Description
For all Muscle components with explicit tendon compliance dynamics, constrain (or minimize) the error computed from the muscle-tendon force equilibrium equation.
This goal ensures that the initial normalized tendon force state variable is chosen such that equilibrium is satisfied; otherwise, the initial state may not be valid. This is an endpoint constraint goal by default.
Inheritance diagram for OpenSim::MocoInitialForceEquilibriumGoal:
#include <Moco/Moco/MocoGoal/MocoInitialForceEquilibriumGoal.h>
Public Member Functions | |
| MocoInitialForceEquilibriumGoal (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 |
| Save references to muscles with tendon compliance enabled. 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 |
Save references to muscles with tendon compliance enabled.
If the muscle is of type DeGrooteFregly2016Muscle, check that tendon compliance dynamics mode is 'explicit'.
Implements OpenSim::MocoGoal.
The documentation for this class was generated from the following file: