OpenSim Namespace Reference

The Moco interface is contained within the OpenSim namespace. More...

Namespaces
	DebugUtilities

Classes
class	ActivationCoordinateActuator
	Similar to CoordinateActuator (simply produces a generalized force) but with first-order linear activation dynamics. More...
class	ActiveForceLengthCurve
	This class serves as a serializable ActiveForceLengthCurve, commonly used to model the active element in muscle models. More...
class	BodyActuator
	Apply a spatial force (that is, [torque, force]) on a given point of the given body. More...
class	ClutchedPathSpring
	The ClutchedPathSpring is an actuator that has passive path spring behavior only when the clutch is engaged. More...
class	ConstantMuscleActivation
	This constant muscle activation model simply holds activation at the value that was provided most recently, and can be used to generate an activation signal without relying on an excitation signal. More...
class	CoordinateActuator
	An actuator that applies a generalized force in the direction of a generalized coordinate. More...
class	DeGrooteFregly2016Muscle
	This muscle model was published in De Groote et al. More...
class	Delp1990Muscle_Deprecated
	A class implementing a SIMM muscle. More...
class	FiberCompressiveForceCosPennationCurve
	This class serves as a serializable FiberCompressiveForceCosPennationCurve, which is used to ensure that the pennation angle approaches but never reaches an angle of 90 degrees. More...
class	FiberCompressiveForceLengthCurve
	This class serves as a serializable FiberCompressiveForceLengthCurve, which is used to ensure that the fiber cannot generate force at, nor shorten beyond a minimum normalized length. More...
class	FiberForceLengthCurve
	This class serves as a serializable FiberForceLengthCurve, commonly used to model the parallel elastic element in muscle models. More...
class	FirstOrderMuscleActivationDynamics
	Computes muscle activation using a modified version of the first-order dynamic models used by Thelen (2003) and Winters (1995). More...
class	ForceVelocityCurve
	This class serves as a serializable ForceVelocityCurve for use in muscle models. More...
class	ForceVelocityInverseCurve
	This class serves as a serializable ForceVelocityInverseCurve for use in equilibrium muscle models. More...
class	McKibbenActuator
	McKibben Pneumatic Actuator Model based on the simple cylindrical formulation described in J. More...
class	Millard2012AccelerationMuscle
	This class implements a 3 state (activation,fiber length and fiber velocity) acceleration musculo-tendon model that has several advantages over equilibrium musculo-tendon models: it is possible to simulate 0 activation, it requires fewer integrator steps to simulate, and physiological active force-length (with a minimum value of 0) and force velocity (with true asymptotes at the maximum shortening and lengthening velocities) curves can be employed. More...
class	Millard2012EquilibriumMuscle
	This class implements a configurable equilibrium muscle model, as described in Millard et al. (2013). More...
class	ModelFactory
	This class provides utilities for creating OpenSim models. More...
class	ModOpIgnoreActivationDynamics
	Turn off activation dynamics for all muscles in the model. More...
class	ModOpIgnoreTendonCompliance
	Turn off tendon compliance for all muscles in the model. More...
class	ModOpScaleMaxIsometricForce
	Scale the max isometric force for all muscles in the model. More...
class	ModOpRemoveMuscles
	Remove all muscles contained in the model's ForceSet. More...
class	ModOpAddReserves
	Add reserve actuators to the model using ModelFactory::createReserveActuators. More...
class	ModOpAddExternalLoads
	Add external loads (e.g., ground reaction forces) to the model from a XML file. More...
class	ModOpReplaceJointsWithWelds
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	MuscleActivationDynamics
	An abstract class for modeling muscle activation dynamics. More...
class	MuscleFirstOrderActivationDynamicModel
	This is a muscle modeling utility class that computes the time derivative of activation using a first-order dynamic model. More...
class	MuscleFixedWidthPennationModel
	This is a muscle modeling utility class containing kinematic equations that describe the deformation of muscle fibers as they change length using a fixed-width-parallelogram pennation model. More...
class	MuscleSecondOrderActivationDynamicModel
	This function is a muscle modeling utility class that simulates dynamics of muscle force development as a function of input excitation. More...
class	PointActuator
	A class that implements a point actuator acting on the model. More...
