A description of an optimal control problem, backed by OpenSim Models. More...

Inheritance diagram for OpenSim::MocoProblem:

Public Member Functions
	MocoProblem ()

MocoPhase &	updPhase (int index=0)
	Get a modifiable phase of the problem by index (starting index of 0). More...

const MocoPhase &	getPhase (int index=0) const
	Get a modifiable phase of the problem by index (starting index of 0). More...

MocoProblemRep	createRep () const
	Create an instance of MocoProblemRep, which fills in additional state and control bounds, and allows you to apply parameter values and evaluate the goals. More...

std::unique_ptr< MocoProblemRep >	createRepHeap () const
	Use this variant of createRep() if you require the MocoProblemRep to be dynamically-allocated MocoProblemRep. More...

Convenience methods for phase 0.
These methods allow you to conveniently edit phase 0 of the problem. See MocoPhase's documentation for more information.
Model *	setModel (std::unique_ptr< Model > model)
	Set the model to use for phase 0. More...

Model *	setModelAsCopy (Model model)
	Set the model to use for phase 0. More...

Model &	updModel ()
	Update the model in phase 0. More...

void	setModelProcessor (ModelProcessor model)
	Set a model processor for phase 0. More...

void	setTimeBounds (const MocoInitialBounds &, const MocoFinalBounds &)
	Set time bounds for phase 0. More...

void	printStateNamesWithSubstring (const std::string &name)
	Find and print the names of all state variables containing a substring. More...

void	setStateInfo (const std::string &name, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a state variable for phase 0. More...

void	setStateInfoPattern (const std::string &pattern, const MocoBounds &bounds, const MocoInitialBounds &init={}, const MocoFinalBounds &final={})
	Set bounds for all state variables for phase 0 whose path matches the provided pattern. More...

void	printControlNamesWithSubstring (const std::string &name)
	Find and print the names of all state variables containing a substring. More...

void	setControlInfo (const std::string &name, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a control variable for phase 0. More...

void	setControlInfoPattern (const std::string &pattern, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
	Set bounds for a control variable using a regular expression. More...

void	setKinematicConstraintBounds (const MocoBounds &bounds)
	Set bounds for the kinematic constraints in phase 0. More...

void	setMultiplierBounds (const MocoBounds &bounds)
	Set bounds for the Lagrange multipliers in phase 0. More...

template<typename MocoParamType = MocoParameter, typename... Args>
MocoParamType *	addParameter (Args &&... args)
	Add a parameter variable for phase 0. More...

template<typename MocoParamType = MocoParameter>
MocoParamType *	addParameter (std::unique_ptr< MocoParamType > param)
	Add a parameter variable for phase 0. More...

template<typename MocoGoalType , typename... Args>
MocoGoalType *	addGoal (Args &&... args)
	Add a goal for phase 0. More...

template<typename MocoGoalType >
MocoGoalType *	addGoal (std::unique_ptr< MocoGoalType > goal)
	Add a goal for phase 0. More...

MocoGoal &	updGoal (const std::string &name)
	Returns a reference to the goal with name "name" in phase 0. More...

template<typename MocoPCType , typename... Args>
MocoPCType *	addPathConstraint (Args &&... args)
	Add a constraint for phase 0. More...

template<typename MocoPCType >
MocoPCType *	addPathConstraint (std::unique_ptr< MocoPCType > pc)
	Add a constraint for phase 0. 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...

Object &	operator= (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 AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (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 AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (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...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

Static Public Member Functions
Auto-generated functions
static MocoProblem *	safeDownCast (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 Object *	getDefaultInstanceOfType (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 Object *	newInstanceOfType (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 Object *	makeObjectFromFile (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 Object *	SafeCopy (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 "MocoProblem" More...

MocoProblem *	clone () 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 description of an optimal control problem, backed by OpenSim Models.

A MocoProblem is a series of phases, each of which contains the following:

OpenSim Model
state and control variable info (e.g., bounds)
parameter variables (model properties)
goals (costs and endpoint constraints)
path constraints

Currently, only single-phase problems are supported. This class has convenience methods to configure the first (0-th) phase.

This class allows you to define your problem, but does not let you do anything with your problem (this class only contains user input). Use createRep() to create an instance of MocoProblemRep, which provides additional functionality.

Constructor & Destructor Documentation

◆ MocoProblem()

OpenSim::MocoProblem::MocoProblem ( )

Member Function Documentation

◆ addGoal() [1/2]

template<typename MocoGoalType , typename... Args>

MocoGoalType* OpenSim::MocoProblem::addGoal ( Args &&... args )

inline

Add a goal for phase 0.

See also: MocoPhase::addGoal()

◆ addGoal() [2/2]

template<typename MocoGoalType >

MocoGoalType* OpenSim::MocoProblem::addGoal ( std::unique_ptr< MocoGoalType > goal )

inline

Add a goal for phase 0.

◆ addParameter() [1/2]

template<typename MocoParamType = MocoParameter, typename... Args>

MocoParamType* OpenSim::MocoProblem::addParameter ( Args &&... args )

inline

Add a parameter variable for phase 0.

See also: MocoPhase::addParameter()

◆ addParameter() [2/2]

template<typename MocoParamType = MocoParameter>

MocoParamType* OpenSim::MocoProblem::addParameter ( std::unique_ptr< MocoParamType > param )

inline

Add a parameter variable for phase 0.

◆ addPathConstraint() [1/2]

template<typename MocoPCType , typename... Args>

MocoPCType* OpenSim::MocoProblem::addPathConstraint ( Args &&... args )

inline

Add a constraint for phase 0.

