Description
Minimize the sum of squared states, integrated over the phase.
For example, this can be used to minimize muscle activations, as is done in MocoInverse.
This goal is computed as follows:
\[ \int_{t_i}^{t_f} \sum_{s \in S} w_s y_s(t)^2 ~dt \]
We use the following notation:
- \( t_i \): the initial time of this phase.
- \( t_f \): the final time of this phase.
- \( S \): the set of state variables selected for this goal.
- \( w_s \): the weight for state variable \( s \).
- \( y_s(t) \): state variable \( s \).
Select which states to minimize by using a regex pattern with setPattern(). Provide weights for each state through setWeightSet() or setWeightForState().
#include <Moco/Moco/MocoGoal/MocoSumSquaredStateGoal.h>
Public Member Functions | |
| MocoSumSquaredStateGoal (std::string name) | |
| MocoSumSquaredStateGoal (std::string name, double weight) | |
| void | setWeightSet (const MocoWeightSet &weightSet) |
| Provide a MocoWeightSet to weight the state variables in the cost. More... | |
| void | setWeightForState (const std::string &stateName, const double &weight) |
| Set the weight for an individual state variable. More... | |
| void | setPattern (std::string pattern) |
| Only state paths matching the regular expression are included. More... | |
| void | clearPattern () |
| Unset the pattern, which causes all states to be matched. | |
| std::string | getPattern () const |
 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()
|
overrideprotectedvirtual |
- Precondition(s):
- The state is realized to SimTK::Stage::Position. If you need access to the controls, you must realize to Velocity: The Lagrange multipliers for kinematic constraints are not available.getModel().realizeVelocity(state);
Reimplemented from OpenSim::MocoGoal.
◆ initializeOnModelImpl()
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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.
◆ setPattern()
|
inline |
Only state paths matching the regular expression are included.
The regular expression must match the entire state path for a state path to be included (that is, we use std::regex_match, not std::regex_search). To include only generalized coordinates, use .*value$. To include generalized coordinates and speeds, use .*(value|speed)$. To include only activations, use .*activation$.
◆ setWeightForState()
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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()
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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: