OpenSim Namespace Reference

The utilities in this file are categorized as follows: More...

Classes
class	AccelerationMotion
	This class is a thin wrapper to Simbody's SimTK::Motion for prescribing the acceleration of all degrees of freedom (UDot), and is used when enforcing dynamics using implicit differential equations (UDot is supplied by the solver, not by Simbody). More...
class	AckermannVanDenBogert2010Force
	This class is still under development. More...
class	ActivationCoordinateActuator
	Similar to CoordinateActuator (simply produces a generalized force) but with first-order linear activation dynamics. More...
class	DeGrooteFregly2016Muscle
	This muscle model was published in De Groote et al. More...
class	DiscreteForces
	This class is a thin wrapper to Simbody's SimTK::Force::DiscreteForces class. More...
class	EspositoMiller2018Force
	This contact model uses a continuous equation to transition between in and out of contact. More...
class	FileDeletionThrower
	This class helps a user cause an exception within the code. More...
class	FileDeletionThrowerException
	Thrown by FileDeletionThrower::throwIfDeleted(). More...
struct	make_printable_return
	Return type for make_printable() More...
struct	make_printable_return< std::string >
	Specialization for std::string. More...
class	MeyerFregly2016Force
	This contact model is from the following paper: Meyer A. More...
class	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	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	MocoAverageSpeedGoal
	This goal requires the average speed of the system to match a desired average speed. More...
class	MocoBounds
	Small struct to handle bounds. More...
class	MocoCasADiSolver
	This solver uses the CasADi library (https://casadi.org) to convert the MocoProblem into a generic nonlinear programming problem. More...
class	MocoCasOCProblem
	This class is the bridge between CasOC::Problem and MocoProblemRep. More...
class	MocoConstraintInfo
	Information for a given constraint in the optimal control problem. More...
class	MocoContactTrackingGoal
	Minimize the error between compliant contact force elements in the model and experimentally measured contact forces. More...
class	MocoContactTrackingGoalGroup
	A contact group is a single ExternalForce and a list of contact force components in the model whose forces are summed and compared to the ExternalForce. More...
class	MocoControlBoundConstraint
	This class constrains any number of control signals from ScalarActautors to be between two time-based functions. More...
class	MocoControlGoal
	Minimize the sum of the absolute value of the controls raised to a given exponent, integrated over the phase. More...
class	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	MocoControlTrackingGoalReference
	Associate a control variable with a column from the reference data. More...
class	MocoDirectCollocationSolver
	This is a base class for solvers that use direct collocation to convert an optimal control problem into a generic nonlinear programming problem. More...
class	MocoFinalBounds
	Used for specifying the bounds on a variable at the end of a phase. More...
class	MocoFinalTimeGoal
	Endpoint cost for final time. More...
class	MocoFrameDistanceConstraint
	This path constraint enforces that the distance between the origins of pairs of model frames is kept between minimum and maximum bounds. More...
class	MocoFrameDistanceConstraintPair
class	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	MocoInitialActivationGoal
	For all muscles with activation dynamics, the initial activation and initial excitation should be the same. More...
class	MocoInitialBounds
	Used for specifying the bounds on a variable at the start of a phase. More...
class	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	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	MocoInverse
	This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics. More...
class	MocoInverseSolution
	This class holds the solution from MocoInverse. More...
class	MocoJointReactionGoal
	Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase. More...
class	MocoKinematicConstraint
	A model kinematic constraint to be enforced in the optimal control problem. More...
class	MocoMarkerFinalGoal
	The squared distance between a single model point location and reference location in the final state. More...
class	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	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	MocoOutputGoal
	This goal allows you to use any (double, or scalar) Output in the model as the integrand of a goal. More...
class	MocoParameter
	A MocoParameter allows you to optimize property values in an OpenSim Model. More...
class	MocoPathConstraint
	A path constraint to be enforced in the optimal control problem. More...
class	MocoPeriodicityGoal
	This goal enforces equality between initial and final variable values in the optimal control problem. More...
class	MocoPeriodicityGoalPair
	Create pair of variables for use with a MocoPeriodicityGoal. More...
class	MocoPhase
	The states, controls, dynamics, parameters, goals, and constraints for a phase of the problem. More...
