This path constraint allows you to constrain a Model Output value to be between two time-based functions throughout the trajectory. More...

Inheritance diagram for OpenSim::MocoOutputBoundConstraint:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
std::string	output_path
	"The absolute path to the Output in the model to be used in this " "path constraint (i.e., '/path/to/component\|output_name')." More...

std::string	second_output_path
	"The absolute path to the optional second Output in the model to be used" " in this path constraint (i.e., '/path/to/component\|output_name')." More...

std::string	operation
	"The operation to combine " "the two outputs: 'addition', 'subtraction', 'multiplication', or " "'divison'." More...

int	exponent
	"The exponent applied to the output value in the constraint " "(default: 1)." More...

int	output_index
	"The index to the value to be constrained when a vector type " "Output is specified. For SpatialVec Outputs, indices 0, 1, " "and 2 refer to the rotational components and indices 3, 4, " "and 5 refer to the translational components. A value of -1 " "indicates to constrain the vector norm (default: -1)." More...

bool	equality_with_lower
	"The output must be equal to the lower bound; " "upper must be unspecified (default: false)." More...

Properties (optional)
Function	lower_bound
	"Lower bound as a function of time." More...

Function	upper_bound
	"Upper bound as a function of time." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoPathConstraint
MocoConstraintInfo	MocoConstraintInfo
	"The bounds and labels for this MocoPathConstraint." More...

Public Member Functions
	MocoOutputBoundConstraint ()

void	setOutputPath (std::string path)
	Set the absolute path to the Output in the model to be used in this path constraint. More...

const std::string &	getOutputPath () const

void	setSecondOutputPath (std::string path)
	Set the absolute path to the optional second Output in the model to be used in this path constraint. More...

const std::string &	getSecondOutputPath () const

void	setOperation (std::string operation)
	Set the operation that combines Output values where two Outputs are provided. More...

const std::string &	getOperation () const

void	setExponent (int exponent)
	Set the exponent applied to the output value in the constraint. More...

int	getExponent () const

void	setOutputIndex (int index)
	Set the index to the value to be constrained when a vector type Output is specified. More...

int	getOutputIndex () const

void	setLowerBound (const Function &f)

void	clearLowerBound ()

bool	hasLowerBound () const

const Function &	getLowerBound () const

void	setUpperBound (const Function &f)

void	clearUpperBound ()

bool	hasUpperBound () const

const Function &	getUpperBound () const

void	setEqualityWithLower (bool v)
	Should the Output be constrained to be equal to the lower bound (rather than an inequality constraint)? In this case, the upper bound must be unspecified. More...

bool	getEqualityWithLower () const

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

const MocoConstraintInfo &	getConstraintInfo () const

MocoConstraintInfo &	updConstraintInfo ()

void	setConstraintInfo (const MocoConstraintInfo &cInfo)

int	getPathConstraintIndex () const
	For use by solvers. More...

void	calcPathConstraintErrors (const SimTK::State &state, SimTK::Vector &errors) const
	Calculate errors in the path constraint equations. More...

void	calcPathConstraintErrorsView (const SimTK::State &state, SimTK::Vector &errors) const
	Calculate errors in the path constraint equations. More...

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...

void	initializeOnModel (const Model &model, const MocoProblemInfo &, const int &pathConstraintIndex) const
	Perform error checks on user input for this constraint, and cache quantities needed when computing the constraint errors. More...

void	printDescription () const
	Print the description for this path constraint. 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 MocoOutputBoundConstraint	Self
	This typedef might be useful within the member functions of this class. More...

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

Public Types inherited from OpenSim::MocoPathConstraint
typedef MocoPathConstraint	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
void	initializeOnModelImpl (const Model &, const MocoProblemInfo &) const override
	Perform any caching. More...

void	calcPathConstraintErrorsImpl (const SimTK::State &, SimTK::Vector &) const override

Protected Member Functions inherited from OpenSim::MocoPathConstraint
void	setNumEquations (int numEqs) const
	Set the number of scalar equations for this MocoPathConstraint. More...

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

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

const MocoConstraintInfo &	get_MocoConstraintInfo () const
	Get the value of the MocoConstraintInfo property. More...

MocoConstraintInfo &	upd_MocoConstraintInfo ()
	Get a writable reference to the MocoConstraintInfo property. More...

void	set_MocoConstraintInfo (const MocoConstraintInfo &value)
	Set the value of the MocoConstraintInfo property. 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 MocoOutputBoundConstraint *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object. More...

#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>. More...

#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object. More...

Detailed Description

This path constraint allows you to constrain a Model Output value to be between two time-based functions throughout the trajectory.

It is possible to constrain the Output to match the value from a provided function; see the 'equality_with_lower' property. You can also combine two Outputs in a constraint by supplying a second output path and an operation to combine them. The operations are addition, subtraction, multiplication, and division. The first Output is always on the left hand side of the operation and the second Output on the right hand side. The two Outputs can be different quantities, but they must have the same type.

