Description

A description of an optimal control problem, backed by OpenSim Models.

A MocoProblem is a series of phases, each of which contains the following:

OpenSim Model
state and control variable info (e.g., bounds)
parameter variables (model properties)
goals (costs and endpoint constraints)
path constraints

Currently, only single-phase problems are supported. This class has convenience methods to configure the first (0-th) phase.

This class allows you to define your problem, but does not let you do anything with your problem (this class only contains user input). Use createRep() to create an instance of MocoProblemRep, which provides additional functionality.

Examples:: example2DWalking.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

Inheritance diagram for OpenSim::MocoProblem:

#include <Moco/Moco/MocoProblem.h>

Public Member Functions
MocoPhase &	updPhase (int index=0)
	Get a modifiable phase of the problem by index (starting index of 0). More...

const MocoPhase &	getPhase (int index=0) const
	Get a modifiable phase of the problem by index (starting index of 0). More...

MocoProblemRep	createRep () const
	Create an instance of MocoProblemRep, which fills in additional state and control bounds, and allows you to apply parameter values and evaluate the goals. More...

Convenience methods for phase 0.
These methods allow you to conveniently edit phase 0 of the problem. See MocoPhase's documentation for more information.
Model *	setModel (std::unique_ptr< Model > model)
	Set the model to use for phase 0. More...

Model *	setModelCopy (Model model)
	Set the model to use for phase 0. More...

Model &	updModel ()
	Update the model in phase 0.

void	setModelProcessor (ModelProcessor model)
	Set a model processor for phase 0. More...

void	setTimeBounds (const MocoInitialBounds &, const MocoFinalBounds &)
	Set time bounds for phase 0.

void	printStateNamesWithSubstring (const std::string &name)
	Find and print the names of all state variables containing a substring.

void	setStateInfo (const std::string &name, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a state variable for phase 0.

void	setStateInfoPattern (const std::string &pattern, const MocoBounds &bounds, const MocoInitialBounds &init={}, const MocoFinalBounds &final={})
	Set bounds for all state variables for phase 0 whose path matches the provided pattern. More...

void	printControlNamesWithSubstring (const std::string &name)
	Find and print the names of all state variables containing a substring.

void	setControlInfo (const std::string &name, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a control variable for phase 0.

void	setControlInfoPattern (const std::string &pattern, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a control variable using a regular expression.

void	setKinematicConstraintBounds (const MocoBounds &bounds)
	Set bounds for the kinematic constraints in phase 0.

void	setMultiplierBounds (const MocoBounds &bounds)
	Set bounds for the Lagrange multipliers in phase 0.

template<typename MocoParamType = MocoParameter, typename... Args>
MocoParamType *	addParameter (Args &&... args)
	Add a parameter variable for phase 0. More...

template<typename MocoParamType = MocoParameter>
MocoParamType *	addParameter (std::unique_ptr< MocoParamType > param)
	Add a parameter variable for phase 0.

template<typename MocoGoalType , typename... Args>
MocoGoalType *	addGoal (Args &&... args)
	Add a goal for phase 0. More...

template<typename MocoGoalType >
MocoGoalType *	addGoal (std::unique_ptr< MocoGoalType > goal)
	Add a goal for phase 0.

MocoGoal &	updGoal (const std::string &name)
	Returns a reference to the goal with name "name" in phase 0.

template<typename MocoPCType , typename... Args>
MocoPCType *	addPathConstraint (Args &&... args)
	Add a constraint for phase 0. More...

template<typename MocoPCType >
MocoPCType *	addPathConstraint (std::unique_ptr< MocoPCType > pc)
	Add a constraint for phase 0.

Public Attributes
friend	MocoProblemRep

Protected Member Functions
	OpenSim_DECLARE_LIST_PROPERTY_SIZE (phases, MocoPhase, 1, "List of 1 or more MocoPhases.")

Member Function Documentation

◆ addGoal()

template<typename MocoGoalType , typename... Args>

MocoGoalType* OpenSim::MocoProblem::addGoal ( Args &&... args )

inline

Add a goal for phase 0.

See also: MocoPhase::addGoal()

Examples:: example2DWalking.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

◆ addParameter()

template<typename MocoParamType = MocoParameter, typename... Args>

MocoParamType* OpenSim::MocoProblem::addParameter ( Args &&... args )

inline

Add a parameter variable for phase 0.

See also: MocoPhase::addParameter()

◆ addPathConstraint()

template<typename MocoPCType , typename... Args>

MocoPCType* OpenSim::MocoProblem::addPathConstraint ( Args &&... args )

inline

Add a constraint for phase 0.

See also: MocoPhase::addPathConstraint()

◆ createRep()

MocoProblemRep OpenSim::MocoProblem::createRep ( ) const

inline

Create an instance of MocoProblemRep, which fills in additional state and control bounds, and allows you to apply parameter values and evaluate the goals.

This function will check your problem for various errors.

◆ getPhase()

const MocoPhase& OpenSim::MocoProblem::getPhase ( int index = 0 ) const

inline

Get a modifiable phase of the problem by index (starting index of 0).

This accesses the internal phases property.

◆ setModel()

Model* OpenSim::MocoProblem::setModel ( std::unique_ptr< Model > model )

Set the model to use for phase 0.

See also: MocoPhase::setModel().

Examples:: exampleCustomImplicitAuxiliaryDynamics.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

◆ setModelCopy()

Model* OpenSim::MocoProblem::setModelCopy ( Model model )

Set the model to use for phase 0.

See also: MocoPhase::setModelCopy().

◆ setModelProcessor()

void OpenSim::MocoProblem::setModelProcessor ( ModelProcessor model )

Set a model processor for phase 0.

See also: MocoPhase::setModelProcessor().

Examples:: example2DWalking.cpp.

◆ setStateInfoPattern()

void OpenSim::MocoProblem::setStateInfoPattern	(	const std::string &	pattern,
		const MocoBounds &	bounds,
		const MocoInitialBounds &	init = `{}`,
		const MocoFinalBounds &	final = `{}`
	)

Set bounds for all state variables for phase 0 whose path matches the provided pattern.

◆ updPhase()

MocoPhase& OpenSim::MocoProblem::updPhase ( int index = 0 )

inline

Get a modifiable phase of the problem by index (starting index of 0).

This accesses the internal phases property.

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

MocoProblem.h

Description

Public Member Functions

Public Attributes

Protected Member Functions

Member Function Documentation

◆ addGoal()

◆ addParameter()

◆ addPathConstraint()

◆ createRep()

◆ getPhase()

◆ setModel()

◆ setModelCopy()

◆ setModelProcessor()

◆ setStateInfoPattern()

◆ updPhase()