API  4.2
For MATLAB, Python, Java, and C++ users
OpenSim::MocoParameter Class Reference

A MocoParameter allows you to optimize property values in an OpenSim Model. More...

+ Inheritance diagram for OpenSim::MocoParameter:

Public Member Functions

 MocoParameter ()
 
 MocoParameter (const std::string &name, const std::vector< std::string > &componentPaths, const std::string &propertyName, const MocoBounds &, const int &propertyElt)
 This is a generic constructor that supports applying this parameter to multiple components and to non-scalar properties. More...
 
 MocoParameter (const std::string &name, const std::string &componentPath, const std::string &propertyName, const MocoBounds &)
 
 MocoParameter (const std::string &name, const std::string &componentPath, const std::string &propertyName, const MocoBounds &, const int &propertyElt)
 
 MocoParameter (const std::string &name, const std::vector< std::string > &componentPaths, const std::string &propertyName, const MocoBounds &)
 
MocoBounds getBounds () const
 
std::string getPropertyName () const
 
std::vector< std::string > getComponentPaths () const
 
void setBounds (const MocoBounds &bounds)
 
void setPropertyName (const std::string &propertyName)
 
void appendComponentPath (const std::string &componentPath)
 
void initializeOnModel (Model &model) const
 For use by solvers. More...
 
void applyParameterToModelProperties (const double &value) const
 Set the value of the stored model properties, which may include properties from multiple models. More...
 
void printDescription () const
 Print the name, property name, component paths, property element (if it exists), and bounds for this parameter. 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 MocoParametersafeDownCast (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 "MocoParameter"
More...
 
MocoParameterclone () const override
 Create a new heap-allocated copy of the concrete object to which this Object refers. More...
 
const std::string & getConcreteClassName () const override
 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 MocoParameter allows you to optimize property values in an OpenSim Model.

To describe this parameter, you must provide the name of the property you want to optimize and the path to the component in the model where the property exists. If the property is not a scalar, then you must also provide the element index of the property you want to optimize. To optimize multiple elements of a non-scalar property, use multiple MocoParameters. By specifying multiple component paths, you can optimize the same property in multiple components (each property will have the same value, as determined by this parameter). The following property types are currently supported:

  • double
  • Vec3
  • Vec6

List properties are not currently supported.

The name you give to a MocoParameter does not need to match the name of its model property.

The default initial guess for a parameter depends on the solver you use. Most likely, the default initial guess is the midpoint of the bounds on the parameter (NOT the value of the property in the model).

Create a MocoParameter from a property in the model:

p0.setName("torso_mass");
p0.appendComponentPath("torso");
p0.setParameterName("mass");
MocoBounds massBounds(60, 80);
p0.setBounds(massBounds);

Using the convenience constructor:

MocoParameter p0("torso_mass", "torso", "mass", MocoBounds(60, 80));

Here is a Matlab example of optimizing the optimal fiber length of a muscle:

study = MocoStudy();
problem = study.updProblem();
param = MocoParameter('my_param_name', '/forceset/soleus_r', ...
'optimal_fiber_length', MocoBounds(0.04, 0.06));
problem.addParameter(param);

The generic constructor can be used for more complex MocoParameter assignments. Here, we create a MocoParameter for the y-position of the mass center of three different rigid bodies in the model:

int propertyElt = 1; // y-position is the second element of the mass_center
std::vector<std::string> componentPaths = {
"/bodyset/pelvis",
"/bodyset/thigh",
"/bodyset/shank"
};
MocoParameter y_com("y_com", componentPaths, "mass_center",
MocoBounds(-0.05, 0.05), propertyElt);
For developers
Every time the problem is solved, a copy of this parameter is used. An individual instance of a parameter 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 parameter does not persist across multiple solves. Lastly, a MocoParameter may be applied to multiple models at once, as long as the value described in the MocoParameter exists and initializeOnModel() is called on all models of interest.

Constructor & Destructor Documentation

◆ MocoParameter() [1/5]

OpenSim::MocoParameter::MocoParameter ( )

◆ MocoParameter() [2/5]

OpenSim::MocoParameter::MocoParameter ( const std::string &  name,
const std::vector< std::string > &  componentPaths,
const std::string &  propertyName,
const MocoBounds ,
const int &  propertyElt 
)

This is a generic constructor that supports applying this parameter to multiple components and to non-scalar properties.

Specifying propertyElt as -1 is treated as not specifying a property element.

◆ MocoParameter() [3/5]

OpenSim::MocoParameter::MocoParameter ( const std::string &  name,
const std::string &  componentPath,
const std::string &  propertyName,
const MocoBounds  
)

◆ MocoParameter() [4/5]

OpenSim::MocoParameter::MocoParameter ( const std::string &  name,
const std::string &  componentPath,
const std::string &  propertyName,
const MocoBounds ,
const int &  propertyElt 
)

◆ MocoParameter() [5/5]

OpenSim::MocoParameter::MocoParameter ( const std::string &  name,
const std::vector< std::string > &  componentPaths,
const std::string &  propertyName,
const MocoBounds  
)

Member Function Documentation

◆ appendComponentPath()

void OpenSim::MocoParameter::appendComponentPath ( const std::string &  componentPath)
inline

◆ applyParameterToModelProperties()

void OpenSim::MocoParameter::applyParameterToModelProperties ( const double &  value) const

Set the value of the stored model properties, which may include properties from multiple models.

◆ clone()

MocoParameter* OpenSim::MocoParameter::clone ( ) const
inlineoverridevirtual

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.

◆ getBounds()

MocoBounds OpenSim::MocoParameter::getBounds ( ) const
inline

◆ getClassName()

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

This returns "MocoParameter"

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

◆ getComponentPaths()

std::vector<std::string> OpenSim::MocoParameter::getComponentPaths ( ) const
inline

◆ getConcreteClassName()

const std::string& OpenSim::MocoParameter::getConcreteClassName ( ) const
inlineoverridevirtual

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.

◆ getPropertyName()

std::string OpenSim::MocoParameter::getPropertyName ( ) const
inline

◆ initializeOnModel()

void OpenSim::MocoParameter::initializeOnModel ( Model model) const

For use by solvers.

This performs error checks and caches information about the model that is useful during the optimization. This method takes a non-const reference to the model because parameters need to be able to alter the model. If it is desired to apply this MocoParameter to multiple models, this should be called on all models of interest. The property references from each model will be appended to this MocoParameter's internal property reference list.

◆ printDescription()

void OpenSim::MocoParameter::printDescription ( ) const

Print the name, property name, component paths, property element (if it exists), and bounds for this parameter.

◆ safeDownCast()

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

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

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

◆ setBounds()

void OpenSim::MocoParameter::setBounds ( const MocoBounds bounds)
inline

◆ setPropertyName()

void OpenSim::MocoParameter::setPropertyName ( const std::string &  propertyName)
inline

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