Description
This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods.
Mesh interval
A smaller mesh interval increases the convergence time, but is necessary for fast motions or problems with stiff differential equations (e.g., stiff tendons). For gait, consider using a mesh interval between 0.01 and 0.05 seconds. Try solving your problem with decreasing mesh intervals and choose a mesh interval at which the solution stops changing noticeably.
Reserve actuators
Sometimes it is not possible to achieve the desired motion using muscles alone. There are multiple possible causes for this:
- the muscles are not strong enough to achieve the required net joint moments,
- the net joint moments change more rapidly than activation and deactivation time constants allow,
- the filtering of the data causes unrealistic desired net joint moments. You may want to add "reserve" actuators to your model. This can be done with the ModOpAddReserves model operator.
#include <Moco/Moco/MocoTool.h>
Classes | |
| struct | TimeInfo |
Public Member Functions | |
| OpenSim_DECLARE_OPTIONAL_PROPERTY (initial_time, double, "The start of the time interval. " "All data must start at or before this time. " "(default: earliest time available in all provided data)") | |
| OpenSim_DECLARE_OPTIONAL_PROPERTY (final_time, double, "The end of the time interval. " "All data must end at or after this time. " "(default: latest time available in all provided data)") | |
| OpenSim_DECLARE_PROPERTY (mesh_interval, double, "The time duration of each mesh interval " "(default: 0.020 seconds).") | |
| OpenSim_DECLARE_PROPERTY (clip_time_range, bool, "Set the time range to be 1e-3 shorter on both ends to leave space " "for finite difference estimates (default: false).") | |
| OpenSim_DECLARE_PROPERTY (model, ModelProcessor, "The musculoskeletal model to use.") | |
| void | setModel (ModelProcessor model) |
Protected Member Functions | |
| void | updateTimeInfo (const std::string &dataLabel, const double &dataInitial, const double &dataFinal, TimeInfo &info) const |
| This function updates a TimeInfo so the initial and final times are within the data times provided. More... | |
| std::string | getFilePath (const std::string &file) const |
| Get the canonicalized absolute pathname with respect to the setup file directory from a given pathname which can be relative or absolute. More... | |
| std::string | getDocumentDirectory () const |
| Get the (canonicalized) absolute directory containing the file from which this tool was loaded. More... | |
Member Function Documentation
◆ getDocumentDirectory()
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protected |
Get the (canonicalized) absolute directory containing the file from which this tool was loaded.
If the tool was not loaded from a file, this returns an empty string.
◆ getFilePath()
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protected |
Get the canonicalized absolute pathname with respect to the setup file directory from a given pathname which can be relative or absolute.
Here, canonicalized means that the pathname is analyzed and possibly modified to conform to the current platform.
◆ updateTimeInfo()
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protected |
This function updates a TimeInfo so the initial and final times are within the data times provided.
If the user provided a value for the initial_time or final_time properties, then this ensures the user-provided times are within the data times, and the info is updated to use the user-provided times. Finally, the TimeInfo.numMeshPoints field is updated based on the mesh_interval property.
The documentation for this class was generated from the following file: