Description
The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase.
The reference is a trajectory of SimTK::Vec3s representing the acceleration reference data. You must provide either a file name to a STO or CSV file (or other file types for which there is a FileAdapter) or a TimeSeriesTableVec3 directly.
Errors for this cost are computed assuming that the provided reference acceleration data is the derivative of a position vector with respect to the ground frame and expressed in the ground frame. This cost is not yet suitable for tracking acceleration signals from an inertial measurement unit (IMU) as it does not account for gravitational acceleration and does not re-express body accelerations into a different (e.g., IMU) frame.
This cost requires realization to SimTK::Stage::Acceleration.
#include <Moco/Moco/MocoGoal/MocoAccelerationTrackingGoal.h>
Public Member Functions | |
| MocoAccelerationTrackingGoal (std::string name) | |
| MocoAccelerationTrackingGoal (std::string name, double weight) | |
| void | setAccelerationReferenceFile (const std::string &filepath) |
| Set the acceleration of individual frames in ground to be tracked in the cost. More... | |
| void | setAccelerationReference (const TimeSeriesTableVec3 &ref) |
| Each column label must be the path of a valid frame path (see setAccelerationReferenceFile()). 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 acceleration tracking. More... | |
| void | setWeightSet (const MocoWeightSet &weightSet) |
| Provide a MocoWeightSet to weight frame acceleration tracking in the cost. More... | |
| std::string | getAccelerationReferenceFile () const |
| If no acceleration reference file has been provided, this returns an empty string. More... | |
 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(). More... | |
| 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. More... | |
| 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. More... | |
| 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 &goal) 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()
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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.
◆ getAccelerationReferenceFile()
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inline |
If no acceleration reference file has been provided, this returns an empty string.
◆ initializeOnModelImpl()
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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.
◆ setAccelerationReference()
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inline |
Each column label must be the path of a valid frame path (see setAccelerationReferenceFile()).
Calling this function clears the acceleration_reference_file property.
◆ setAccelerationReferenceFile()
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inline |
Set the acceleration 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 table set by setAccelerationReference() if it exists.
◆ setFramePaths()
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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 'linear_acceleration' (SimTK::Vec3) as an output. Replaces the frame path set if it already exists.
◆ setWeightForFrame()
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inline |
Set the weight for an individual frame's acceleration 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()
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inline |
Provide a MocoWeightSet to weight frame acceleration tracking in the cost.
Replaces the weight set if it already exists.
The documentation for this class was generated from the following file: