Return type for MocoStudy::solve(). More...

Inheritance diagram for OpenSim::MocoSolution:

Public Member Functions
virtual MocoSolution *	clone () const override
	Returns a dynamically-allocated copy of this solution. More...

bool	success () const
	Was the problem solved successfully? If not, then you cannot access the solution until you call unlock(). More...

double	getObjective () const

	operator bool () const
	Same as success(). More...

const std::string &	getStatus () const
	Obtain a solver-dependent string describing the return status of the optimization. More...

int	getNumIterations () const
	Number of solver iterations at which this solution was obtained (-1 if not set). More...

double	getSolverDuration () const
	Get the amount of time (clock time, not CPU time) spent within solve(). More...

Breakdown of objective
Some solvers provide a breakdown of the terms in the objective. Use these functions to access this breakdown. Some terms may come from MocoGoals in the problem, while other terms may be added by the solver.
int	getNumObjectiveTerms () const
	Returns the number of terms in the objective. More...

std::vector< std::string >	getObjectiveTermNames () const
	Get the names of all terms in the objective (either from MocoGoals in the problem or added by the solver). More...

double	getObjectiveTerm (const std::string &name) const
	Get the value of a term in the objective by name. More...

double	getObjectiveTermByIndex (int index) const
	Get the value of a term in the objective, using an index. More...

void	printObjectiveBreakdown () const
	Print to the console the terms in the objective and their values. More...

Access control
MocoSolution &	unseal ()
	If the solver did not succeed, call this to enable read and write access to the (failed) solution. More...

MocoSolution &	seal ()

bool	isSealed () const

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

	MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names)
	Create a trajectory with no data. More...

	MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names)
	Create a trajectory (including columns for derivatives) with no data. More...

	MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > input_control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names)

	MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::RowVector &parameters)

	MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::Matrix &derivativesTrajectory, const SimTK::RowVector &parameters)
	This constructor is for use with the implicit dynamics mode, and allows specifying a derivativesTrajectory. More...

	MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > input_control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &inputControlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::Matrix &derivativesTrajectory, const SimTK::RowVector &parameters)

	MocoTrajectory (const SimTK::Vector &time, const std::map< std::string, NamesAndData< SimTK::Matrix >> &continuousVars, const NamesAndData< SimTK::RowVector > &parameters={})

	MocoTrajectory (const std::string &filepath)
	Read a MocoTrajectory from an STO file (see STOFileAdapter). More...

virtual	~MocoTrajectory ()=default

bool	empty () const

bool	hasCoordinateStates () const

void	setNumTimes (int numTimes)
	Resize the time vector and the time dimension of the states, controls, multipliers, and derivatives trajectories, and set all times, states, controls, multipliers, and derivatives to NaN. More...

double	resampleWithNumTimes (int numTimes)
	Uniformly resample (interpolate) the trajectory so that it retains the same initial and final times but now has the provided number of time points. More...

double	resampleWithInterval (double desiredTimeInterval)
	Uniformly resample (interpolate) the trajectory to try to achieve the provided time interval between mesh points, while preserving the initial and final times. More...

double	resampleWithFrequency (double desiredNumTimePointsPerSecond)
	Uniformly resample (interpolate) the trajectory to try to achieve the provided frequency of time points per second of the trajectory, while preserving the initial and final times. More...

void	resample (SimTK::Vector newTime)
	Resample (interpolate) the data in this trajectory at the provided times. More...

void	setTime (const SimTK::Vector &time)
	Set the time vector. More...

void	setState (const std::string &name, const SimTK::Vector &trajectory)
	Set the value of a single state variable across time. More...

void	setControl (const std::string &name, const SimTK::Vector &trajectory)
	Set the value of a single control variable across time. More...

void	setInputControl (const std::string &name, const SimTK::Vector &trajectory)
	Set the value of a single Input control variable across time. More...

void	setMultiplier (const std::string &name, const SimTK::Vector &trajectory)
	Set the value of a single Lagrange multiplier variable across time. More...

void	setDerivative (const std::string &name, const SimTK::Vector &trajectory)
	Set the value of a single state derivative variable across time. More...

