goal or cost?

[barak ostraich]

Is there any difference of adding separate MocoGoal or adding second cost in the one MocoGoal.
Is it different approach, or it have different numerics.

[Nicholas Bianco]

Hi Barak,

What do you mean by adding a second cost in one MocoGoal? Maybe you could specify which MocoGoal you're using to clarify.

Thanks,
-Nick

[barak ostraich]

i wrote my own costumized goal which minimize vertical x movement at end time and i also want to minimize reaction force at end time.
also i have integral of effort for example
i can write on the same mocogoal cost[0]=uy(tend); cost[1]=fy(tend); cost[2]=input.integral
and setRequirements(1, 3);

or write different goal for fy(tend) with setRequirements(0, 1);
and different goal for uy(tend) + minimal effort with setRequirements(1, 2);

is there any difference in separating goals?