API  4.2
For MATLAB, Python, Java, and C++ users
OpenSim::MocoGoal Class Referenceabstract

A goal is term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds. More...

+ Inheritance diagram for OpenSim::MocoGoal:

Public Member Functions

 MocoGoal ()
 
 MocoGoal (std::string name)
 
 MocoGoal (std::string name, double weight)
 
void setEnabled (bool enabled)
 Set whether this goal is used in the problem. More...
 
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 goal be used in endpoint constraint mode? More...
 
const MocoConstraintInfogetConstraintInfo () const
 Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More...
 
MocoConstraintInfoupdConstraintInfo ()
 
int getNumOutputs () const
 Get the length of the return value of calcGoal(). More...
 
int getNumIntegrals () const
 Get the number of integrals required by this cost. More...
 
SimTK::Stage getStageDependency () const
 Obtain the stage that this goal depends on. More...
 
SimTK::Real calcIntegrand (const IntegrandInput &input) 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
 Perform error checks on user input for this goal, and cache quantities needed when computing the goal value. More...
 
void printDescription () const
 Print the name type and mode of this goal. More...
 
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup. More...
 
bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading. More...
 
Objectoperator= (const Object &aObject)
 Copy assignment copies he base class fields, including the properties. More...
 
virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal. More...
 
virtual bool operator< (const Object &aObject) const
 Provide an ordering for objects so they can be put in sorted containers. More...
 
void setName (const std::string &name)
 Set the name of the Object. More...
 
const std::string & getName () const
 Get the name of this Object. More...
 
void setDescription (const std::string &description)
 Set description, a one-liner summary. More...
 
const std::string & getDescription () const
 Get description, a one-liner summary. More...
 
const std::string & getAuthors () const
 Get Authors of this Object. More...
 
void setAuthors (const std::string &authors)
 Set Authors of this object. More...
 
const std::string & getReferences () const
 Get references or publications to cite if using this object. More...
 
void setReferences (const std::string &references)
 Set references or publications to cite if using this object. More...
 
int getNumProperties () const
 Determine how many properties are stored with this Object. More...
 
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (int propertyIndex)
 Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
 
bool hasProperty (const std::string &name) const
 Return true if this Object has a property of any type with the given name, which must not be empty. More...
 
const AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (const std::string &name)
 Get a writable reference to a property by its name, returned as an AbstractProperty. More...
 
template<class T >
bool hasProperty () const
 Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
 
template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
 
template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
 
bool isObjectUpToDateWithProperties () const
 Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
 
void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object. More...
 
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element. More...
 
void updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
 Serialize this object into the XML node that represents it. More...
 
bool getInlined () const
 Inlined means an in-memory Object that is not associated with an XMLDocument. More...
 
void setInlined (bool aInlined, const std::string &aFileName="")
 Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
 
std::string getDocumentFileName () const
 If there is a document associated with this object then return the file name maintained by the document. More...
 
int getDocumentFileVersion () const
 If there is a document associated with this object then return its version number. More...
 
void setAllPropertiesUseDefault (bool aUseDefault)
 
bool print (const std::string &fileName) const
 Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
 
std::string dump () const
 dump the XML representation of this Object into an std::string and return it. More...
 
virtual bool isA (const char *type) const
 The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
 
const std::string & toString () const
 Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Static Public Member Functions

Auto-generated functions
static MocoGoalsafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 Register an instance of a class; if the class is already registered it will be replaced. More...
 
static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 Support versioning by associating the current Object type with an old name. More...
 
static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
 
template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
 
static ObjectnewInstanceOfType (const std::string &concreteClassName)
 Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
 
static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far. More...
 
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
 Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
 
static bool PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
 Same as the other signature but the class name and property name are provided as two separate strings. More...
 
static ObjectmakeObjectFromFile (const std::string &fileName)
 Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
 
static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object". More...
 
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
 
static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag. More...
 
static bool isKindOf (const char *type)
 Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
 
static void setDebugLevel (int newLevel)
 Set the amount of logging output. More...
 
static int getDebugLevel ()
 Get the current setting of debug level. More...
 
static ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 

Auto-generated functions <br>

static const std::string & getClassName ()
 This returns "MocoGoal"
More...
 
MocoGoalclone () const override=0
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override=0
 Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...
 