class	MocoProblem
	A description of an optimal control problem, backed by OpenSim Models. More...
class	MocoProblemInfo
	This class is mostly for internal use for MocoProblemRep to pass select information about a problem to the MocoGoals and MocoPathConstraints of the problem during initializeOnModel(). More...
class	MocoProblemRep
	The primary intent of this class is for use by MocoSolvers, but users can also use this class to apply parameter values to the model and evaluate cost terms. More...
class	MocoSolution
	Return type for MocoStudy::solve(). More...
class	MocoSolver
	Once the solver is created, you should not make any edits to the MocoProblem. More...
class	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	MocoStudy
	The top-level class for solving a custom optimal control problem. More...
class	MocoStudyFactory
	This class creates MocoStudies of common interest. More...
class	MocoSumSquaredStateGoal
	Minimize the sum of squared states, integrated over the phase. More...
class	MocoTool
	This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods. More...
class	MocoTrack
	MocoTrack This tool constructs problems in which state and/or marker trajectory data are tracked while solving for model kinematics and actuator controls. More...
class	MocoTrajectory
	The values of the variables in an optimal control problem. More...
class	MocoTrajectoryIsSealed
	This exception is thrown if you try to invoke most methods on MocoTrajectory while the trajectory is sealed. More...
class	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...
class	MocoTropterSolver
	Solve the MocoProblem using the tropter direct collocation library. More...
class	MocoTropterSolverNotAvailable
class	MocoVariableInfo
	Bounds on continuous variables (states, controls, multipliers, etc). More...
class	MocoWeight
	This class contains a single property that holds a weighting factor to be used in a MocoGoal. More...
class	MocoWeightSet
	A container for Moco weights. More...
class	ModelFactory
	This class provides utilities for creating OpenSim models. More...
class	ModelOperator
	This abstract base class describes any operation that modifies a Model as part of a ModelProcessor. More...
class	ModelProcessor
	This class describes a workflow for processing a Model using ModelOperators. More...
class	ModOpAddExternalLoads
	Add external loads (e.g., ground reaction forces) to the model from a XML file. More...
class	ModOpAddReserves
	Add reserve actuators to the model using ModelFactory::createReserveActuators. More...
class	ModOpFiberDampingDGF
	Set the fiber damping for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpIgnoreActivationDynamics
	Turn off activation dynamics for all muscles in the model. More...
class	ModOpIgnorePassiveFiberForcesDGF
	Turn off passive fiber forces for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpIgnoreTendonCompliance
	Turn off tendon compliance for all muscles in the model. More...
class	ModOpPassiveFiberStrainAtOneNormForceDGF
	Set passive fiber stiffness for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpRemoveMuscles
	Remove all muscles contained in the model's ForceSet. More...
class	ModOpReplaceJointsWithWelds
class	ModOpReplaceMusclesWithDeGrooteFregly2016
	Invoke DeGrooteFregly2016Muscle::replaceMuscles() on the model. More...
class	ModOpScaleActiveFiberForceCurveWidthDGF
	Scale the active fiber force curve width for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpScaleMaxIsometricForce
	Scale the max isometric force for all muscles in the model. More...
class	ModOpTendonComplianceDynamicsModeDGF
	For DeGrooteFregly2016Muscle muscles whose 'ignore_tendon_compliance' property is false, set the tendon compliance dynamics mode to either 'explicit' or 'implicit'. More...
class	ModOpUseImplicitTendonComplianceDynamicsDGF
	Set the tendon compliance dynamics mode to "implicit" for all DeGrooteFregly2016Muscles in the model. More...
class	MultivariatePolynomialFunction
class	PositionMotion
	This class prescribes the value, speed, and acceleration of all coordinates in the model using SimTK::Motion. More...
class	SimTKMultivariatePolynomial
class	StationPlaneContactForce
	This class models compliant point contact with a ground plane y=0. More...
class	Stopwatch
	Record and report elapsed real time ("clock" or "wall" time) in seconds. More...
class	StreamFormat
	This class stores the formatting of a stream and restores that format when the StreamFormat is destructed. More...
class	TableOperator
	This abstract class describes any operation that consumes a modifies a TimeSeriesTable as part of a TableProcessor. More...
class	TableProcessor
	This class describes a workflow for processing a table using TableOperators. More...
class	TabOpLowPassFilter
	Apply a low-pass filter to the trajectory. More...
class	TabOpUseAbsoluteStateNames
	Update table column labels to use post-4.0 state paths instead of pre-4.0 state names. More...
class	ThreadsafeJar
	This class lets you store objects of a single type for reuse by multiple threads, ensuring threadsafe access to each of those objects. More...

Typedefs
using	VectorDM = std::vector< casadi::DM >

Enumerations
enum	KinematicLevel {   Position, DtPosition, Velocity, DtDtPosition,   DtVelocity, Acceleration }
	The kinematic level for a scalar kinematic constraint within a MocoKinematicConstraint. More...

Functions
OSIMMOCO_API std::string	GetMocoVersionAndDate ()
OSIMMOCO_API std::string	GetMocoVersion ()
CasOC::Bounds	convertBounds (const MocoBounds &mb)
CasOC::Bounds	convertBounds (const MocoInitialBounds &mb)
CasOC::Bounds	convertBounds (const MocoFinalBounds &mb)
casadi::DM	convertToCasADiDMTranspose (const SimTK::Matrix &simtkMatrix)
	This converts a SimTK::Matrix to a casadi::DM matrix, transposing the data in the process. More...
template<typename T >
casadi::DM	convertToCasADiDMTemplate (const T &simtk)
casadi::DM	convertToCasADiDMTranspose (const SimTK::RowVector &simtkRV)
	This converts a SimTK::RowVector to a casadi::DM column vector.
casadi::DM	convertToCasADiDM (const SimTK::Vector &simtkVec)
	This converts a SimTK::Vector to a casadi::DM column vector.
CasOC::Iterate	convertToCasOCIterate (const MocoTrajectory &mocoIt)
	This resamples the iterate to obtain values that lie on the mesh.
template<typename VectorType = SimTK::Vector>
VectorType	convertToSimTKVector (const casadi::DM &casVector)
SimTK::Matrix	convertToSimTKMatrix (const casadi::DM &casMatrix)
	This converts a casadi::DM matrix to a SimTK::Matrix, transposing the data in the process. More...
template<typename TOut = MocoTrajectory>
TOut	convertToMocoTrajectory (const CasOC::Iterate &casIt)
template<typename T , typename... Args>
std::unique_ptr< T >	make_unique (Args &&... args)
	Since Moco does not require C++14 (which contains std::make_unique()), here is an implementation of make_unique().
OSIMMOCO_API std::string	getMocoFormattedDateTime (bool appendMicroseconds=false, std::string format="%Y-%m-%dT%H%M%S")
	Get a string with the current date and time formatted as Y-m-dTHMS (year, month, day, "T", hour, minute, second). More...
bool	startsWith (const std::string &string, const std::string &start)
	Determine if string starts with the substring start. More...
bool	endsWith (const std::string &string, const std::string &ending)
	Determine if string ends with the substring ending. More...
OSIMMOCO_API std::string	getAbsolutePathnameFromXMLDocument (const std::string &documentFileName, const std::string &pathnameRelativeToDocument)
	An OpenSim XML file may contain file paths that are relative to the directory containing the XML file; use this function to convert that relative path into an absolute path.
OSIMMOCO_API SimTK::Vector	createVectorLinspace (int length, double start, double end)
	Create a SimTK::Vector with the provided length whose elements are linearly spaced between start and end.
OSIMMOCO_API SimTK::Vector	createVector (std::initializer_list< SimTK::Real > elements)
	Create a SimTK::Vector using modern C++ syntax.
OSIMMOCO_API SimTK::Vector	interpolate (const SimTK::Vector &x, const SimTK::Vector &y, const SimTK::Vector &newX, const bool ignoreNaNs=false)
	Linearly interpolate y(x) at new values of x. More...
template<typename FunctionType >
std::unique_ptr< FunctionSet >	createFunctionSet (const TimeSeriesTable &table)
template<>
std::unique_ptr< FunctionSet >	createFunctionSet< GCVSpline > (const TimeSeriesTable &table)
template<typename TimeVector , typename FunctionType = GCVSpline>
TimeSeriesTable	resample (const TimeSeriesTable &in, const TimeVector &newTime)
	Resample (interpolate) the table at the provided times. More...
OSIMMOCO_API Storage	convertTableToStorage (const TimeSeriesTable &)
	Create a Storage from a TimeSeriesTable. More...
OSIMMOCO_API void	updateStateLabels40 (const Model &model, std::vector< std::string > &labels)
	Update a vector of state labels (in place) to use post-4.0 state paths instead of pre-4.0 state names. More...
OSIMMOCO_API TimeSeriesTable	filterLowpass (const TimeSeriesTable &table, double cutoffFreq, bool padData=false)
	Lowpass filter the data in a TimeSeriesTable at a provided cutoff frequency. More...
OSIMMOCO_API void	writeTableToFile (const TimeSeriesTable &, const std::string &)
	Write a single TimeSeriesTable to a file, using the FileAdapter associated with the provided file extension.
OSIMMOCO_API void	visualize (Model, Storage)
	Play back a motion (from the Storage) in the simbody-visuailzer. More...
OSIMMOCO_API void	visualize (Model, TimeSeriesTable)
	This function is the same as visualize(Model, Storage), except that the states are provided in a TimeSeriesTable.
template<typename T >
TimeSeriesTable_< T >	analyze (Model model, const MocoTrajectory &trajectory, std::vector< std::string > outputPaths)
	Calculate the requested outputs using the model in the problem and the states and controls in the MocoTrajectory. More...
OSIMMOCO_API void	prescribeControlsToModel (const MocoTrajectory &trajectory, Model &model, std::string functionType="GCVSpline")
	Given a MocoTrajectory and the associated OpenSim model, return the model with a prescribed controller appended that will compute the control values from the MocoSolution. More...
OSIMMOCO_API MocoTrajectory	simulateTrajectoryWithTimeStepping (const MocoTrajectory &trajectory, Model model, double integratorAccuracy=-1)
	Use the controls and initial state in the provided trajectory to simulate the model using an ODE time stepping integrator (OpenSim::Manager), and return the resulting states and controls. More...