class	PointToPointActuator
	A class that implements a force actuator acting between two points on two bodies. More...
class	RigidTendonMuscle
	A class implementing a RigidTendonMuscle actuator with no states. More...
class	Schutte1993Muscle_Deprecated
	A class implementing a SIMM muscle. More...
class	SpringGeneralizedForce
	A Force that exerts a generalized force based on spring-like characteristics (stiffness and viscosity). More...
class	TendonForceLengthCurve
	This class serves as a serializable TendonForceLengthCurve for use in muscle models. More...
class	Thelen2003Muscle
	Implementation of a two state (activation and fiber-length) Muscle model by Thelen 2003. This a complete rewrite of a previous implementation (present in OpenSim 2.4 and earlier) contained numerous errors. More...
class	Thelen2003Muscle_Deprecated
	A class implementing a SIMM muscle. More...
class	TorqueActuator
	A TorqueActuator applies equal and opposite torques on the two bodies (bodyA and B) that it connects. More...
class	ZerothOrderMuscleActivationDynamics
	This zeroth-order muscle activation dynamic model simply sets activation to excitation, and can be used when activation dynamics are being ignored. More...
class	Actuation
	A class for recording the basic actuator information for a model during a simulation. More...
class	BodyKinematics
	A class for recording the kinematics of the bodies of a model during a simulation. More...
class	ForceReporter
	A class for recording the Forces applied to a model during a simulation. More...
class	InducedAccelerations
	A class to perform an Induced Accelerations analysis using a constraint- method of replacing external (contact) forces in order to determine the contributions of actuators to external reaction forces and thus model accelerations including that of the center-of-mass. More...
class	InducedAccelerationsSolver
	A Solver to compute the induced accelerations of an applied "force" acting on the model. More...
class	JointReaction
	An analysis for reporting the joint reaction loads from a model. More...
class	Kinematics
	A class for recording the kinematics of the generalized coordinates of a model during a simulation. More...
class	MuscleAnalysis
	A class for recording and computing basic quantities (length, shortening velocity, tendon length, ...) for muscles during a simulation. More...
class	OutputReporter
	The OutputReporter Analysis is a wrapper for a TableReporter. More...
class	PointKinematics
	A class for recording the kinematics of a point on a body of a model during a simulation. More...
class	ProbeReporter
	A class for reporting the outputs of all model-connected Probes to file during a simulation. More...
class	StatesReporter
	A class for recording the states of a model during a simulation. More...
class	StaticOptimization
	This class implements static optimization to compute Muscle Forces and activations. More...
class	StaticOptimizationTarget
	This class provides an interface specification for static optimization Objective Function. More...
class	InvalidRow
class	InvalidColumn
class	InvalidColumnLabel
class	IncorrectNumColumns
class	IncorrectNumRows
class	RowIndexOutOfRange
class	ColumnIndexOutOfRange
class	MissingMetaData
class	NoColumnLabels
class	IncorrectMetaDataLength
class	EmptyTable
class	KeyExists
class	AbstractDataTable
	AbstractDataTable is the base-class of all DataTable_(templated) allowing storage of DataTable_ templated on different types to be stored in a container like std::vector. More...
class	Property
	A Property<T> is a serializable (name, list-of-values) pair, where each value is of type T. More...
class	InvalidPropertyValue
	Property Exceptions. More...
class	AbstractProperty
	An abstract property is a serializable (name,value) pair, for which we do not know the type of the value. More...
class	APDMDataReader
	APDMDataReader is a class that reads files produced by IMU manufacturer APDM and produces datatables from them. More...
class	APDMDataReaderSettings
	APDMDataReaderSettings is a class that reads files produced by IMU manufacturer APDM and produces datatables from them. More...
class	Array
	A class for storing an array of values of type T. More...
class	C3DFileAdapter
	C3DFileAdapter reads a C3D file into markers and forces tables of type TimeSeriesTableVec3. More...
class	FileRemover
	When an instance of this class is destructed, it removes (deletes) the file at the path provided in the constructor. 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...
class	ComponentHasNoName
	Component Exceptions. More...