Detailed Description

A goal is term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds.

Goals depend on the phase's initial and final states and controls, and optionally on the integral of a quantity over the phase. Not all goals support endpoint constraint mode; see getSupportsEndpointConstraint(). If a goal does support endpoint constraint mode, then the default mode is available via getMode(). Use endpoint constraint mode if you require the goal to be met strictly and do not want to allow a trade-off between this goal and other goals. The calculation of the goal may differ between cost and endpoint constraint modes; cost mode may require that outputs are squared, for example.

Stage dependency

Some goals require less of IntegrandInput and GoalInput than others. To ensure goals are computed efficiently, goals can specify a stage dependency, which tells solvers what to do when preparing IntegrandInput and GoalInput. Here are the expectations for each SimTK::Stage:

  • SimTK::Stage::Topology: the time field of IntegrandInput and initial_time and final_time fields of GoalInput are available.
  • SimTK::Stage::Model: controls fields of IntegrandInput and GoalInput are available.
  • SimTK::Stage::Instance: MocoParameters are applied to the model.
  • SimTK::Stage::Time: state variables (SimTK::State::getY(), etc.) are available, and SimTK::Stage::getTime() is updated.
  • SimTK::Stage::Position: state, initial_state, and final_state can be used to compute position-dependent quantities.
  • SimTK::Stage::Velocity: state, initial_state, and final_state can be used to compute velocity-dependent quantities.
  • SimTK::Stage::Dynamics: state, initial_state, and final_state can be used to compute force-dependent quantities.
  • SimTK::Stage::Acceleration: state, initial_state, and final_state can be used to compute acceleration-dependent quantities, such as body accelerations and joint reactions.
For developers
Every time the problem is solved, a copy of this goal is used. An individual instance of a goal is only ever used in a single problem. Therefore, there is no need to clear cache variables that you create in initializeImpl(). Also, information stored in this goal does not persist across multiple solves.

Constructor & Destructor Documentation

◆ MocoGoal() [1/3]

OpenSim::MocoGoal::MocoGoal ( )

◆ MocoGoal() [2/3]

OpenSim::MocoGoal::MocoGoal ( std::string  name)

◆ MocoGoal() [3/3]

OpenSim::MocoGoal::MocoGoal ( std::string  name,
double  weight 
)

Member Function Documentation

◆ calcGoal()

void OpenSim::MocoGoal::calcGoal ( const GoalInput input,
SimTK::Vector &  goal 
) const
inline

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.

In endpoint constraint mode, each element of the vector is a different scalar equation to enforce as a constraint. The length of the returned vector is getNumOutputs().

Precondition(s):
initializeOnModel() has been invoked.

References OpenSim::MocoGoal::GoalInput::final_state, and OpenSim::MocoGoal::GoalInput::initial_state.

◆ calcGoalImpl()

virtual void OpenSim::MocoGoal::calcGoalImpl ( const GoalInput input,
SimTK::Vector &  goal 
) const
protectedpure virtual

◆ calcIntegrand()

SimTK::Real OpenSim::MocoGoal::calcIntegrand ( const IntegrandInput input) const
inline

Calculate the integrand that should be integrated and passed to calcCost().

If getNumIntegrals() is not zero, this must be implemented.

Precondition(s):
initializeOnModel() has been invoked.

References OpenSim::MocoGoal::IntegrandInput::state.

◆ calcIntegrandImpl()

void OpenSim::MocoGoal::calcIntegrandImpl ( const IntegrandInput input,
SimTK::Real &  integrand 
) const
inlineprotectedvirtual

You may need to realize the state to the stage required for your calculations.

Do NOT realize to a stage higher than the goal's stage dependency; doing so will cause an exception to be thrown. The Lagrange multipliers for kinematic constraints are not available.

Reimplemented in OpenSim::MocoTranslationTrackingGoal, OpenSim::MocoSumSquaredStateGoal, OpenSim::MocoStateTrackingGoal, OpenSim::MocoOrientationTrackingGoal, OpenSim::MocoMarkerTrackingGoal, OpenSim::MocoJointReactionGoal, OpenSim::MocoControlTrackingGoal, and OpenSim::MocoControlGoal.