OSIMMOCO_API std::vector< std::string >	createStateVariableNamesInSystemOrder (const Model &model)
	The map provides the index of each state variable in SimTK::State::getY() from its each state variable path string. More...
OSIMMOCO_API std::vector< std::string >	createStateVariableNamesInSystemOrder (const Model &model, std::unordered_map< int, int > &yIndexMap)
	Same as above, but you can obtain a map from the returned state variable names to the index in SimTK::State::getY() that accounts for empty slots in Y.
OSIMMOCO_API std::unordered_map< std::string, int >	createSystemYIndexMap (const Model &model)
	The map provides the index of each state variable in SimTK::State::getY() from its state variable path string.
OSIMMOCO_API std::vector< std::string >	createControlNamesFromModel (const Model &model, std::vector< int > &modelControlIndices)
	Create a vector of control names based on the actuators in the model for which appliesForce == True. More...
OSIMMOCO_API std::vector< std::string >	createControlNamesFromModel (const Model &model)
	Same as above, but when there is no mapping to the modelControlIndices.
OSIMMOCO_API std::unordered_map< std::string, int >	createSystemControlIndexMap (const Model &model)
	The map provides the index of each control variable in the SimTK::Vector return by OpenSim::Model::getControls() from its control name.
OSIMMOCO_API void	checkOrderSystemControls (const Model &model)
	Throws an exception if the order of the controls in the model is not the same as the order of the actuators in the model.
OSIMMOCO_API void	checkRedundantLabels (std::vector< std::string > labels)
	Throws an exception if the same label appears twice in the list of labels. More...
OSIMMOCO_API void	checkLabelsMatchModelStates (const Model &model, const std::vector< std::string > &labels)
	Throws an exception if any label in the provided list does not match any state variable names in the model. More...
template<typename T = double>
std::vector< SimTK::ReferencePtr< const Output< T > > >	getModelOutputReferencePtrs (const Component &component, const std::string &pattern, bool includeDescendents=false)
	Get a list of reference pointers to all outputs whose names (not paths) match a substring defined by a provided regex string pattern. More...
OSIMMOCO_API MocoTrajectory	createPeriodicTrajectory (const MocoTrajectory &halfPeriodTrajectory, std::vector< std::string > addPatterns={".*pelvis_tx/value"}, std::vector< std::string > negatePatterns={ ".*pelvis_list(?!/value).*", ".*pelvis_rotation.*", ".*pelvis_tz(?!/value).*", ".*lumbar_bending(?!/value).*", ".*lumbar_rotation.*"}, std::vector< std::string > negateAndShiftPatterns={ ".*pelvis_list/value", ".*pelvis_tz/value", ".*lumbar_bending/value"}, std::vector< std::pair< std::string, std::string >> symmetryPatterns={{R"(_r(\_|$))", "_l$1"}, {R"(_l(\_|$))", "_r$1"}})
	Convert a trajectory covering half the period of a symmetric motion into a trajectory over the full period. More...
template<typename T >
void	checkPropertyInSet (const Object &obj, const Property< T > &p, const std::set< T > &set)
	Throw an exception if the property's value is not in the provided set. More...
template<typename T >
void	checkPropertyIsPositive (const Object &obj, const Property< T > &p)
	Throw an exception if the property's value is not positive. More...
template<typename T >
void	checkPropertyInRangeOrSet (const Object &obj, const Property< T > &p, const T &lower, const T &upper, const std::set< T > &set)
	Throw an exception if the property's value is neither in the provided range nor in the provided set. More...
OSIMMOCO_API int	getMocoParallelEnvironmentVariable ()
	This obtains the value of the OPENSIM_MOCO_PARALLEL environment variable. More...
OSIMMOCO_API TimeSeriesTable	createExternalLoadsTableForGait (Model model, const StatesTrajectory &trajectory, const std::vector< std::string > &forcePathsRightFoot, const std::vector< std::string > &forcePathsLeftFoot)
	Obtain the ground reaction forces, centers of pressure, and torques resulting from Force elements (e.g., SmoothSphereHalfSpaceForce), using a model and states trajectory. More...
OSIMMOCO_API TimeSeriesTable	createExternalLoadsTableForGait (Model model, const MocoTrajectory &trajectory, const std::vector< std::string > &forcePathsRightFoot, const std::vector< std::string > &forcePathsLeftFoot)
	Same as above, but with a MocoTrajectory instead of a StatesTrajectory.
OSIMMOCO_API SimTK::Real	solveBisection (std::function< double(const double &)> calcResidual, double left, double right, const double &tolerance=1e-6, int maxIterations=1000)
	Solve for the root of a scalar function using the bisection method. More...
Filling in a string with variables.
template<typename T >
make_printable_return< T >::type	make_printable (const T &x)
	Convert to types that can be printed with sprintf() (vsnprintf()). More...
template<>
make_printable_return< std::string >::type	make_printable (const std::string &x)
	Specialization for std::string.
OSIMMOCO_API std::string	format_c (const char *,...)
	Format a char array using (C interface; mainly for internal use).
template<typename... Types>
std::string	format (const std::string &formatString, Types... args)
	Format a string in the style of sprintf. More...
template<typename... Types>
void	printMessage (const std::string &formatString, Types... args)
	Print a formatted string to std::cout. More...

