Description

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.

This can be used to track orientation quantities in the model that don't correspond to model degrees of freedom. The reference can be provided as a trajectory of SimTK::Rotations representing the orientation reference data, or as a states trajectory from which the tracked rotation reference is computed. Both rotation and states references can be provided as a file name to a STO or CSV file (or other file types for which there is a FileAdapter), or programmatically as a TimeSeriesTable_<SimTK::Rotation> (for the rotation reference) or as a scalar TimeSeriesTable (for the states reference).

This cost requires realization to SimTK::Stage::Position. The cost is computed by creating a SimTK::Rotation between the model frame and the reference data, and then converting the rotation to an angle-axis representation and minimizing the angle value. The angle value is equivalent to the orientation error between the model frame and the reference data, so we only need to minimize this single scalar value per tracked frame, compared to other more complicated approaches which could require multiple minimized error values (e.g. Euler angle errors, etc).

Inheritance diagram for OpenSim::MocoOrientationTrackingGoal:

#include <Moco/Moco/MocoGoal/MocoOrientationTrackingGoal.h>

Public Member Functions
	MocoOrientationTrackingGoal (std::string name)

	MocoOrientationTrackingGoal (std::string name, double weight)

void	setRotationReferenceFile (const std::string &filepath)
	Set the rotations of individual frames in ground to be tracked in the cost. More...

void	setRotationReference (const TimeSeriesTable_< Rotation > &ref)
	Each column label must be the path of a valid frame path (see seeRotationReferenceFile()). More...

void	setStatesReference (const TableProcessor &ref)
	Provide a table containing values of model state variables. More...

void	setFramePaths (const std::vector< std::string > &paths)
	Set the paths to frames in the model that this cost term will track. More...

void	setWeightForFrame (const std::string &frameName, const double &weight)
	Set the weight for an individual frame's rotation tracking. More...

void	setWeightSet (const MocoWeightSet &weightSet)
	Provide a MocoWeightSet to weight frame rotation tracking in the cost. More...

const TableProcessor &	getStatesReference () const
	If no states reference has been provided, this returns an empty processor.

std::string	getRotationReferenceFile () const
	If no rotation reference file has been provided, this returns an empty string.

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 &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.

void	printDescriptionImpl (std::ostream &stream=std::cout) const override
	Print a more detailed description unique to each goal.

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

const Model &	getModel () const
	For use within virtual function implementations.

double	calcSystemDisplacement (const SimTK::State &initial, const SimTK::State &final) const

Additional Inherited Members
Public Types inherited from OpenSim::MocoGoal
enum	Mode { Cost, EndpointConstraint }

Member Function Documentation

◆ calcIntegrandImpl()

void OpenSim::MocoOrientationTrackingGoal::calcIntegrandImpl	(	const SimTK::State &	state,
		double &	integrand
	)		const

overrideprotectedvirtual

Precondition(s):: The state is realized to SimTK::Stage::Position. If you need access to the controls, you must realize to Velocity:
getModel().realizeVelocity(state);

The Lagrange multipliers for kinematic constraints are not available.

Reimplemented from OpenSim::MocoGoal.

◆ initializeOnModelImpl()

void OpenSim::MocoOrientationTrackingGoal::initializeOnModelImpl ( const Model & ) const

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.

◆ setFramePaths()

void OpenSim::MocoOrientationTrackingGoal::setFramePaths ( const std::vector< std::string > & paths )

inline

Set the paths to frames in the model that this cost term will track.

The names set here must correspond to OpenSim::Components that derive from OpenSim::Frame, which includes SimTK::Rotation as an output. Replaces the frame path set if it already exists.

◆ setRotationReference()

void OpenSim::MocoOrientationTrackingGoal::setRotationReference ( const TimeSeriesTable_< Rotation > & ref )

inline

Each column label must be the path of a valid frame path (see seeRotationReferenceFile()).

Calling this function clears the states_reference_file and rotation_reference_file properties or the table provided via setStatesReference(), if any.

◆ setRotationReferenceFile()

void OpenSim::MocoOrientationTrackingGoal::setRotationReferenceFile ( const std::string & filepath )

inline

Set the rotations of individual frames in ground to be tracked in the cost.

The column labels of the provided reference must be paths to frames in the model, e.g. /bodyset/torso. If the frame_paths property is empty, all frames with data in this reference will be tracked. Otherwise, only the frames specified via setFramePaths() will be tracked. Calling this function clears the values provided via setStatesReference(), setRotationReference(), or the states_reference_file property, if any.

◆ setStatesReference()

void OpenSim::MocoOrientationTrackingGoal::setStatesReference ( const TableProcessor & ref )

inline

Provide a table containing values of model state variables.

These data are used to create a StatesTrajectory internally, from which the rotation data for the frames specified in setFramePaths() are computed. Each column label in the reference must be the path of a state variable, e.g., /jointset/ankle_angle_r/value. Calling this function clears the table provided via setRotationReference(), or the rotation_reference_file property, if any. The table is not loaded until the MocoProblem is initialized.

◆ setWeightForFrame()

void OpenSim::MocoOrientationTrackingGoal::setWeightForFrame	(	const std::string &	frameName,
		const double &	weight
	)

inline

Set the weight for an individual frame's rotation tracking.

If a weight is already set for the requested frame, then the provided weight replaces the previous weight. An exception is thrown if a weight for an unknown frame is provided.

◆ setWeightSet()

void OpenSim::MocoOrientationTrackingGoal::setWeightSet ( const MocoWeightSet & weightSet )

inline

Provide a MocoWeightSet to weight frame rotation tracking in the cost.

Replaces the weight set if it already exists.

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

MocoOrientationTrackingGoal.h

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ calcIntegrandImpl()

◆ initializeOnModelImpl()

◆ setFramePaths()

◆ setRotationReference()

◆ setRotationReferenceFile()

◆ setStatesReference()

◆ setWeightForFrame()

◆ setWeightSet()