Outputs of type double, SimTK::Vec3, and SimTK::SpatialVec are supported. When using SimTK::Vec3 or SimTK::SpatialVec types, 'setOutputIndex()' may be used to select a specific element of the Output vector. If no index is specified, the norm of the vector will be used when calling 'calcOutputValue()'.

If using two Outputs, the Output index will be used to select the same element from both Outputs before the operation. If two Outputs of type SimTK::Vec3 or SimTK::SpatialVec are provided and no index is specified, the operation will be applied elementwise before computing the norm. Elementwise multiplication and division operations are not supported when using two SimTK::SpatialVec Outputs (i.e., an index must be provided).

If a bound function is a GCVSpline, we ensure that the spline covers the entire possible time range in the problem (using the problem's time bounds). We do not perform such a check for other types of functions.

Note: If you omit the lower and upper bounds, then this class will not constrain any Outputs, even if you have provided output paths.

Member Typedef Documentation

◆ Self

typedef MocoOutputBoundConstraint OpenSim::MocoOutputBoundConstraint::Self

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

This is generated by the OpenSim_DECLARE_*_OBJECT macros.

◆ Super

typedef MocoPathConstraint OpenSim::MocoOutputBoundConstraint::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

◆ MocoOutputBoundConstraint()

OpenSim::MocoOutputBoundConstraint::MocoOutputBoundConstraint ( )

inline

Member Function Documentation

◆ assign()

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

inlineoverride

This allows copy assignment in the Java GUI.

Exceptions

Exception if the argument is not of type MocoOutputBoundConstraint.

◆ calcPathConstraintErrorsImpl()

void OpenSim::MocoOutputBoundConstraint::calcPathConstraintErrorsImpl	(	const SimTK::State &	state,
		SimTK::Vector &	errors
	)		const

overrideprotectedvirtual

Precondition(s):: The state is realized to SimTK::Stage::Position. If you need access to the controls, you must realize to Velocity:
getModel().realizeVelocity(state);

Implements OpenSim::MocoPathConstraint.

◆ clearLowerBound()

void OpenSim::MocoOutputBoundConstraint::clearLowerBound ( )

inline

◆ clearUpperBound()

void OpenSim::MocoOutputBoundConstraint::clearUpperBound ( )

inline

◆ clone()

MocoOutputBoundConstraint* OpenSim::MocoOutputBoundConstraint::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::MocoPathConstraint.

◆ getClassName()

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

inlinestatic

This returns "MocoOutputBoundConstraint".

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::MocoOutputBoundConstraint::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::MocoPathConstraint.

◆ getEqualityWithLower()

bool OpenSim::MocoOutputBoundConstraint::getEqualityWithLower ( ) const

inline

◆ getExponent()

int OpenSim::MocoOutputBoundConstraint::getExponent ( ) const

inline

◆ getLowerBound()

const Function& OpenSim::MocoOutputBoundConstraint::getLowerBound ( ) const

inline

◆ getOperation()

const std::string& OpenSim::MocoOutputBoundConstraint::getOperation ( ) const

inline

◆ getOutputIndex()

int OpenSim::MocoOutputBoundConstraint::getOutputIndex ( ) const

inline

◆ getOutputPath()

const std::string& OpenSim::MocoOutputBoundConstraint::getOutputPath ( ) const

inline

◆ getSecondOutputPath()

const std::string& OpenSim::MocoOutputBoundConstraint::getSecondOutputPath ( ) const

inline

◆ getUpperBound()

const Function& OpenSim::MocoOutputBoundConstraint::getUpperBound ( ) const

inline

◆ hasLowerBound()

bool OpenSim::MocoOutputBoundConstraint::hasLowerBound ( ) const

inline

◆ hasUpperBound()

bool OpenSim::MocoOutputBoundConstraint::hasUpperBound ( ) const

inline

◆ initializeOnModelImpl()

void OpenSim::MocoOutputBoundConstraint::initializeOnModelImpl	(	const Model &	,
		const MocoProblemInfo &
	)		const

overrideprotectedvirtual

Perform any caching.

The number of scalar constraint equations this MocoPathConstraint implements must be defined here (see setNumEquations() below).

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, in addition to the checks provided in initialize().

Implements OpenSim::MocoPathConstraint.

◆ safeDownCast()

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

inlinestatic

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

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

◆ setEqualityWithLower()

void OpenSim::MocoOutputBoundConstraint::setEqualityWithLower ( bool v )

inline

Should the Output be constrained to be equal to the lower bound (rather than an inequality constraint)? In this case, the upper bound must be unspecified.

◆ setExponent()

void OpenSim::MocoOutputBoundConstraint::setExponent ( int exponent )

inline

Set the exponent applied to the output value in the constraint.

This exponent is applied when minimizing the norm of a vector type output.