class	InvalidComponentName
class	ComponentNotFoundOnSpecifiedPath
class	ComponentIsAnOrphan
class	SubcomponentsWithDuplicateName
class	ComponentIsRootWithNoSubcomponents
class	ComponentAlreadyPartOfOwnershipTree
class	ComponentHasNoSystem
class	SocketNotFound
class	InputNotFound
class	OutputNotFound
class	Component
	The abstract Component class defines the interface used to add computational elements to the underlying SimTK::System (MultibodySystem). More...
class	ConnecteeNotSpecified
class	ComponentListIterator
	Class used to iterate over subcomponents of a specific type (by default, any Component). More...
class	ComponentFilter
	A class to specify a filter to be used to iterate through components. More...
class	ComponentFilterMatchAll
	ComponentFilterMatchAll is a trivial Filter that matches all components. More...
class	ComponentFilterAbsolutePathNameContainsString
	A component is considered a match if its absolute path name contains the given string. More...
class	ComponentList
	Collection (linked list) of components to iterate through. More...
class	AbstractChannel
	One of the values of an Output. More...
class	AbstractOutput
	Output formalizes the access to a value of interest computed by the owning Component. More...
class	Output
class	ComponentPath
	A representation of a path within a Component tree. More...
class	InputNotConnected
	ComponentSocket Exceptions. More...
class	AbstractSocket
	A Socket formalizes the dependency between a Component and another object (typically another Component) without owning that object. More...
class	Socket
class	AbstractInput
	A specialized Socket that connects to an Output signal is an Input. More...
class	Input
	An Input<Y> must be connected by an Output<Y> More...
class	Constant
	A class for representing a constant value. More...
class	CSVFileAdapter
	CSVFileAdapter is a DelimFileAdapter that presets the delimiters appropriately for CSV files. More...
class	DataAdapterAlreadyRegistered
class	NoRegisteredDataAdapter
class	TableNotFoundException
class	DataAdapter
	DataAdapter is an abstract class defining an interface for reading/writing in/out the contents of a DataTable. More...
class	DataQueueEntry_
	This base class defines the interface for a DataQueue. More...
class	DataQueue_
	DataQueue is a wrapper around the std::queue customized to handle data processing and synchronization, and limiting the interface to only the subset of operations needed for this use case. More...
class	DataTable_
	DataTable_ is an in-memory storage container for data with support for holding metadata (using the base class AbstractDataTable). More...
class	IncorrectNumTokens
class	DataTypeMismatch
class	DelimFileAdapter
	DelimFileAdapter is a FileAdapter that reads and writes text files with given delimiters. More...
struct	Event
	Struct representing an event extracted from a C3D file. More...
class	Exception
	A class for basic exception functionality. More...
class	InvalidArgument
class	InvalidCall
class	InvalidTemplateArgument
class	IndexOutOfRange
class	KeyNotFound
class	IOError
class	ComponentNotFound
class	NonUniqueLabels
class	ExperimentalSensor
	A class representing the experimental sensor, such as IMU, and its association to a model (component) in OpenSim. More...
class	EmptyFileName
class	FileDoesNotExist
class	FileIsEmpty
class	FileExtensionNotFound
class	UnexpectedColumnLabel
class	RowLengthMismatch
class	NoTableFound
class	KeyMissing
class	IncorrectTableType
class	TableMissingHeader
class	FileAdapter
	FileAdapter is a DataAdapter that reads and writes files with methods read and writeFile respectively. More...
class	Function
	An abstract class for representing a function. More...
class	FunctionSet
	A class for holding a set of functions. More...
class	GCVSpline
	A class for representing a smooth function with a generalized cross-validation spline. More...
class	GCVSplineSet
	A class for holding a set of generalized cross-validated splines. More...
class	IMUDataReader
class	IO
	A class for performing input and output with OpenSim API. More...
class	LinearFunction
	A class for representing a LinearFunction. More...
class	Logger
	This is a singleton class (single instance) for logging messages and controlling how those messages are presented to the user. More...
class	LogSink
	Derive from this class to implement your own way of reporting logged messages. More...
class	StringLogSink
	This sink stores all messages in a string. More...
class	MarkerData
	A class implementing a sequence of marker frames from a TRC/TRB file. More...
class	MarkerFrame
	A class implementing a frame of marker data from a TRC/TRB file. More...