See also: MocoPhase::addPathConstraint()

◆ addPathConstraint() [2/2]

template<typename MocoPCType >

MocoPCType* OpenSim::MocoProblem::addPathConstraint ( std::unique_ptr< MocoPCType > pc )

inline

Add a constraint for phase 0.

◆ clone()

MocoProblem* OpenSim::MocoProblem::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.

◆ createRep()

MocoProblemRep OpenSim::MocoProblem::createRep ( ) const

inline

Create an instance of MocoProblemRep, which fills in additional state and control bounds, and allows you to apply parameter values and evaluate the goals.

This function will check your problem for various errors.

◆ createRepHeap()

std::unique_ptr<MocoProblemRep> OpenSim::MocoProblem::createRepHeap ( ) const

inline

Use this variant of createRep() if you require the MocoProblemRep to be dynamically-allocated MocoProblemRep.

◆ getClassName()

static const std::string& OpenSim::MocoProblem::getClassName ( )

inlinestatic

This returns "MocoProblem"

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoProblem::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.

◆ getPhase()

const MocoPhase& OpenSim::MocoProblem::getPhase ( int index = 0 ) const

inline

Get a modifiable phase of the problem by index (starting index of 0).

This accesses the internal phases property.

◆ printControlNamesWithSubstring()

void OpenSim::MocoProblem::printControlNamesWithSubstring ( const std::string & name )

Find and print the names of all state variables containing a substring.

◆ printStateNamesWithSubstring()

void OpenSim::MocoProblem::printStateNamesWithSubstring ( const std::string & name )

Find and print the names of all state variables containing a substring.

◆ safeDownCast()

static MocoProblem* OpenSim::MocoProblem::safeDownCast ( OpenSim::Object * obj )

inlinestatic

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

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

◆ setControlInfo()

void OpenSim::MocoProblem::setControlInfo	(	const std::string &	name,
		const MocoBounds &	,
		const MocoInitialBounds &	= `{}`,
		const MocoFinalBounds &	= `{}`
	)

Set bounds for a control variable for phase 0.

◆ setControlInfoPattern()

void OpenSim::MocoProblem::setControlInfoPattern	(	const std::string &	pattern,
		const MocoBounds &	,
		const MocoInitialBounds &	= `{}`,
		const MocoFinalBounds &	= `{}`
	)

Set bounds for a control variable using a regular expression.

◆ setKinematicConstraintBounds()

void OpenSim::MocoProblem::setKinematicConstraintBounds ( const MocoBounds & bounds )

Set bounds for the kinematic constraints in phase 0.

◆ setModel()

Model* OpenSim::MocoProblem::setModel ( std::unique_ptr< Model > model )

Set the model to use for phase 0.

See also: MocoPhase::setModel().

◆ setModelAsCopy()

Model* OpenSim::MocoProblem::setModelAsCopy ( Model model )

Set the model to use for phase 0.

See also: MocoPhase::setModelAsCopy().

◆ setModelProcessor()

void OpenSim::MocoProblem::setModelProcessor ( ModelProcessor model )

Set a model processor for phase 0.

See also: MocoPhase::setModelProcessor().

◆ setMultiplierBounds()

void OpenSim::MocoProblem::setMultiplierBounds ( const MocoBounds & bounds )

Set bounds for the Lagrange multipliers in phase 0.

◆ setStateInfo()

void OpenSim::MocoProblem::setStateInfo	(	const std::string &	name,
		const MocoBounds &	,
		const MocoInitialBounds &	= `{}`,
		const MocoFinalBounds &	= `{}`
	)

Set bounds for a state variable for phase 0.

◆ setStateInfoPattern()

void OpenSim::MocoProblem::setStateInfoPattern	(	const std::string &	pattern,
		const MocoBounds &	bounds,
		const MocoInitialBounds &	init = `{}`,
		const MocoFinalBounds &	final = `{}`
	)

Set bounds for all state variables for phase 0 whose path matches the provided pattern.

◆ setTimeBounds()

void OpenSim::MocoProblem::setTimeBounds	(	const MocoInitialBounds &	,
		const MocoFinalBounds &
	)

Set time bounds for phase 0.

◆ updGoal()

MocoGoal& OpenSim::MocoProblem::updGoal ( const std::string & name )

Returns a reference to the goal with name "name" in phase 0.

◆ updModel()

Model& OpenSim::MocoProblem::updModel ( )

inline

Update the model in phase 0.

References OpenSim::ModelComponent::updModel().

◆ updPhase()

MocoPhase& OpenSim::MocoProblem::updPhase ( int index = 0 )

inline

Get a modifiable phase of the problem by index (starting index of 0).

This accesses the internal phases property.

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

OpenSim/Moco/MocoProblem.h

Public Member Functions

Static Public Member Functions

Auto-generated functions <br>

Detailed Description

Constructor & Destructor Documentation

◆ MocoProblem()

Member Function Documentation

◆ addGoal() [1/2]

◆ addGoal() [2/2]

◆ addParameter() [1/2]

◆ addParameter() [2/2]

◆ addPathConstraint() [1/2]

◆ addPathConstraint() [2/2]

◆ clone()

◆ createRep()

◆ createRepHeap()

◆ getClassName()

◆ getConcreteClassName()

◆ getPhase()

◆ printControlNamesWithSubstring()

◆ printStateNamesWithSubstring()

◆ safeDownCast()

◆ setControlInfo()

◆ setControlInfoPattern()

◆ setKinematicConstraintBounds()

◆ setModel()

◆ setModelAsCopy()

◆ setModelProcessor()

◆ setMultiplierBounds()

◆ setStateInfo()

◆ setStateInfoPattern()

◆ setTimeBounds()

◆ updGoal()

◆ updModel()

◆ updPhase()