Available goals

These are the available goals you can use in your cost functional or as endpoint constraints. More...

Classes
class	OpenSim::MocoAccelerationTrackingGoal
	The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoAngularVelocityTrackingGoal
	The squared difference between a model frame's angular velocity and a reference angular velocity value, summed over the frames for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoContactTrackingGoal
	Minimize the error between compliant contact force elements in the model and experimentally measured contact forces. More...
class	OpenSim::MocoControlGoal
	Minimize the sum of the absolute value of the controls raised to a given exponent, integrated over the phase. More...
class	OpenSim::MocoControlTrackingGoal
	The squared difference between a control variable value and a reference control variable value, summed over the control variables for which a reference is provided, and integrated over the phase. More...
class	OpenSim::MocoGoal
	A goal is term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds. More...
class	OpenSim::MocoFinalTimeGoal
	Endpoint cost for final time. More...
class	OpenSim::MocoAverageSpeedGoal
	This goal requires the average speed of the system to match a desired average speed. More...
class	OpenSim::MocoInitialActivationGoal
	For all muscles with activation dynamics, the initial activation and initial excitation should be the same. More...
class	OpenSim::MocoInitialForceEquilibriumGoal
	For all Muscle components with explicit tendon compliance dynamics, constrain (or minimize) the error computed from the muscle-tendon force equilibrium equation. More...
class	OpenSim::MocoInitialVelocityEquilibriumDGFGoal
	For DeGrooteFregly2016Muscle components with implicit tendon compliance dynamics, the initial tendon and fiber velocities are determined based the derivative of the linearized muscle-tendon equilibrium equation described in Millard et al. More...
class	OpenSim::MocoJointReactionGoal
	Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase. More...
class	OpenSim::MocoMarkerFinalGoal
	The squared distance between a single model point location and reference location in the final state. More...
class	OpenSim::MocoMarkerTrackingGoal
	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. More...
class	OpenSim::MocoOrientationTrackingGoal
	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. More...
class	OpenSim::MocoOutputGoal
	This goal allows you to use any (double, or scalar) Output in the model as the integrand of a goal. More...
class	OpenSim::MocoPeriodicityGoal
	This goal enforces equality between initial and final variable values in the optimal control problem. More...
class	OpenSim::MocoStateTrackingGoal
	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. More...
class	OpenSim::MocoSumSquaredStateGoal
	Minimize the sum of squared states, integrated over the phase. More...
class	OpenSim::MocoTranslationTrackingGoal
	The squared difference between a model frame's origin position and a reference position value, summed over the frames for which a reference is provided, and integrated over the phase. More...

Detailed Description

These are the available goals you can use in your cost functional or as endpoint constraints.

If none of these satisfy your needs, you can define your own using a plugin.