class	ModelDisplayHints
	This class captures information indicating user or programmer preferences to guide automatic display geometry generation by a Model. More...
class	MultiplierFunction
	A class implementing a Function and a scale factor for the function's value. More...
class	MultivariatePolynomialFunction
	A multivariate polynomial function. More...
class	Object
	This is the base class for all OpenSim objects that are serializable (meaning they can be written to and read back from files). More...
struct	Object_GetClassName
struct	Object_GetClassName< bool >
struct	Object_GetClassName< signed char >
struct	Object_GetClassName< unsigned char >
struct	Object_GetClassName< char >
struct	Object_GetClassName< short int >
struct	Object_GetClassName< unsigned short int >
struct	Object_GetClassName< int >
struct	Object_GetClassName< unsigned int >
struct	Object_GetClassName< long int >
struct	Object_GetClassName< unsigned long int >
struct	Object_GetClassName< long long int >
struct	Object_GetClassName< unsigned long long int >
struct	Object_GetClassName< float >
struct	Object_GetClassName< double >
struct	Object_GetClassName< long double >
struct	Object_GetClassName< std::string >
struct	Object_GetClassName< SimTK::Vec2 >
struct	Object_GetClassName< SimTK::Vec3 >
struct	Object_GetClassName< SimTK::Vec6 >
struct	Object_GetClassName< SimTK::Vector_< SimTK::Real > >
struct	Object_GetClassName< SimTK::Vector_< SimTK::Vec3 > >
struct	Object_GetClassName< SimTK::Vector_< SimTK::Vec6 > >
struct	Object_GetClassName< SimTK::Vector_< SimTK::SpatialVec > >
struct	Object_GetClassName< SimTK::SpatialVec >
struct	Object_GetClassName< SimTK::Transform >
struct	Object_GetClassName< SimTK::Rotation_< SimTK::Real > >
class	ArrayPtrs
class	ObjectGroup
	A class implementing an object group. More...
class	OptimizationTarget
	This class provides an interface specification for optimizing redundant systems. More...
class	PiecewiseConstantFunction
	A class implementing a step function. More...
class	PiecewiseLinearFunction
	A class implementing a linear function. More...
class	PolynomialFunction
	A class for representing a Polynomial of x. More...
class	SimpleProperty
class	ObjectProperty
class	Property_Deprecated
class	PropertyBool
	Class PropertyBool extends class Property. More...
class	PropertyBoolArray
	Class PropertyBoolArray extends class Property. More...
class	PropertyDbl
	Class PropertyDbl extends class Property. More...
class	PropertyDblArray
	Class PropertyDblArray extends class Property. More...
class	PropertyDblVec_
	Class PropertyDblVec_ extends class Property. More...
class	PropertyGroup
	A class implementing a property group. More...
class	PropertyInt
	Class PropertyInt extends class Property. More...
class	PropertyIntArray
	Class PropertyIntArray extends class Property. More...
class	PropertyObj
	Class PropertyObj extends class Property. More...
class	PropertyObjArray
	Class PropertyObjArray extends class Property. More...
class	PropertyObjPtr
	Class PropertyObjPtr extends class Property. More...
class	PropertySet
	A property set is simply a set of properties. More...
class	PropertyStr
	Class PropertyStr extends class Property. More...
class	PropertyStrArray
	Class PropertyStrArray extends class Property. More...
class	PropertyTable
	A property table is the container that an OpenSim Object uses to hold its properties (each derived from base class AbstractProperty). More...
class	PropertyTransform
	Class PropertyTransform extends class Property. More...
class	AbstractReporter
	This abstract class represents a Reporter that generates a report from values generated by Components in a Model during a simulation. More...
class	Reporter
	This is an abstract Reporter with a single list Input named "inputs" whose type is templated (InputT). More...
class	TableReporter_
	This concrete Reporter class collects and reports Output<InputT>s within a TimeSeriesTable_. More...
class	ConsoleReporter_
	A reporter that simply prints quantities to the console (command window or terminal), perhaps to monitor the progress of a simulation as it executes. More...
class	RootSolver
	A class for finding the N roots of N one-dimensional non-linear equations. More...
class	Scale
class	ScaleSet
class	SegmentedQuinticBezierToolkit
	This is a low level Quintic Bezier curve class that contains functions to design continuous sets of 'C' shaped Bezier curves, and to evaluate their values and derivatives. More...
class	Set
	A class for holding a set of pointers to objects. More...
class	Signal
	A class for signal processing. More...
class	SignalGenerator
	SignalGenerator is a type of Component with no inputs and only one output. More...
class	SimmSpline
	A class implementing a smooth function with a cubic spline as implemented in SIMM. More...
class	Sine
	A class for representing a Sine function. More...
class	SmoothSegmentedFunction
	This class contains the quintic Bezier curves, x(u) and y(u), that have been created by SmoothSegmentedFunctionFactory to follow a physiologically meaningful muscle characteristic. More...
class	SmoothSegmentedFunctionFactory
	This is a class that acts as a user friendly wrapper to QuinticBezerCurveSet to build specific kinds of physiologically plausible muscle curves using C2 continuous sets of quintic Bezier curves. More...
class	StateVector
	A class which stores a vector of states or data at a specified time. More...
class	StepFunction
	A class for representing a StepFunction. More...
class	STODataTypeNotSupported
class	STOFileAdapter_
	STOFileAdapter is a DelimFileAdapter that presets the delimiters appropriately for STO files. More...
class	Stopwatch
	Record and report elapsed real time ("clock" or "wall" time) in seconds. More...
class	Storage
	A class for storing an array of statevectors. More...
class	StorageCreator
class	StorageFactory
class	StorageInterface
class	TableSource_
	Component representing a source of data from a TimeSeriesTable_. More...
class	TableUtilities
class	InvalidTable
class	TimeColumnNotIncreasing
class	InvalidTimestamp
class	TimestampLessThanEqualToPrevious
class	TimestampGreaterThanEqualToNext
class	TimeOutOfRange
class	InvalidTimeRange
class	TimeSeriesTable_
	TimeSeriesTable_ is a DataTable_ where the independent column is time of type double. More...
class	MissingHeader
class	IncorrectNumMetaDataKeys
class	UnexpectedMetaDataKey
class	MetaDataLengthMismatch
class	IncorrectNumColumnLabels
class	TRCFileAdapter
	TRCFileAdapter is a FileAdapter that reads and writes TRC files. More...
class	Units
	A class implementing various units for measuring quantities. More...
class	AbstractValueArray
	ValueArray (of type T) represents an array of SimTK::Value (of type T). More...
class	ValueArray
class	ValueArrayDictionary
	ValueArrayDictionary represents an associative array mapping from a string to an AbstractValueArray. More...
class	VectorFunction
	An abstract class for representing a vector function. More...
class	VectorFunctionUncoupledNxN
	An abstract class for representing a vector function. More...
class	XMLDocument
class	XsensDataReader
	XsensDataReader is a class that reads files produced by IMU manufacturer Xsens and produces datatables from them. More...
class	XsensDataReaderSettings
	XsensDataReaderSettings is a class that reads files produced by IMU manufacturer Xsens and produces datatables from them. More...
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	DiscreteController
	This component is used internally by Moco for passing a solver's control variables to a Model. More...
class	DiscreteForces
	This class is a thin wrapper to Simbody's SimTK::Force::DiscreteForces class. More...
class	PositionMotion
	This class prescribes the value, speed, and acceleration of all coordinates in the model using SimTK::Motion. More...
class	StationPlaneContactForce
	This class models compliant point contact with a ground plane y=0. More...
class	AckermannVanDenBogert2010Force
	This class is still under development. More...
class	MeyerFregly2016Force
	This contact model is from the following paper: Meyer A. More...
class	EspositoMiller2018Force
	This contact model uses a continuous equation to transition between in and out of contact. More...
class	MocoBounds
	Small struct-like class to handle bounds. More...
class	MocoInitialBounds
	Used for specifying the bounds on a variable at the start of a phase. More...
class	MocoFinalBounds
	Used for specifying the bounds on a variable at the end of a phase. More...
class	MocoCasADiSolverNotAvailable
class	MocoCasADiSolver
	This solver uses the CasADi library (https://casadi.org) to convert the MocoProblem into a generic nonlinear programming problem. More...
class	MocoKinematicConstraint
	A model kinematic constraint to be enforced in the optimal control problem. More...