void	setParameter (const std::string &name, const SimTK::Real &value)
	Set the value of a single parameter variable. More...

void	setTime (std::initializer_list< double > time)
	Set the time vector. More...

void	setState (const std::string &name, std::initializer_list< double > trajectory)
	Set the value of a single state variable across time. More...

void	setControl (const std::string &name, std::initializer_list< double > trajectory)
	Set the value of a single control variable across time. More...

void	setInputControl (const std::string &name, std::initializer_list< double > trajectory)
	Set the value of a single Input control variable across time. More...

void	setMultiplier (const std::string &name, std::initializer_list< double > trajectory)
	Set the value of a single Lagrange multiplier variable across time. More...

void	setDerivative (const std::string &name, std::initializer_list< double > trajectory)
	Set the value of a single state derivative variable across time. More...

void	setStatesTrajectory (const TimeSeriesTable &states, bool allowMissingColumns=false, bool allowExtraColumns=false)
	Set the states trajectory. More...

void	insertStatesTrajectory (const TimeSeriesTable &subsetOfStates, bool overwrite=false)
	Add additional state columns. More...

void	insertControlsTrajectory (const TimeSeriesTable &subsetOfControls, bool overwrite=false)
	Add additional control columns. More...

void	generateSpeedsFromValues ()
	Compute coordinate speeds based on coordinate position values and append to the trajectory. More...

void	generateAccelerationsFromValues ()
	Compute coordinate accelerations based on coordinate position values and append to the trajectory. More...

void	generateAccelerationsFromSpeeds ()
	Compute coordinate accelerations based on coordinate speeds and append to the trajectory. More...

void	generateControlsFromModelControllers (Model model, bool overwrite=false)
	Compute model controls based on any Controllers in the model and append to the trajectory. More...

void	trimToIndices (int newStartIndex, int newFinalIndex)
	Trim the trajectory to include the rows starting at newStartIndex and and ending at newFinalIndex. More...

int	getNumTimes () const

const SimTK::Vector &	getTime () const

double	getInitialTime () const
	The first time in the time vector. More...

double	getFinalTime () const
	The last time in the time vector. More...

int	getNumStates () const

int	getNumControls () const

int	getNumInputControls () const

int	getNumMultipliers () const

int	getNumDerivatives () const

int	getNumValues () const

int	getNumSpeeds () const

int	getNumMultibodyStates () const

int	getNumAuxiliaryStates () const

int	getNumAccelerations () const

int	getNumDerivativesWithoutAccelerations () const

int	getNumParameters () const

const std::vector< std::string > &	getStateNames () const

const std::vector< std::string > &	getControlNames () const

const std::vector< std::string > &	getInputControlNames () const

const std::vector< std::string > &	getMultiplierNames () const

const std::vector< std::string > &	getDerivativeNames () const

std::vector< std::string >	getValueNames () const

std::vector< std::string >	getSpeedNames () const

std::vector< std::string >	getMultibodyStateNames () const

std::vector< std::string >	getAuxiliaryStateNames () const

std::vector< std::string >	getAccelerationNames () const

std::vector< std::string >	getDerivativeNamesWithoutAccelerations () const

const std::vector< std::string > &	getParameterNames () const

SimTK::VectorView_< double >	getState (const std::string &name) const

SimTK::VectorView_< double >	getControl (const std::string &name) const

SimTK::VectorView_< double >	getInputControl (const std::string &name) const

SimTK::VectorView_< double >	getMultiplier (const std::string &name) const

SimTK::VectorView_< double >	getDerivative (const std::string &name) const

const SimTK::Real &	getParameter (const std::string &name) const

const SimTK::Matrix &	getStatesTrajectory () const

const SimTK::Matrix &	getControlsTrajectory () const

const SimTK::Matrix &	getInputControlsTrajectory () const

const SimTK::Matrix &	getMultipliersTrajectory () const

const SimTK::Matrix &	getDerivativesTrajectory () const

SimTK::Matrix	getValuesTrajectory () const

SimTK::Matrix	getSpeedsTrajectory () const

SimTK::Matrix	getMultibodyStatesTrajectory () const

SimTK::Matrix	getAuxiliaryStatesTrajectory () const

SimTK::Matrix	getAccelerationsTrajectory () const

SimTK::Matrix	getDerivativesWithoutAccelerationsTrajectory () const

const SimTK::RowVector &	getParameters () const

bool	isCompatible (const MocoProblemRep &, bool requireAccelerations=false, bool throwOnError=false) const
	Do the state, control, multiplier, derivative, and parameter names in this trajectory match those in the problem? This may not catch all possible incompatibilities. More...