◆ calcSystemDisplacement()

double OpenSim::MocoGoal::calcSystemDisplacement ( const SimTK::State &  initial,
const SimTK::State &  final 
) const
protected

◆ clone()

MocoGoal* OpenSim::MocoGoal::clone ( ) const
overridepure virtual

Create a new heap-allocated copy of the concrete object to which this Object refers.

It is up to the caller to delete the returned object when no longer needed. Every concrete object deriving from Object implements this pure virtual method automatically, via the declaration macro it invokes (e.g., OpenSim_DECLARE_CONCRETE_OBJECT()). Note that the concrete class overrides modify the return type to be a pointer to the concrete object; that still overrides the base class method because the return type is covariant with (that is, derives from) Object.

Implements OpenSim::Object.

Implemented in OpenSim::MocoTranslationTrackingGoal, OpenSim::MocoSumSquaredStateGoal, OpenSim::MocoStateTrackingGoal, OpenSim::MocoPeriodicityGoal, OpenSim::MocoOutputGoal, OpenSim::MocoOrientationTrackingGoal, OpenSim::MocoMarkerTrackingGoal, OpenSim::MocoMarkerFinalGoal, OpenSim::MocoJointReactionGoal, OpenSim::MocoInitialVelocityEquilibriumDGFGoal, OpenSim::MocoInitialForceEquilibriumDGFGoal, OpenSim::MocoInitialActivationGoal, OpenSim::MocoAverageSpeedGoal, OpenSim::MocoFinalTimeGoal, OpenSim::MocoControlTrackingGoal, OpenSim::MocoControlGoal, OpenSim::MocoContactTrackingGoal, OpenSim::MocoAngularVelocityTrackingGoal, and OpenSim::MocoAccelerationTrackingGoal.

◆ getClassName()

static const std::string& OpenSim::MocoGoal::getClassName ( )
inlinestatic

This returns "MocoGoal"

See getConcreteClassName() if you want the class name of the underlying concrete object instead.

◆ getConcreteClassName()

const std::string& OpenSim::MocoGoal::getConcreteClassName ( ) const
overridepure virtual

Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.

This is the string that is used as the tag for this concrete object in an XML file. Every concrete class derived from Object automatically overrides this method via the declaration macro it uses. See getClassName() to get the class name of the referencing (possibly abstract) class rather than the concrete object.

See also
getClassName()

Implements OpenSim::Object.

Implemented in OpenSim::MocoTranslationTrackingGoal, OpenSim::MocoSumSquaredStateGoal, OpenSim::MocoStateTrackingGoal, OpenSim::MocoPeriodicityGoal, OpenSim::MocoOutputGoal, OpenSim::MocoOrientationTrackingGoal, OpenSim::MocoMarkerTrackingGoal, OpenSim::MocoMarkerFinalGoal, OpenSim::MocoJointReactionGoal, OpenSim::MocoInitialVelocityEquilibriumDGFGoal, OpenSim::MocoInitialForceEquilibriumDGFGoal, OpenSim::MocoInitialActivationGoal, OpenSim::MocoAverageSpeedGoal, OpenSim::MocoFinalTimeGoal, OpenSim::MocoControlTrackingGoal, OpenSim::MocoControlGoal, OpenSim::MocoContactTrackingGoal, OpenSim::MocoAngularVelocityTrackingGoal, and OpenSim::MocoAccelerationTrackingGoal.

◆ getConstraintInfo()

const MocoConstraintInfo& OpenSim::MocoGoal::getConstraintInfo ( ) const
inline

Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode.

This info is ignored if getSupportsEndpointConstraint() is false.

◆ getDefaultMode()

Mode OpenSim::MocoGoal::getDefaultMode ( ) const
inline

Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint.

◆ getDefaultModeImpl()

virtual Mode OpenSim::MocoGoal::getDefaultModeImpl ( ) const
inlineprotectedvirtual

◆ getEnabled()

bool OpenSim::MocoGoal::getEnabled ( ) const
inline

◆ getMode()

Mode OpenSim::MocoGoal::getMode ( ) const
inline

◆ getModeAsString()

std::string OpenSim::MocoGoal::getModeAsString ( ) const
inline

This returns the default mode of the goal, unless the user overrode the default using setMode().