class	MocoPathConstraint
	A path constraint to be enforced in the optimal control problem. More...
class	MocoConstraintInfo
	Information for a given constraint in the optimal control problem. More...
class	MocoControlBoundConstraint
	This class constrains any number of control signals from ScalarActautors to be between two time-based functions. 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	MocoFrameDistanceConstraintPair
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	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	MocoContactTrackingGoalGroup
	A contact group consists of the name of a single ExternalForce and a list of contact force component paths in the model. More...
class	MocoContactTrackingGoal
	Minimize the error between compliant contact force elements in the model and experimentally measured contact forces. More...
class	MocoControlGoal
	Minimize the sum of the absolute value of the controls raised to a given exponent, integrated over the phase. More...
class	MocoControlTrackingGoalReference
	Associate a control variable with a column from the reference data. 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	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	MocoFinalTimeGoal
	Endpoint cost for final time. More...
class	MocoAverageSpeedGoal
	This goal requires the average speed of the system to match a desired average speed. More...
class	MocoInitialActivationGoal
	For all muscles with activation dynamics, the initial activation and initial excitation should be the same. More...
class	MocoInitialForceEquilibriumDGFGoal
	For all DeGrooteFregly2016Muscles 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	MocoJointReactionGoal
	Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase. 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	MocoPeriodicityGoalPair
	Create pair of variables for use with a MocoPeriodicityGoal. More...
class	MocoPeriodicityGoal
	This goal enforces equality between initial and final variable values in the optimal control problem. 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	MocoSumSquaredStateGoal
	Minimize the sum of squared states, integrated over the phase. 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	MocoInverseSolution
	This class holds the solution from MocoInverse. 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	MocoParameter
	A MocoParameter allows you to optimize property values in an OpenSim Model. 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	MocoSolver
	Once the solver is created, you should not make any edits to the MocoProblem. 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	MocoTool
	This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods. More...
class	MocoTrack
class	MocoTrajectoryIsSealed
	This exception is thrown if you try to invoke most methods on MocoTrajectory while the trajectory is sealed. More...
class	MocoTrajectory
	The values of the variables in an optimal control problem. More...
class	MocoSolution
	Return type for MocoStudy::solve(). More...
class	FileDeletionThrowerException
	Thrown by FileDeletionThrower::throwIfDeleted(). More...
class	FileDeletionThrower
	This class helps a user cause an exception within the code. More...
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	ModOpReplaceMusclesWithDeGrooteFregly2016
	Invoke DeGrooteFregly2016Muscle::replaceMuscles() on 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	ModOpIgnorePassiveFiberForcesDGF
	Turn off passive fiber forces for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpPassiveFiberStrainAtOneNormForceDGF
	Set passive fiber stiffness for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpScaleActiveFiberForceCurveWidthDGF
	Scale the active fiber force curve width for all DeGrooteFregly2016Muscles in the model. More...
class	ModOpFiberDampingDGF
	Set the fiber damping for all DeGrooteFregly2016Muscles in the model. More...
class	AssemblySolver
	Solve for the coordinates (degrees-of-freedom) of the model that satisfy the set of constraints imposed on the model as well as set of desired coordinate values. More...
class	BufferedOrientationsReference
	Subclass of OrientationsReference that handles live data by providing a DataQueue that allows clients to push data into and allows the InverseKinematicsSolver to draw data from for solving. More...
class	Control
	A class that represents a control in a dynamic simulation. More...
class	ControlConstant
	A class that represents a constant control curve. More...
class	Controller
	Controller is an abstract ModelComponent that defines the interface for an OpenSim Controller. More...
class	ControlLinear
	A class that represents a piece-wise linear control curve. More...
class	ControlLinearNode
	A control node used to reconstruct a piecewise linear control. More...
class	ControlSet
	A class for holding and managing a set of controls for a dynamic simulation. More...
class	ControlSetController
	ControlSetController that simply assigns controls from a ControlSet. More...
class	PrescribedController
	PrescribedController is a concrete Controller that specifies functions that prescribe the control values of its actuators as a function of time. More...
class	TrackingController
	TrackingController is an abstract class from which all tracking type of controllers should be derived. More...