bool	isNumericallyEqual (const MocoTrajectory &other, double tol=SimTK::NTraits< SimTK::Real >::getDefaultTolerance()) const
	Check if this trajectory is numerically equal to another trajectory. More...

double	compareContinuousVariablesRMS (const MocoTrajectory &other, std::map< std::string, std::vector< std::string >> columnsToUse={}) const
	Compute the root-mean-square error between the continuous variables of this trajectory and another. More...

double	compareContinuousVariablesRMSPattern (const MocoTrajectory &other, std::string columnType, std::string pattern) const
	This is an alternative interface for compareContinuousVariablesRMS() that uses regular expression patterns to select columns. More...

double	compareParametersRMS (const MocoTrajectory &other, std::vector< std::string > parameterNames={}) const
	Compute the root-mean-square error between the parameters in this trajectory and another. More...

void	write (const std::string &filepath) const
	Save the trajectory to a STO file. Use the ."sto" file extension. More...

TimeSeriesTable	exportToStatesTable () const
	This table can be saved as a Storage file that can be used in the OpenSim GUI to visualize a motion, or as input to OpenSim's conventional tools (e.g., AnalyzeTool). More...

TimeSeriesTable	exportToControlsTable () const
	Export the controls trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToInputControlsTable () const
	Export the Input controls trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToMultipliersTable () const
	Export the multipliers trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToDerivativesTable () const
	Export the derivatives trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToValuesTable () const
	Export the coordinate values from the states trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToSpeedsTable () const
	Export the coordinate speeds from the states trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToAccelerationsTable () const
	Export the coordinate accelerations from the derivatives trajectory to a TimeSeriesTable. More...

TimeSeriesTable	exportToDerivativesWithoutAccelerationsTable () const
	Export the derivatives trajectory without coordinate accelerations to a TimeSeriesTable. More...

StatesTrajectory	exportToStatesTrajectory (const MocoProblem &) const
	Controls are not carried over to the StatesTrajectory. More...

StatesTrajectory	exportToStatesTrajectory (const Model &) const
	This is similar to the above function but requires only a model, not a MocoProblem. More...

void	randomizeReplace (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1))
	Randomize all data except time using the provided random number generator. More...

void	randomizeAdd (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1))
	Randomize all data except time using the provided random number generator. More...

Friends
class	MocoSolver

Additional Inherited Members
Public Types inherited from OpenSim::MocoTrajectory
template<typename T >
using	NamesAndData = std::pair< std::vector< std::string >, T >
	This constructor allows you to control which data you provide for the trajectory. More...

Static Public Member Functions inherited from OpenSim::MocoTrajectory
static MocoTrajectory	createFromStatesControlsTables (const MocoProblemRep &, const TimeSeriesTable &statesTrajectory, const TimeSeriesTable &controlsTrajectory)
	(Experimental) Create a trajectory from a states trajectory and controls trajectory (i.e, from Manager::getStatesTable() and Model::getControlsTable()). More...

Protected Member Functions inherited from OpenSim::MocoTrajectory
void	setSealed (bool sealed)

bool	isSealed () const

void	ensureUnsealed () const

Detailed Description

Return type for MocoStudy::solve().

Use success() to check if the solver succeeded. You can also use this object as a boolean in an if-statement:

auto solution = study.solve();
if (solution) {
    std::cout << solution.getStatus() << std::endl;
}

You can use getStatus() to get more details about the return status of the optimizer. If the solver was not successful, then this object is "sealed", which means you cannot do anything with it until calling unseal(). This prevents you from silently proceeding with a failed solution. In the file written by write(), the header contains solver success, the objective, the individual terms in the objective (including the weight), the breakdown of the objective, and other quantities. The controls in the solution correspond to the set of model controls, even if the optimal control problem contained a different set of controls due to the presence of user-added Controllers in the model.

