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	SimTK::UnitVec3 proj_vec_x(1, 0, 0);
	auto* pathCon_x = problem.addPathConstraint<MocoFrameDistanceConstraint>();
	pathCon_x->setName("foot_to_origin");
	pathCon_x->addFramePair("/ground", "/bodyset/calcn_r", 0, 0);
	pathCon_x->setProjection("vector");
	pathCon_x->setProjectionVector(proj_vec_x);

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	MocoSolution solution = study.solve();
	study.print("osimSquatGoal.xml");
	solution.unseal();
	solution.write("predictionSolution.sto");
	std::cout << "Solution status: " << solution.getStatus() << std::endl;
	study.visualize(solution);

Code: Select all

class MocoCOMGoal : public MocoGoal {
	OpenSim_DECLARE_CONCRETE_OBJECT(MocoCOMGoal, MocoGoal);

public:
	MocoCOMGoal() {}
	MocoCOMGoal(std::string name) : MocoGoal(std::move(name)) {}
	MocoCOMGoal(std::string name, double weight) : MocoGoal(std::move(name), weight) {}

protected:
	Mode getDefaultModeImpl() const override { return Mode::Cost; }
	bool getSupportsEndpointConstraintImpl() const override { return true; }
	void initializeOnModelImpl(const Model&) const override { setRequirements(1, 1); }
	void calcIntegrandImpl(
		const IntegrandInput& input, double& integrand) const override {
		getModel().realizeAcceleration(input.state);

		//COM
		const auto& CoM = getModel().getMatterSubsystem().calcSystemMassCenterLocationInGround(input.state);
		integrand = CoM[1];
	}
	void calcGoalImpl(
		const GoalInput& input, SimTK::Vector& cost) const override {
		cost[0] = input.integral;
	}
};