class	CoordinateReference
	Reference value to be achieved for a specified coordinate that will be used via optimization and/or tracking. More...
class	InverseDynamicsSolver
	Solve for the generalized coordinate forces (1 per degree-of- freedom) that satisfy the unconstrained equations of motion given kinematics: q, u, u_dot. More...
class	InverseKinematicsSolver
	Solve for the coordinates (degrees of freedom) of the model that satisfy the set of constraints imposed on the model and the set of desired coordinate values. More...
class	Manager
	A class that manages the execution of a simulation. More...
class	UnsupportedFileType
class	MarkerWeight
class	MarkersReference
	Reference values to be achieved for specified Markers that will be used via optimization and/or tracking. More...
class	AbstractPathPoint
	An abstract class implementing a path point interface. More...
class	AbstractTool
	An abstract class for specifying the interface for an investigation. More...
class	ActivationFiberLengthMuscle
	A base class representing a two-state muscle-tendon actuator. More...
class	ActivationFiberLengthMuscle_Deprecated
	A base class representing a muscle-tendon actuator. More...
class	Actuator
	Base class for an actuator (e.g., a torque motor, muscle, ...) that requires a generic external input (a vector of controls) to generate force. More...
class	ScalarActuator
	This is a derived class from the base class actuator (e.g., a torque motor, muscle, ...) that requires exactly one external input (control) to generate a scalar value force, such as a torque/force magnitude or a tension. More...
class	ActuatorForceProbe
	ActuatorForceProbe is a ModelComponent Probe for computing an operation on a force or sum of forces in the model during a simulation. More...
class	ActuatorPowerProbe
	ActuatorPowerProbe is a ModelComponent Probe for computing an operation on a actuator power or sum of actuator powers in the model during a simulation. More...
class	Analysis
	An abstract class for specifying the interface for an analysis plugin. More...
class	AnalysisSet
	A class for holding and managing a set of integration callbacks for a model. More...
class	SurfaceProperties
	SurfaceProperties class holds the appearance properties of a piece of Geometry displayed in the OpenSim visualizer or GUI as a surface. More...
class	Appearance
	A class that holds the Appearance properties of Geometry displayed in the OpenSim Visualizer. More...
class	Bhargava2004MuscleMetabolicsProbe
	Bhargava2004MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation. More...
class	Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameter
	Documentation for this class has been provided with the documentation for the Bhargava2004MuscleMetabolicsProbe class. More...
class	Bhargava2004MuscleMetabolicsProbe_MetabolicMuscleParameterSet
	MetabolicMuscleParameterSet is a class that holds the set of MetabolicMuscleParameters for each muscle. More...
class	Bhargava2004SmoothedMuscleMetabolics_MuscleParameters
	Object class that holds the metabolic parameters required to calculate metabolic power for a single muscle. More...
class	Bhargava2004SmoothedMuscleMetabolics
	This class implements the metabolic energy model of Bhargava et al (2004) and provides an option to use smooth (i.e., twice continuously differentiable) approximations. More...
class	Blankevoort1991Ligament
	This class implements a nonlinear spring ligament model introduced by Blankevoort et al. (1991) [1] and further described in Smith et al. (2016) [2]. More...
class	BodyScale
	A class implementing a set of parameters describing how to scale a body segment. More...
class	BodyScaleSet
	A class for holding a set of body scales. More...
class	BodySet
	A class for holding a set of bodies. More...
class	BushingForce
	A class implementing a Bushing Force. More...
class	ComponentSet
	A class for holding a set of miscellaneous model components. More...
class	Condition
	A parent class for implementing an OpenSim Condition. More...
class	ConditionalPathPoint
	A class implementing a conditional path point, which is a point that is active only for a specified range of a coordinate. More...
class	ConstraintSet
	A class for holding a set of constraints. More...
class	ContactGeometry
	This class represents the physical shape of an object for use in contact modeling. More...
class	ContactGeometrySet
	A class for holding a set of ContactGeometry components. More...
class	ContactHalfSpace
	This class represents a half space (that is, everything to one side of an infinite plane) for use in contact modeling. More...
class	ContactMesh
	This class represents a polygonal mesh for use in contact modeling. More...
class	ContactSphere
	This class represents a spherical object for use in contact modeling. More...
