Description
For all muscles with activation dynamics, the initial activation and initial excitation should be the same.
Without this goal, muscle activation may undesirably start at its maximum possible value in inverse/tracking problems which penalize only excitations (such activation is "free"). This is an endpoint constraint goal by default. Credit for using this goal to address excessive initial activation goes to Jessica Allen.
Inheritance diagram for OpenSim::MocoInitialActivationGoal:
#include <Moco/Moco/MocoGoal/MocoInitialActivationGoal.h>
Public Member Functions | |
| MocoInitialActivationGoal (std::string name) | |
 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 | |
| bool | getSupportsEndpointConstraintImpl () const override |
| Mode | getDefaultModeImpl () const override |
| void | initializeOnModelImpl (const Model &) const override |
| Perform any caching before the problem is solved. More... | |
| void | calcGoalImpl (const GoalInput &input, SimTK::Vector &goal) const override |
| The Lagrange multipliers for kinematic constraints are not available. | |
| 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 void | calcIntegrandImpl (const SimTK::State &state, double &integrand) const |
| virtual void | printDescriptionImpl (std::ostream &stream=std::cout) const |
| Print a more detailed description unique to each goal. | |
| 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
◆ 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.
The documentation for this class was generated from the following file: