OpenSim::MocoContactTrackingGoalGroup Class Reference

Description

A contact group is a single ExternalForce and a list of contact force components in the model whose forces are summed and compared to the ExternalForce.

Alternative frame paths

Contact force elements that correspond to a single ExternalForce are typically attached to the same single body/frame. However, it is possible that these contact force elements are spread over multiple bodies. For example, the ground reaction force for the left foot may be modeled by contact force elements on separate calcaneus and toe body segments. The "applied_to_body" property of the associated ExternalForce will match only one of these multiple bodies (e.g., only the calcaneus), causing Moco to give an error, saying one of the contact elements does not seem to be associated with the ExternalForce. To handle this situation, specify the other body (e.g., the toes) under alternative_frame_paths. Without specifying these alternative frames, Moco does not know which force to use (the force on the sphere or the force on the half-space) when summing the contact forces across contact force elements.

See also

MocoContactTrackingGoal

Inheritance diagram for OpenSim::MocoContactTrackingGoalGroup:

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

Public Member Functions
	OpenSim_DECLARE_LIST_PROPERTY (contact_force_paths, std::string, "Paths to SmoothSphereHalfSpaceForce objects in the model whose " "forces are summed and compared to an single ExternalForce.")
	OpenSim_DECLARE_PROPERTY (external_force_name, std::string, "The name of an ExternalForce object in the ExternalLoads set.")
	OpenSim_DECLARE_LIST_PROPERTY (alternative_frame_paths, std::string, "If neither of the two bodies/frames of a contact force match " "ExternalForce's applied_to_body, then one of the bodies/frames " "must match one of these alternative frame paths.")
	MocoContactTrackingGoalGroup (const std::vector< std::string > &contactForcePaths, const std::string &externalForceName)
	MocoContactTrackingGoalGroup (const std::vector< std::string > &contactForcePaths, const std::string &externalForceName, const std::vector< std::string > &altFramePaths)

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

• MocoContactTrackingGoal.h