Moco: Available goals

These are the goals available in Moco for use in your cost functional or as endpoint constraints. More...

Classes
class	OpenSim::MocoAccelerationTrackingGoal
	The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoAngularVelocityTrackingGoal
	The squared difference between a model frame's angular velocity and a reference angular velocity value, summed over the frames for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoContactImpulseTrackingGoal
	More...
class	OpenSim::MocoContactTrackingGoal
	More...
class	OpenSim::MocoControlGoal
	Minimize the sum of the absolute value of the controls (including Input controls) raised to a given exponent, integrated over the phase. More...
class	OpenSim::MocoControlTrackingGoal
	More...
class	OpenSim::MocoGeneralizedForceTrackingGoal
	More...
class	OpenSim::MocoGoal
	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...
class	OpenSim::MocoFinalTimeGoal
	Endpoint cost for final time. More...
class	OpenSim::MocoAverageSpeedGoal
	This goal requires the average speed of the system to match a desired average speed. More...
class	OpenSim::MocoInitialActivationGoal
	For all muscles with activation dynamics, the initial activation and initial excitation should be the same. More...
class	OpenSim::MocoInitialForceEquilibriumDGFGoal
	For all DeGrooteFregly2016Muscles with explicit tendon compliance dynamics, constrain (or minimize) the error computed from the muscle-tendon force equilibrium equation. More...
class	OpenSim::MocoInitialVelocityEquilibriumDGFGoal
	For DeGrooteFregly2016Muscle components with implicit tendon compliance dynamics, the initial tendon and fiber velocities are determined based the derivative of the linearized muscle-tendon equilibrium equation described in Millard et al. More...
class	OpenSim::MocoJointReactionGoal
	Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase. More...
class	OpenSim::MocoMarkerFinalGoal
	The squared distance between a single model point location and reference location in the final state. More...
class	OpenSim::MocoMarkerTrackingGoal
	More...
class	OpenSim::MocoOrientationTrackingGoal
	The squared difference between a model frame's orientation and a reference orientation value, summed over the frames for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoOutputBase
	This abstract base class provides convenience methods and common interfaces for all Output-related MocoGoal's. More...
class	OpenSim::MocoOutputGoal
	This goal allows you to use model Outputs of type double, SimTK::Vec3, and SimTK::SpatialVec in the integrand of a goal. More...
class	OpenSim::MocoInitialOutputGoal
	This goal allows you to minimize or constrain a Model Output value at the beginning of a trajectory. More...
class	OpenSim::MocoFinalOutputGoal
	This goal allows you to minimize or constrain a Model Output value at the end of a trajectory. More...
class	OpenSim::MocoOutputPeriodicityGoal
	This goal allows you to minimize or constrain the difference of values from a Model Output from the beginning and end of a trajectory. More...
class	OpenSim::MocoOutputTrackingGoal
	This goal allows you to minimize the squared difference between a Model Output value and a user-defined function. More...
class	OpenSim::MocoPeriodicityGoal
	This goal enforces equality between initial and final variable values in the optimal control problem. More...
class	OpenSim::MocoStateTrackingGoal
	More...
class	OpenSim::MocoStepLengthAsymmetryGoal
	Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle. More...
class	OpenSim::MocoStepTimeAsymmetryGoal
	Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle. More...
class	OpenSim::MocoSumSquaredStateGoal
	Minimize the sum of squared states, integrated over the phase. More...
class	OpenSim::MocoTranslationTrackingGoal
	The squared difference between a model frame's origin position and a reference position value, summed over the frames for which a reference is provided, and integrated over the phase. More...

Detailed Description

These are the goals available in Moco for use in your cost functional or as endpoint constraints.

If none of these satisfy your needs, you can define your own using a plugin.