This is Moco's simplest example.
#include <OpenSim/Simulation/SimbodyEngine/SliderJoint.h>
#include <OpenSim/Actuators/CoordinateActuator.h>
#include <OpenSim/Moco/osimMoco.h>
std::unique_ptr<Model> createSlidingMassModel() {
auto model = make_unique<Model>();
model->setName("sliding_mass");
model->set_gravity(SimTK::Vec3(0, 0, 0));
auto* body = new Body("body", 2.0, SimTK::Vec3(0), SimTK::Inertia(0));
model->addComponent(body);
auto* joint = new SliderJoint("slider", model->getGround(), *body);
coord.setName("position");
model->addComponent(joint);
auto* actu = new CoordinateActuator();
actu->setCoordinate(&coord);
actu->setName("actuator");
actu->setOptimalForce(1);
model->addComponent(actu);
body->attachGeometry(new Sphere(0.05));
model->finalizeConnections();
return model;
}
int main() {
MocoStudy study;
study.setName("sliding_mass");
MocoProblem& problem = study.updProblem();
problem.setModel(createSlidingMassModel());
problem.setTimeBounds(MocoInitialBounds(0), MocoFinalBounds(0, 5));
problem.setStateInfo("/slider/position/value", MocoBounds(-5, 5),
MocoInitialBounds(0), MocoFinalBounds(1));
problem.setStateInfo("/slider/position/speed", {-50, 50}, 0, 0);
problem.setControlInfo("/actuator", MocoBounds(-50, 50));
problem.addGoal<MocoFinalTimeGoal>();
MocoCasADiSolver& solver = study.initCasADiSolver();
solver.set_num_mesh_intervals(50);
study.print("sliding_mass.omoco");
MocoSolution solution = study.solve();
study.visualize(solution);
return EXIT_SUCCESS;
}
The Moco interface is contained within the OpenSim namespace.
Definition: ActivationCoordinateActuator.h:30