Description

The squared difference between a model marker location and an experimental reference marker location, summed over the markers for which an experimental data location is provided, and integrated over the phase.

The reference can be provided as a file name to a TRC file, or programmatically as a TimeSeriesTable.

Examples:: exampleMarkerTracking.cpp.

Inheritance diagram for OpenSim::MocoMarkerTrackingGoal:

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

Public Member Functions
	MocoMarkerTrackingGoal (std::string name)

	MocoMarkerTrackingGoal (std::string name, double weight)

void	setMarkersReference (const MarkersReference &ref)
	Provide a MarkersReference object containing the marker trajectories to be tracked by a model. More...

MarkersReference	getMarkersReference () const
	If no MarkersReference has been specified, this returns an empty MarkersReference object. More...

void	setAllowUnusedReferences (bool tf)
	Specify if the markers_reference can contain marker data for a marker not in the model. More...

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
void	initializeOnModelImpl (const Model &) const override
	Perform any caching before the problem is solved. More...

void	calcIntegrandImpl (const SimTK::State &state, double &integrand) const override

void	calcGoalImpl (const GoalInput &input, SimTK::Vector &cost) const override
	The Lagrange multipliers for kinematic constraints are not available.

void	printDescriptionImpl (std::ostream &stream=std::cout) const override
	Print a more detailed description unique to each goal.

	OpenSim_DECLARE_PROPERTY (markers_reference, MarkersReference, "MarkersReference object containing the marker trajectories to be " "tracked by a model. Marker weights can be optionally specified " "to weight the tracking of individual markers in the cost " "function. Names of markers in the reference desired to be track " "should match the names of corresponding model markers.")

	OpenSim_DECLARE_PROPERTY (allow_unused_references, bool, "Allow markers_reference to contain marker data for a marker " "not in the model (such data would be ignored). Default: false.")

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 Mode	getDefaultModeImpl () const

virtual bool	getSupportsEndpointConstraintImpl () const

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

double	calcSystemDisplacement (const SimTK::State &initial, const SimTK::State &final) const

Protected Attributes
GCVSplineSet	m_refsplines

std::vector< SimTK::ReferencePtr< const Marker > >	m_model_markers

std::vector< int >	m_refindices

SimTK::Array_< double >	m_marker_weights

SimTK::Array_< std::string >	m_marker_names

Additional Inherited Members
Public Types inherited from OpenSim::MocoGoal
enum	Mode { Cost, EndpointConstraint }

Member Function Documentation

◆ calcIntegrandImpl()

void OpenSim::MocoMarkerTrackingGoal::calcIntegrandImpl	(	const SimTK::State &	state,
		double &	integrand
	)		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);
The Lagrange multipliers for kinematic constraints are not available.

Reimplemented from OpenSim::MocoGoal.

◆ getMarkersReference()

MarkersReference OpenSim::MocoMarkerTrackingGoal::getMarkersReference ( ) const

inline

If no MarkersReference has been specified, this returns an empty MarkersReference object.

◆ initializeOnModelImpl()

void OpenSim::MocoMarkerTrackingGoal::initializeOnModelImpl ( const Model & ) const

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.

◆ setAllowUnusedReferences()

void OpenSim::MocoMarkerTrackingGoal::setAllowUnusedReferences ( bool tf )

inline

Specify if the markers_reference can contain marker data for a marker not in the model.

An exception is raised if set to false and marker data exists for a marker not included in the model.

◆ setMarkersReference()

void OpenSim::MocoMarkerTrackingGoal::setMarkersReference ( const MarkersReference & ref )

inline

Provide a MarkersReference object containing the marker trajectories to be tracked by a model.

The MarkersReferences can be created from a file of marker trajectories (e.g. .trc) or created programmatically via a TimeSeriesTableVec3. The marker weights property can be optionally specified to weight the tracking of individual markers in the cost function. Names of markers in the reference to be tracked should match the names of corresponding model markers.

Examples:: exampleMarkerTracking.cpp.

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

MocoMarkerTrackingGoal.h

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ calcIntegrandImpl()

◆ getMarkersReference()

◆ initializeOnModelImpl()

◆ setAllowUnusedReferences()

◆ setMarkersReference()