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleCustomImplicitAuxiliaryDynamics.cpp, exampleHangingMuscle.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

Member Function Documentation

◆ clone()

virtual MocoSolution* OpenSim::MocoSolution::clone ( ) const

inlineoverridevirtual

Returns a dynamically-allocated copy of this solution.

You must manage the memory for return value.

Note: This works even if the trajectory is sealed.

Reimplemented from OpenSim::MocoTrajectory.

◆ getNumIterations()

int OpenSim::MocoSolution::getNumIterations ( ) const

inline

Number of solver iterations at which this solution was obtained (-1 if not set).

◆ getNumObjectiveTerms()

int OpenSim::MocoSolution::getNumObjectiveTerms ( ) const

inline

Returns the number of terms in the objective.

If the solver did not provide this breakdown, then this returns 0.

◆ getObjective()

double OpenSim::MocoSolution::getObjective ( ) const

inline

◆ getObjectiveTerm()

double OpenSim::MocoSolution::getObjectiveTerm ( const std::string & name ) const

Get the value of a term in the objective by name.

See getObjectiveTermNames(). The value includes the weight on the term.

Examples:: example2DWalkingMetabolics.cpp.

◆ getObjectiveTermByIndex()

double OpenSim::MocoSolution::getObjectiveTermByIndex ( int index ) const

Get the value of a term in the objective, using an index.

The order of terms is the same as in getObjectiveTermNames(). The value includes the weight on the term.

◆ getObjectiveTermNames()

std::vector<std::string> OpenSim::MocoSolution::getObjectiveTermNames ( ) const

Get the names of all terms in the objective (either from MocoGoals in the problem or added by the solver).

Terms from MocoGoals are named with the name of the associated MocoGoal. If the solver did not provide this breakdown, then this returns an empty vector.

◆ getSolverDuration()

double OpenSim::MocoSolution::getSolverDuration ( ) const

inline

Get the amount of time (clock time, not CPU time) spent within solve().

Units: seconds.

◆ getStatus()

const std::string& OpenSim::MocoSolution::getStatus ( ) const

inline

Obtain a solver-dependent string describing the return status of the optimization.

Examples:: exampleMocoCustomEffortGoal.cpp, and exampleSlidingMassAdvanced.cpp.

◆ isSealed()

bool OpenSim::MocoSolution::isSealed ( ) const

inline

◆ operator bool()

OpenSim::MocoSolution::operator bool ( ) const

inlineexplicit

Same as success().

◆ printObjectiveBreakdown()

void OpenSim::MocoSolution::printObjectiveBreakdown ( ) const

Print to the console the terms in the objective and their values.

◆ seal()

MocoSolution& OpenSim::MocoSolution::seal ( )

inline

◆ success()

bool OpenSim::MocoSolution::success ( ) const

inline

Was the problem solved successfully? If not, then you cannot access the solution until you call unlock().

◆ unseal()

MocoSolution& OpenSim::MocoSolution::unseal ( )

inline

If the solver did not succeed, call this to enable read and write access to the (failed) solution.

If the solver succeeded, then the solution is already unsealed.

Note: In Python, you must invoke this function on a separate line:
solution = moco.solve()
solution.unseal()
Otherwise, Moco will cause a crash.

Friends And Related Function Documentation

◆ MocoSolver

friend class MocoSolver

friend

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

OpenSim/Moco/MocoTrajectory.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ clone()

◆ getNumIterations()

◆ getNumObjectiveTerms()

◆ getObjective()

◆ getObjectiveTerm()

◆ getObjectiveTermByIndex()

◆ getObjectiveTermNames()

◆ getSolverDuration()

◆ getStatus()

◆ isSealed()

◆ operator bool()

◆ printObjectiveBreakdown()

◆ seal()

◆ success()

◆ unseal()

Friends And Related Function Documentation

◆ MocoSolver