Description
Return type for MocoStudy::solve().
Use success() to check if the solver succeeded. You can also use this object as a boolean in an if-statement:
auto solution = study.solve();
if (solution) {
std::cout << solution.getStatus() << std::endl;
}
You can use getStatus() to get more details about the return status of the optimizer. If the solver was not successful, then this object is "sealed", which means you cannot do anything with it until calling unseal(). This prevents you from silently proceeding with a failed solution. Solver success can also be found in the header of a solution (.sto) file written out by write.
Inheritance diagram for OpenSim::MocoSolution:
#include <Moco/Moco/MocoTrajectory.h>
Public Member Functions | |
| virtual MocoSolution * | clone () const override |
| Returns a dynamically-allocated copy of this solution. More... | |
| bool | success () const |
| Was the problem solved successfully? If not, then you cannot access the solution until you call unlock(). | |
| double | getObjective () const |
| operator bool () const | |
| Same as success(). | |
| const std::string & | getStatus () const |
| Obtain a solver-dependent string describing the return status of the optimization. | |
| int | getNumIterations () const |
| Number of solver iterations at which this solution was obtained (-1 if not set). | |
| double | getSolverDuration () const |
| Get the amount of time (clock time, not CPU time) spent within solve(). More... | |
Access control | |
| MocoSolution & | unseal () |
| If the solver did not succeed, call this to enable read and write access to the (failed) solution. More... | |
| MocoSolution & | seal () |
| bool | isSealed () const |
 Public Member Functions inherited from OpenSim::MocoTrajectory | |
| MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names) | |
| Create a trajectory with no data. More... | |
| MocoTrajectory (std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names) | |
| Create a trajectory (including columns for derivatives) with no data. More... | |
| MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::RowVector ¶meters) | |
| MocoTrajectory (const SimTK::Vector &time, std::vector< std::string > state_names, std::vector< std::string > control_names, std::vector< std::string > multiplier_names, std::vector< std::string > derivative_names, std::vector< std::string > parameter_names, const SimTK::Matrix &statesTrajectory, const SimTK::Matrix &controlsTrajectory, const SimTK::Matrix &multipliersTrajectory, const SimTK::Matrix &derivativesTrajectory, const SimTK::RowVector ¶meters) | |
| This constructor is for use with the implicit dynamics mode, and allows specifying a derivativesTrajectory. | |
| MocoTrajectory (const SimTK::Vector &time, const std::map< std::string, NamesAndData< SimTK::Matrix >> &continuousVars, const NamesAndData< SimTK::RowVector > ¶meters={}) | |
| MocoTrajectory (const std::string &filepath) | |
| Read a MocoTrajectory from a data file (e.g., STO, CSV). More... | |
| bool | empty () const |
| bool | hasCoordinateStates () const |
| void | setNumTimes (int numTimes) |
| Resize the time vector and the time dimension of the states, controls, multipliers, and derivatives trajectories, and set all times, states, controls, multipliers, and derivatives to NaN. More... | |
| double | resampleWithNumTimes (int numTimes) |
| Uniformly resample (interpolate) the trajectory so that it retains the same initial and final times but now has the provided number of time points. More... | |
| double | resampleWithInterval (double desiredTimeInterval) |
| Uniformly resample (interpolate) the trajectory to try to achieve the provided time interval between mesh points, while preserving the initial and final times. More... | |
| double | resampleWithFrequency (double desiredNumTimePointsPerSecond) |
| Uniformly resample (interpolate) the trajectory to try to achieve the provided frequency of time points per second of the trajectory, while preserving the initial and final times. More... | |
| void | resample (SimTK::Vector newTime) |
| Resample (interpolate) the data in this trajectory at the provided times. More... | |
| void | setTime (const SimTK::Vector &time) |
| Set the time vector. More... | |
| void | setState (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single state variable across time. More... | |
| void | setControl (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single control variable across time. More... | |
| void | setMultiplier (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single Lagrange multiplier variable across time. More... | |
| void | setDerivative (const std::string &name, const SimTK::Vector &trajectory) |
| Set the value of a single state derivative variable across time. More... | |
| void | setParameter (const std::string &name, const SimTK::Real &value) |
| Set the value of a single parameter variable. More... | |
| void | setTime (std::initializer_list< double > time) |
| Set the time vector. More... | |
| void | setState (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single state variable across time. More... | |
| void | setControl (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single control variable across time. More... | |
| void | setMultiplier (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single Lagrange multiplier variable across time. More... | |
| void | setDerivative (const std::string &name, std::initializer_list< double > trajectory) |
| Set the value of a single state derivative variable across time. More... | |
| void | setStatesTrajectory (const TimeSeriesTable &states, bool allowMissingColumns=false, bool allowExtraColumns=false) |
| Set the states trajectory. More... | |
| void | insertStatesTrajectory (const TimeSeriesTable &subsetOfStates, bool overwrite=false) |
| Add additional state columns. More... | |
| void | insertControlsTrajectory (const TimeSeriesTable &subsetOfControls, bool overwrite=false) |
| Add additional control columns. More... | |