◆ setLowerBound()

void OpenSim::MocoOutputBoundConstraint::setLowerBound ( const Function & f )

inline

◆ setOperation()

void OpenSim::MocoOutputBoundConstraint::setOperation ( std::string operation )

inline

Set the operation that combines Output values where two Outputs are provided.

The supported operations include "addition", "subtraction", "multiplication", or "division". If providing an operation, the user must also provide a second Output path.

◆ setOutputIndex()

void OpenSim::MocoOutputBoundConstraint::setOutputIndex ( int index )

inline

Set the index to the value to be constrained when a vector type Output is specified.

For SpatialVec Outputs, indices 0, 1, and 2 refer to the rotational components and indices 3, 4, and 5 refer to the translational components. A value of -1 indicates to constrain the vector norm (which is the default setting). If an index for a type double Output is provided, an exception is thrown.

◆ setOutputPath()

void OpenSim::MocoOutputBoundConstraint::setOutputPath ( std::string path )

inline

Set the absolute path to the Output in the model to be used in this path constraint.

The format is "/path/to/component|output_name".

◆ setSecondOutputPath()

void OpenSim::MocoOutputBoundConstraint::setSecondOutputPath ( std::string path )

inline

Set the absolute path to the optional second Output in the model to be used in this path constraint.

The format is "/path/to/component|output_name". This Output should have the same type as the first Output. If providing a second Output, the user must also provide an operation via setOperation().

◆ setUpperBound()

void OpenSim::MocoOutputBoundConstraint::setUpperBound ( const Function & f )

inline

OpenSim Property, Socket, Output, Input Documentation

◆ equality_with_lower

bool OpenSim::MocoOutputBoundConstraint::equality_with_lower

"The output must be equal to the lower bound; " "upper must be unspecified (default: false)."

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

See also: get_equality_with_lower(), upd_equality_with_lower(), set_equality_with_lower()

◆ exponent

int OpenSim::MocoOutputBoundConstraint::exponent

"The exponent applied to the output value in the constraint " "(default: 1)."

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

See also: get_exponent(), upd_exponent(), set_exponent()

◆ lower_bound

Function OpenSim::MocoOutputBoundConstraint::lower_bound

"Lower bound as a function of time."

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

See also: get_lower_bound(), upd_lower_bound(), set_lower_bound()

◆ operation

std::string OpenSim::MocoOutputBoundConstraint::operation

"The operation to combine " "the two outputs: 'addition', 'subtraction', 'multiplication', or " "'divison'."

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

See also: get_operation(), upd_operation(), set_operation()

◆ output_index

int OpenSim::MocoOutputBoundConstraint::output_index

"The index to the value to be constrained when a vector type " "Output is specified. For SpatialVec Outputs, indices 0, 1, " "and 2 refer to the rotational components and indices 3, 4, " "and 5 refer to the translational components. A value of -1 " "indicates to constrain the vector norm (default: -1)."

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

See also: get_output_index(), upd_output_index(), set_output_index()

◆ output_path

std::string OpenSim::MocoOutputBoundConstraint::output_path

"The absolute path to the Output in the model to be used in this " "path constraint (i.e., '/path/to/component|output_name')."

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

See also: get_output_path(), upd_output_path(), set_output_path()

◆ second_output_path

std::string OpenSim::MocoOutputBoundConstraint::second_output_path

"The absolute path to the optional second Output in the model to be used" " in this path constraint (i.e., '/path/to/component|output_name')."

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

See also: get_second_output_path(), upd_second_output_path(), set_second_output_path()

◆ upper_bound

Function OpenSim::MocoOutputBoundConstraint::upper_bound

"Upper bound as a function of time."

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

See also: get_upper_bound(), upd_upper_bound(), set_upper_bound()

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

OpenSim/Moco/MocoOutputBoundConstraint.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Public Types

Protected Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Self

◆ Super

Constructor & Destructor Documentation

◆ MocoOutputBoundConstraint()

Member Function Documentation

◆ assign()

◆ calcPathConstraintErrorsImpl()

◆ clearLowerBound()

◆ clearUpperBound()

◆ clone()

◆ getClassName()

◆ getConcreteClassName()

◆ getEqualityWithLower()

◆ getExponent()

◆ getLowerBound()

◆ getOperation()

◆ getOutputIndex()

◆ getOutputPath()

◆ getSecondOutputPath()

◆ getUpperBound()

◆ hasLowerBound()

◆ hasUpperBound()

◆ initializeOnModelImpl()

◆ safeDownCast()

◆ setEqualityWithLower()

◆ setExponent()

◆ setLowerBound()

◆ setOperation()

◆ setOutputIndex()

◆ setOutputPath()

◆ setSecondOutputPath()

◆ setUpperBound()

OpenSim Property, Socket, Output, Input Documentation

◆ equality_with_lower

◆ exponent

◆ lower_bound

◆ operation

◆ output_index

◆ output_path

◆ second_output_path

◆ upper_bound