Description
Minimize the sum of squared states, integrated over the phase.
This can be used to minimize muscle activations (if those are the only states in the system), as is done in MocoInverse.
- Note
- This class is still under active development and should be used with caution. In the future, this class will allow you to select which states to minimize.
Inheritance diagram for OpenSim::MocoSumSquaredStateGoal:
#include <Moco/Moco/MocoGoal/MocoSumSquaredStateGoal.h>
Public Member Functions | |
| MocoSumSquaredStateGoal (std::string name) | |
| MocoSumSquaredStateGoal (std::string name, double weight) | |
 Public Member Functions inherited from OpenSim::MocoGoal | |
| MocoGoal (std::string name) | |
| MocoGoal (std::string name, double weight) | |
| void | setEnabled (bool enabled) |
| Set whether this goal is used in the problem. | |
| bool | getEnabled () const |
| void | setWeight (double weight) |
| In cost mode, the goal is multiplied by this weight. More... | |
| double | getWeight () const |
| void | setMode (std::string mode) |
| Set the mode property to either 'cost' or 'endpoint_constraint'. More... | |
| std::string | getModeAsString () const |
| This returns the default mode of the goal, unless the user overrode the default using setMode(). | |
| Mode | getMode () const |
| bool | getModeIsCost () const |
| bool | getModeIsEndpointConstraint () const |
| Mode | getDefaultMode () const |
| Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. | |
| bool | getSupportsEndpointConstraint () const |
| Can this constraint be used in endpoint constraint mode? | |
| const MocoConstraintInfo & | getConstraintInfo () const |
| Get bounds for the constraints when using this goal in endpoint constraint mode. | |
| MocoConstraintInfo & | updConstraintInfo () |
| int | getNumOutputs () const |
| Get the length of the return value of calcGoal(). | |
| int | getNumIntegrals () const |
| Get the number of integrals required by this cost. More... | |
| SimTK::Real | calcIntegrand (const SimTK::State &state) const |
| Calculate the integrand that should be integrated and passed to calcCost(). More... | |
| void | calcGoal (const GoalInput &input, SimTK::Vector &goal) const |
| In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost. More... | |
| void | initializeOnModel (const Model &model) const |
| For use by solvers. This also performs error checks on the Problem. | |
| void | printDescription (std::ostream &stream=std::cout) const |
| Print the name type and mode of this goal. More... | |
Protected Member Functions | |
| void | initializeOnModelImpl (const Model &) const override |
| Perform any caching before the problem is solved. More... | |
| void | calcIntegrandImpl (const SimTK::State &state, double &integrand) const override |
| void | calcGoalImpl (const GoalInput &input, SimTK::Vector &cost) const override |
| The Lagrange multipliers for kinematic constraints are not available. | |
| Protected Member Functions inherited from OpenSim::MocoGoal | |
| void | setNumIntegralsAndOutputs (int numIntegrals, int numOutputs) const |
| Set the number of integral terms required by this goal and the length of the vector passed into calcGoalImpl(). More... | |
| virtual Mode | getDefaultModeImpl () const |
| virtual bool | getSupportsEndpointConstraintImpl () const |
| virtual void | printDescriptionImpl (std::ostream &stream=std::cout) const |
| Print a more detailed description unique to each goal. | |
| const Model & | getModel () const |
| For use within virtual function implementations. | |
Additional Inherited Members | |
| Public Types inherited from OpenSim::MocoGoal | |
| enum | Mode { Cost, EndpointConstraint } |
Member Function Documentation
◆ calcIntegrandImpl()
|
overrideprotectedvirtual |
- Precondition(s):
- The state is realized to SimTK::Stage::Position. If you need access to the controls, you must realize to Velocity: The Lagrange multipliers for kinematic constraints are not available.getModel().realizeVelocity(state);
Reimplemented from OpenSim::MocoGoal.
◆ initializeOnModelImpl()
|
overrideprotectedvirtual |
Perform any caching before the problem is solved.
You must override this function and invoke setNumIntegralsAndOutputs().
- 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.
Implements OpenSim::MocoGoal.
The documentation for this class was generated from the following file:
