Description

This class constrains any number of control signals from ScalarActautors to be between two time-based functions.

It is possible to constrain the control signal to be exactly to a provided function; see the equality_with_lower property.

If a function is a GCVSpline, we ensure that the spline covers the entire possible time range in the problem (using the problem's time bounds). We do not perform such a check for other types of functions.

Note: If you omit the lower and upper bounds, then this class will not constrain any control signals, even if you have provided control paths.; This class can only constrain control signals for ScalarActuators.

Inheritance diagram for OpenSim::MocoControlBoundConstraint:

#include <Moco/Moco/MocoControlBoundConstraint.h>

Public Member Functions
void	setLowerBound (const Function &f)

void	clearLowerBound ()

bool	hasLowerBound () const

const Function &	getLowerBound () const

void	setUpperBound (const Function &f)

void	clearUpperBound ()

bool	hasUpperBound () const

const Function &	getUpperBound () const

void	setEqualityWithLower (bool v)
	Should the control be constrained to be equal to the lower bound (rather than an inequality constraint)? In this case, the upper bound must be unspecified. More...

bool	getEqualityWithLower () const

Control paths
Set the control paths (absolute paths to actuators in the model) constrained by this class.
void	addControlPath (std::string controlPath)

void	setControlPaths (const std::vector< std::string > &controlPaths)

void	clearControlPaths ()

std::vector< std::string >	getControlPaths () const

Public Member Functions inherited from OpenSim::MocoPathConstraint
const MocoConstraintInfo &	getConstraintInfo () const

MocoConstraintInfo &	updConstraintInfo ()

void	setConstraintInfo (const MocoConstraintInfo &cInfo)

int	getPathConstraintIndex () const
	For use by solvers. More...

void	calcPathConstraintErrors (const SimTK::State &state, SimTK::Vector &errors) const
	Calculate errors in the path constraint equations. More...

void	initializeOnModel (const Model &model, const MocoProblemInfo &, const int &pathConstraintIndex) const
	For use by solvers. This also performs error checks on the Problem.

Protected Member Functions
void	initializeOnModelImpl (const Model &model, const MocoProblemInfo &) const override
	Perform any caching. More...

void	calcPathConstraintErrorsImpl (const SimTK::State &state, SimTK::Vector &errors) const override

Protected Member Functions inherited from OpenSim::MocoPathConstraint
	OpenSim_DECLARE_UNNAMED_PROPERTY (MocoConstraintInfo, "The bounds and " "labels for this MocoPathConstraint.")

void	setNumEquations (int numEqs) const
	Set the number of scalar equations for this MocoPathConstraint. More...

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

Member Function Documentation

◆ calcPathConstraintErrorsImpl()

void OpenSim::MocoControlBoundConstraint::calcPathConstraintErrorsImpl	(	const SimTK::State &	state,
		SimTK::Vector &	errors
	)		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);

Implements OpenSim::MocoPathConstraint.

◆ initializeOnModelImpl()

void OpenSim::MocoControlBoundConstraint::initializeOnModelImpl	(	const Model &	,
		const MocoProblemInfo &
	)		const

overrideprotectedvirtual

Perform any caching.

The number of scalar constraint equations this MocoPathConstraint implements must be defined here (see setNumEquations() below).

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, in addition to the checks provided in initialize().

Implements OpenSim::MocoPathConstraint.

◆ setEqualityWithLower()

void OpenSim::MocoControlBoundConstraint::setEqualityWithLower ( bool v )

inline

Should the control be constrained to be equal to the lower bound (rather than an inequality constraint)? In this case, the upper bound must be unspecified.

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

MocoControlBoundConstraint.h

Description

Public Member Functions

Protected Member Functions

Member Function Documentation

◆ calcPathConstraintErrorsImpl()

◆ initializeOnModelImpl()

◆ setEqualityWithLower()