| void | generateSpeedsFromValues () |
| Compute coordinate speeds based on coordinate position values and append to the trajectory. More... | |
| void | generateAccelerationsFromValues () |
| Compute coordinate accelerations based on coordinate position values and append to the trajectory. More... | |
| void | generateAccelerationsFromSpeeds () |
| Compute coordinate accelerations based on coordinate speeds and append to the trajectory. More... | |
| int | getNumTimes () const |
| const SimTK::Vector & | getTime () const |
| double | getInitialTime () const |
| The first time in the time vector. More... | |
| double | getFinalTime () const |
| The last time in the time vector. More... | |
| int | getNumStates () const |
| int | getNumControls () const |
| int | getNumMultipliers () const |
| int | getNumDerivatives () const |
| int | getNumParameters () const |
| const std::vector< std::string > & | getStateNames () const |
| const std::vector< std::string > & | getControlNames () const |
| const std::vector< std::string > & | getMultiplierNames () const |
| const std::vector< std::string > & | getDerivativeNames () const |
| const std::vector< std::string > & | getParameterNames () const |
| SimTK::VectorView_< double > | getState (const std::string &name) const |
| SimTK::VectorView_< double > | getControl (const std::string &name) const |
| SimTK::VectorView_< double > | getMultiplier (const std::string &name) const |
| SimTK::VectorView_< double > | getDerivative (const std::string &name) const |
| const SimTK::Real & | getParameter (const std::string &name) const |
| const SimTK::Matrix & | getStatesTrajectory () const |
| const SimTK::Matrix & | getControlsTrajectory () const |
| const SimTK::Matrix & | getMultipliersTrajectory () const |
| const SimTK::Matrix & | getDerivativesTrajectory () const |
| const SimTK::RowVector & | getParameters () const |
| bool | isCompatible (const MocoProblemRep &, bool requireAccelerations=false, bool throwOnError=false) const |
| Do the state, control, multiplier, derivative, and parameter names in this trajectory match those in the problem? This may not catch all possible incompatibilities. More... | |
| bool | isNumericallyEqual (const MocoTrajectory &other, double tol=SimTK::NTraits< SimTK::Real >::getDefaultTolerance()) const |
| Check if this trajectory is numerically equal to another trajectory. More... | |
| double | compareContinuousVariablesRMS (const MocoTrajectory &other, std::map< std::string, std::vector< std::string >> columnsToUse={}) const |
| Compute the root-mean-square error between the continuous variables of this trajectory and another. More... | |
| double | compareContinuousVariablesRMSPattern (const MocoTrajectory &other, std::string columnType, std::string pattern) const |
| This is an alternative interface for compareContinuousVariablesRMS() that uses regular expression patterns to select columns. More... | |
| double | compareParametersRMS (const MocoTrajectory &other, std::vector< std::string > parameterNames={}) const |
| Compute the root-mean-square error between the parameters in this trajectory and another. More... | |
| void | write (const std::string &filepath) const |
| Save the trajectory to file(s). Use a ".sto" file extension. | |
| Storage | exportToStatesStorage () const |
| The Storage can be used in the OpenSim GUI to visualize a motion, or as input to OpenSim's conventional tools (e.g., AnalyzeTool). More... | |
| TimeSeriesTable | exportToStatesTable () const |
| Same as exportToStatesStorage() except using TimeSeriesTable. | |
| TimeSeriesTable | exportToControlsTable () const |
| Export the controls trajectory to a TimeSeriesTable. | |
| StatesTrajectory | exportToStatesTrajectory (const MocoProblem &) const |
| Controls are not carried over to the StatesTrajectory. More... | |
| StatesTrajectory | exportToStatesTrajectory (const Model &) const |
| This is similar to the above function but requires only a model, not a MocoProblem. | |
| void | randomizeReplace (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1)) |
| Randomize all data except time using the provided random number generator. More... | |
| void | randomizeAdd (const SimTK::Random &randGen=SimTK::Random::Uniform(-0.1, 0.1)) |
| Randomize all data except time using the provided random number generator. More... | |
Friends | |
| class | MocoSolver |
Additional Inherited Members | |
| Public Types inherited from OpenSim::MocoTrajectory | |
| template<typename T > | |
| using | NamesAndData = std::pair< std::vector< std::string >, T > |
| This constructor allows you to control which data you provide for the trajectory. More... | |
| Static Public Member Functions inherited from OpenSim::MocoTrajectory | |
| static MocoTrajectory | createFromStatesControlsTables (const MocoProblemRep &, const TimeSeriesTable &statesTrajectory, const TimeSeriesTable &controlsTrajectory) |
| (Experimental) Create a trajectory from a states trajectory and controls trajectory (i.e, from Manager::getStatesTable() and Model::getControlsTable()). More... | |
| Protected Member Functions inherited from OpenSim::MocoTrajectory | |
| void | setSealed (bool sealed) |
| bool | isSealed () const |
| void | ensureUnsealed () const |
Member Function Documentation
◆ clone()
|
inlineoverridevirtual |
Returns a dynamically-allocated copy of this solution.
You must manage the memory for return value.
- Note
- This works even if the trajectory is sealed.
Reimplemented from OpenSim::MocoTrajectory.
◆ getSolverDuration()
|
inline |
Get the amount of time (clock time, not CPU time) spent within solve().
Units: seconds.
◆ unseal()
|
inline |
If the solver did not succeed, call this to enable read and write access to the (failed) solution.
If the solver succeeded, then the solution is already unsealed.
- Note
- In Python, you must invoke this function on a separate line: Otherwise, Moco will cause a crash.solution = moco.solve()solution.unseal()
The documentation for this class was generated from the following file: