The squared difference between a model frame's orientation and a reference orientation value, summed over the frames for which a reference is provided, and integrated over the phase.
This can be used to track orientation quantities in the model that don't correspond to model degrees of freedom. The reference can be provided as a trajectory of SimTK::Rotations representing the orientation reference data, or as a states trajectory from which the tracked rotation reference is computed. Both rotation and states references can be provided as a file name to a STO or CSV file (or other file types for which there is a FileAdapter), or programmatically as a TimeSeriesTable_<SimTK::Rotation> (for the rotation reference) or as a scalar TimeSeriesTable (for the states reference).
This cost requires realization to SimTK::Stage::Position. The cost is computed by creating a SimTK::Rotation between the model frame and the reference data, and then converting the rotation to an angle-axis representation and minimizing the angle value. The angle value is equivalent to the orientation error between the model frame and the reference data, so we only need to minimize this single scalar value per tracked frame, compared to other more complicated approaches which could require multiple minimized error values (e.g. Euler angle errors, etc).
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| MocoOrientationTrackingGoal (std::string name) |
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| MocoOrientationTrackingGoal (std::string name, double weight) |
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void | setRotationReferenceFile (const std::string &filepath) |
| Set the rotations of individual frames in ground to be tracked in the cost. More...
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void | setRotationReference (const TimeSeriesTable_< Rotation > &ref) |
| Each column label must be the path of a valid frame path (see seeRotationReferenceFile()). More...
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void | setStatesReference (const TableProcessor &ref) |
| Provide a table containing values of model state variables. More...
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void | setFramePaths (const std::vector< std::string > &paths) |
| Set the paths to frames in the model that this cost term will track. More...
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void | setWeightForFrame (const std::string &frameName, const double &weight) |
| Set the weight for an individual frame's rotation tracking. More...
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void | setWeightSet (const MocoWeightSet &weightSet) |
| Provide a MocoWeightSet to weight frame rotation tracking in the cost. More...
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const TableProcessor & | getStatesReference () const |
| If no states reference has been provided, this returns an empty processor. More...
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std::string | getRotationReferenceFile () const |
| If no rotation reference file has been provided, this returns an empty string. More...
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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 &model) const override |
| Perform any caching before the problem is solved. More...
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void | calcIntegrandImpl (const SimTK::State &state, double &integrand) const override |
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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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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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void OpenSim::MocoOrientationTrackingGoal::setRotationReferenceFile |
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const std::string & |
filepath | ) |
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inline |
Set the rotations of individual frames in ground to be tracked in the cost.
The column labels of the provided reference must be paths to frames in the model, e.g. /bodyset/torso
. If the frame_paths property is empty, all frames with data in this reference will be tracked. Otherwise, only the frames specified via setFramePaths() will be tracked. Calling this function clears the values provided via setStatesReference(), setRotationReference(), or the states_reference_file
property, if any.