◆ getModeIsCost()

bool OpenSim::MocoGoal::getModeIsCost ( ) const
inline

◆ getModeIsEndpointConstraint()

bool OpenSim::MocoGoal::getModeIsEndpointConstraint ( ) const
inline

◆ getModel()

const Model& OpenSim::MocoGoal::getModel ( ) const
inlineprotected

For use within virtual function implementations.

◆ getNumIntegrals()

int OpenSim::MocoGoal::getNumIntegrals ( ) const
inline

Get the number of integrals required by this cost.

This returns either 0 (for a strictly-endpoint cost) or 1.

Precondition(s):
initializeOnModel() has been invoked.

◆ getNumOutputs()

int OpenSim::MocoGoal::getNumOutputs ( ) const
inline

Get the length of the return value of calcGoal().

◆ getStageDependency()

SimTK::Stage OpenSim::MocoGoal::getStageDependency ( ) const
inline

Obtain the stage that this goal depends on.

Solvers can use this to more efficiently decide how to set the IntegrandInput and GoalInput. See the MocoGoal class description for details about the different stages. The stage dependency is the same for both modes of the goal (cost and endpoint constraint).

◆ getSupportsEndpointConstraint()

bool OpenSim::MocoGoal::getSupportsEndpointConstraint ( ) const
inline

Can this goal be used in endpoint constraint mode?

◆ getSupportsEndpointConstraintImpl()

virtual bool OpenSim::MocoGoal::getSupportsEndpointConstraintImpl ( ) const
inlineprotectedvirtual

◆ getWeight()

double OpenSim::MocoGoal::getWeight ( ) const
inline

◆ initializeOnModel()

void OpenSim::MocoGoal::initializeOnModel ( const Model model) const
inline

Perform error checks on user input for this goal, and cache quantities needed when computing the goal value.

This function must be invoked before invoking calcIntegrand() or calcGoal().

◆ initializeOnModelImpl()

◆ printDescription()

void OpenSim::MocoGoal::printDescription ( ) const

Print the name type and mode of this goal.

In cost mode, this prints the weight.

◆ printDescriptionImpl()

◆ safeDownCast()

static MocoGoal* OpenSim::MocoGoal::safeDownCast ( OpenSim::Object obj)
inlinestatic

For use in MATLAB and Python to access the concrete class.

Example: cObj = MocoGoal.safeDownCast(obj). This is equivalent to dynamic_cast<MocoGoal*>(obj) in C++.

◆ setEnabled()

void OpenSim::MocoGoal::setEnabled ( bool  enabled)
inline

Set whether this goal is used in the problem.

◆ setMode()

void OpenSim::MocoGoal::setMode ( std::string  mode)
inline

Set the mode property to either 'cost' or 'endpoint_constraint'.

This should be set before initializing. Setting to 'endpoint_constraint' if getSupportsEndpointConstraint() is false causes an exception during initializing.

◆ setRequirements()

void OpenSim::MocoGoal::setRequirements ( int  numIntegrals,
int  numOutputs,
SimTK::Stage  stageDependency = SimTK::Stage::Acceleration 
) const
inlineprotected

Set the number of integral terms required by this goal and the length of the vector passed into calcGoalImpl().

This must be set within initializeOnModelImpl(), otherwise an exception is thrown during initialization. The number of integrals must be either 0 or 1. The stageDependency can be set to lower stages to avoid unnecessary calculations. For example, if the goal does not depend on forces, then the solver does not need to prepare the IntegrandInput and GoalInput for force calculations. See the MocoGoal class description for help with choosing the stage dependency. If you are not sure what your stageDependency is, leave it as SimTK::Stage::Acceleration to be safe.

You must still realize to the appropriate stage within the integrand and goal functions. Setting the stageDependency to stage X does not mean that the SimTK::State is realized to stage X as a precondition of calcIntegrandImpl() and calcGoalImpl().

◆ setWeight()

void OpenSim::MocoGoal::setWeight ( double  weight)
inline

In cost mode, the goal is multiplied by this weight.

Use the weight to control the relative importance of terms in the cost functional. The weight is ignored (e.g., set to 1) in endpoint constraint mode.

◆ updConstraintInfo()

MocoConstraintInfo& OpenSim::MocoGoal::updConstraintInfo ( )
inline

Member Enumeration Documentation

◆ Mode

Enumerator
Cost 
EndpointConstraint 

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