Description

The squared difference between a state variable value and a reference state variable value, summed over the state variables for which a reference is provided, and integrated over the phase.

This can be used to track joint angles, activations, etc. The reference 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. If columns for rotational coordinates are in degrees, those columns will be converted to radians. Tracking problems in direct collocation perform best when tracking smooth data, so it is recommended to filter the data in the reference you provide to the cost.

Examples:: exampleTracking.cpp.

Inheritance diagram for OpenSim::MocoStateTrackingGoal:

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

Public Member Functions
	MocoStateTrackingGoal (std::string name)

	MocoStateTrackingGoal (std::string name, double weight)

void	setReference (TableProcessor ref)
	Provide a table containing reference values for the states you want to track. More...

const TableProcessor &	getReference () const
	If no reference has been provided, this returns an empty processor.

void	setWeightForState (const std::string &stateName, const double &weight)
	Set the weight for an individual state variable. More...

void	setWeightSet (const MocoWeightSet &weightSet)
	Provide a MocoWeightSet to weight the state variables in the cost. More...

void	setPattern (std::string pattern)
	Only state paths matching the regular expression are tracked. More...

void	clearPattern ()
	Unset the pattern, which causes all states to be matched.

std::string	getPattern () const

void	setAllowUnusedReferences (bool tf)
	Specify whether or not extra columns in the reference are allowed. More...

void	setScaleWeightsWithRange (bool tf)
	Use the range, or the distance between the maximum and minimum value, of each reference quantity to scale the weight for the associated tracking error in the cost. 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.

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

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

Member Function Documentation

◆ calcIntegrandImpl()

void OpenSim::MocoStateTrackingGoal::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.

◆ initializeOnModelImpl()

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

inline

Specify whether or not extra columns in the reference are allowed.

If set true, the extra references will be ignored by the cost. If false, extra reference will cause an Exception to be raised.

◆ setPattern()

void OpenSim::MocoStateTrackingGoal::setPattern ( std::string pattern )

inline

Only state paths matching the regular expression are tracked.

The regular expression must match the entire state path for a state path to be tracked (that is, we use std::regex_match, not std::regex_search). To track only generalized coordinates, use .*value$. To track generalized coordinates and speeds, use .*(value|speed)$. To track only activations, use .*activation$. If the reference contains columns for states whose path does not match this pattern, you will get an error unless you use setAllowUnusedReferences(true).

◆ setReference()

void OpenSim::MocoStateTrackingGoal::setReference ( TableProcessor ref )

inline

Provide a table containing reference values for the states you want to track.

Each column label must be the path of a state variable, e.g., knee/flexion/value. The table is not loaded until the MocoProblem is initialized.

Examples:: exampleTracking.cpp.

◆ setScaleWeightsWithRange()

void OpenSim::MocoStateTrackingGoal::setScaleWeightsWithRange ( bool tf )

inline

Use the range, or the distance between the maximum and minimum value, of each reference quantity to scale the weight for the associated tracking error in the cost.

The scale is computed by the inverse of the range, so a reference quantity that changes less across the trajectory has a larger weight. Each reference has a default weight of 1, so this flag works even if no user weights have be set. This may be useful when tracking quantities with different units, which may have tracking errors with different magnitudes.

◆ setWeightForState()

void OpenSim::MocoStateTrackingGoal::setWeightForState	(	const std::string &	stateName,
		const double &	weight
	)

inline

Set the weight for an individual state variable.

If a weight is already set for the requested state, then the provided weight replaces the previous weight. An exception is thrown if a weight for an unknown state is provided.

◆ setWeightSet()

void OpenSim::MocoStateTrackingGoal::setWeightSet ( const MocoWeightSet & weightSet )

inline

Provide a MocoWeightSet to weight the state variables in the cost.

Replaces the weight set if it already exists.

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

MocoStateTrackingGoal.h

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ calcIntegrandImpl()

◆ initializeOnModelImpl()

◆ setAllowUnusedReferences()

◆ setPattern()

◆ setReference()

◆ setScaleWeightsWithRange()

◆ setWeightForState()

◆ setWeightSet()