Detailed Description

The utilities in this file are categorized as follows:

The Moco interface is contained within the OpenSim namespace.

• generic utilities (Doxygen group mocogenutil),
• string and logging utilities (mocologutil),
• numeric and data utilities (moconumutil), and
• model and trajectory utilities (mocomodelutil). When adding a new function to this file, make sure to add it to one of the groups above.

Enumeration Type Documentation

KinematicLevel

enum OpenSim::KinematicLevel

strong

The kinematic level for a scalar kinematic constraint within a MocoKinematicConstraint.

Each scalar constraint is automatically assigned a KinematicLevel enum value when a MocoKinematicConstraint is instantiated.

Function Documentation

checkLabelsMatchModelStates()

OSIMMOCO_API void OpenSim::checkLabelsMatchModelStates	(	const Model &	model,
		const std::vector< std::string > &	labels
	)

Throws an exception if any label in the provided list does not match any state variable names in the model.

convertToCasADiDMTranspose()

casadi::DM OpenSim::convertToCasADiDMTranspose ( const SimTK::Matrix &  simtkMatrix )

inline

This converts a SimTK::Matrix to a casadi::DM matrix, transposing the data in the process.

convertToSimTKMatrix()

SimTK::Matrix OpenSim::convertToSimTKMatrix ( const casadi::DM &  casMatrix )

inline

This converts a casadi::DM matrix to a SimTK::Matrix, transposing the data in the process.

updateStateLabels40()

OSIMMOCO_API void OpenSim::updateStateLabels40	(	const Model &	model,
		std::vector< std::string > &	labels
	)

Update a vector of state labels (in place) to use post-4.0 state paths instead of pre-4.0 state names.

For example, this converts labels as follows:

• pelvis_tilt -> /jointset/ground_pelvis/pelvis_tilt/value
• pelvis_tilt_u -> /jointset/ground_pelvis/pelvis_tilt/speed
• soleus.activation -> /forceset/soleus/activation
• soleus.fiber_length -> /forceset/soleus/fiber_length This can also be used to update the column labels of an Inverse Kinematics Tool solution MOT file so that the data can be used as states. If a label does not identify a state in the model, the column label is not changed.

  Exceptions

  Exception

  if labels are not unique.