calcSystemDisplacement()

◆ calcSystemMass()

◆ clone()

◆ getClassName()

◆ getConcreteClassName()

◆ getConstraintInfo()

◆ getDefaultMode()

◆ getDefaultModeImpl()

◆ getDivideByDisplacement()

◆ getDivideByDuration()

◆ getDivideByMass()

◆ getEnabled()

◆ getEndpointConstraintBounds()

◆ getInputControlIndexMap()

◆ getInputControls()

◆ getMode()

◆ getModeAsString()

◆ getModeIsCost()

◆ getModeIsEndpointConstraint()

◆ getModel()

◆ getNumIntegrals()

◆ getNumOutputs()

◆ getScaleFactors()

◆ getStageDependency()

◆ getSupportsEndpointConstraint()

◆ getSupportsEndpointConstraintImpl()

◆ getWeight()

◆ initializeOnModel()

◆ initializeOnModelImpl()

◆ printDescription()

◆ printDescriptionImpl()

◆ safeDownCast()

◆ setDivideByDisplacement()

◆ setDivideByDuration()

◆ setDivideByMass()

◆ setEnabled()

◆ setEndpointConstraintBounds()

◆ setMode()

◆ setRequirements()

◆ setWeight()

◆ updConstraintInfo()

OpenSim Property, Socket, Output, Input Documentation

◆ divide_by_displacement

◆ divide_by_duration

◆ divide_by_mass

◆ enabled

◆ MocoConstraintInfo

◆ mode

◆ scale_factors

◆ weight