The squared distance between a single model point location and reference location in the final state.
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| MocoMarkerFinalGoal (std::string name) |
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| MocoMarkerFinalGoal (std::string name, double weight) |
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void | setPointName (std::string pointName) |
| The name of a Point (e.g., Marker, Station) in the model whose final location should match the reference. More...
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void | setReferenceLocation (SimTK::Vec3 refLocationInGround) |
| Set the desired final location of the point, expressed in ground.
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| MocoGoal (std::string name) |
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| MocoGoal (std::string name, double weight) |
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void | setEnabled (bool enabled) |
| Set whether this goal is used in the problem.
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bool | getEnabled () const |
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void | setWeight (double weight) |
| In cost mode, the goal is multiplied by this weight. More...
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double | getWeight () const |
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void | setMode (std::string mode) |
| Set the mode property to either 'cost' or 'endpoint_constraint'. More...
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std::string | getModeAsString () const |
| This returns the default mode of the goal, unless the user overrode the default using setMode(). More...
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Mode | getMode () const |
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bool | getModeIsCost () const |
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bool | getModeIsEndpointConstraint () const |
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Mode | getDefaultMode () const |
| Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. More...
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bool | getSupportsEndpointConstraint () const |
| Can this constraint be used in endpoint constraint mode?
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const MocoConstraintInfo & | getConstraintInfo () const |
| Get bounds for the constraints when using this goal in endpoint constraint mode. More...
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MocoConstraintInfo & | updConstraintInfo () |
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int | getNumOutputs () const |
| Get the length of the return value of calcGoal().
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int | getNumIntegrals () const |
| Get the number of integrals required by this cost. More...
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SimTK::Real | calcIntegrand (const SimTK::State &state) const |
| Calculate the integrand that should be integrated and passed to calcCost(). More...
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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...
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void | initializeOnModel (const Model &model) const |
| For use by solvers. This also performs error checks on the Problem.
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void | printDescription (std::ostream &stream=std::cout) const |
| Print the name type and mode of this goal. More...
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void | initializeOnModelImpl (const Model &) const override |
| Perform any caching before the problem is solved. More...
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void | calcGoalImpl (const GoalInput &input, SimTK::Vector &cost) const override |
| The Lagrange multipliers for kinematic constraints are not available.
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void | printDescriptionImpl (std::ostream &stream=std::cout) const override |
| Print a more detailed description unique to each goal.
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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...
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virtual Mode | getDefaultModeImpl () const |
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virtual bool | getSupportsEndpointConstraintImpl () const |
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virtual void | calcIntegrandImpl (const SimTK::State &state, double &integrand) const |
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const Model & | getModel () const |
| For use within virtual function implementations.
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double | calcSystemDisplacement (const SimTK::State &initial, const SimTK::State &final) const |
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