class	ControllerSet
	A class for holding and managing a set of controllers for a model. More...
class	CoordinateLimitForce
	Generate a force that acts to limit the range of motion of a coordinate. More...
class	CoordinateSet
	A class for holding a set of coordinates. More...
class	ElasticFoundationForce
	This Force subclass implements an elastic foundation contact model. More...
class	ExpressionBasedBushingForce
	A class implementing a bushing force specified by expressions of the deflection between two bushing frames. More...
class	ExpressionBasedCoordinateForce
class	ExpressionBasedPointToPointForce
	A point-to-point Force who's force magnitude is determined by a user-defined expression, with the distance (d) and its time derivative (ddot) as variables. More...
class	ExternalForce
	An ExternalForce is a Force class specialized at applying an external force and/or torque to a body as described by arrays (columns) of a Storage object. More...
class	ExternalLoads
	A convenience class for managing ExternaForce(s) to be applied to a model. More...
class	Force
	This abstract class represents a force applied to bodies or generalized coordinates during a simulation. More...
class	ForceAdapter
	This acts as an adapter to allow a Force or Actuator to be used as a SimTK::Force. More...
class	ForceSet
	A class for holding and managing a set of forces for a model. More...
class	Frame
	A Frame is an OpenSim representation of a reference frame. More...
class	FunctionBasedBushingForce
	A class implementing a bushing force specified by functions of the frame deflections. More...
class	FunctionThresholdCondition
	FunctionThresholdCondition is a concrete implementation of a Condition. More...
class	Geometry
	Class Geometry is intended to be used as the base class for all geometry that needs to be represented in the system, including mesh files, and built in analytic shapes. More...
class	LineGeometry
	LineGeometry is a utility class used to abstract a line segment. More...
class	Arrow
	Arrow is a Geometry subclass used to represent an arrow. More...
class	AnalyticGeometry
	Abstract class for analytical geometry (e.g. More...
class	Sphere
	A class to represent Sphere geometry. More...
class	Ellipsoid
	A class to represent an Ellipsoid geometry. More...
class	Cylinder
	A class to represent a Cylinder geometry. More...
class	Cone
	A class to represent a Cone geometry. More...
class	Torus
	A class to represent Torus geometry. More...
class	Brick
	A class to represent Brick geometry. More...
class	Mesh
	A class to represent Mesh geometry that comes from a file. More...
class	FrameGeometry
	A class to represent Frame geometry. More...
class	GeometryPath
	A base class representing a path (muscle, ligament, etc.). More...
class	Ground
	Ground is an inertial reference frame in which the motion of all Frames and points may conveniently and efficiently be expressed. More...
class	HuntCrossleyForce
	This force subclass implements a Hunt-Crossley contact model. More...
class	JointInternalPowerProbe
	JointInternalPowerProbe is a ModelComponent Probe for computing an operation on internal joint power or sum of joint powers in the model during a simulation. More...
class	JointSet
	A class for holding a set of joints. More...
class	Ligament
	A class implementing a ligament. More...
class	Marker
	A class implementing a Mocap marker. More...
class	MarkerSet
	A class for holding a set of markers. More...
class	ModelHasNoSystem
	Model Exceptions. More...
class	PhysicalOffsetFramesFormLoop
class	JointFramesHaveSameBaseFrame
class	Model
	A concrete class that specifies the interface to a musculoskeletal model. More...
class	ModelComponent
	This defines the abstract ModelComponent class, which is used to specify components of a musculoskeletal model and the elements they add to the underlying computational SimTK::System (MultibodySystem). More...
class	ModelComponentSet
class	ModelVisualizer
	This class manages runtime visualization of a Model that is being manipulated through the OpenSim API. More...
class	ModelVisualPreferences
	A class that holds the Visual Preferences of a full OpenSim Model displayed in Visualizer. More...
class	MovingPathPoint
	A class implementing a moving muscle point, which is a muscle point that moves in a body's reference frame as a function of a coordinate. More...
class	MuscleCannotEquilibrate
class	Muscle
	A base class for modeling a muscle-tendon actuator. More...
class	MuscleActiveFiberPowerProbe
	MuscleActiveFiberPowerProbe is a ModelComponent probe for computing an operation on the active fiber power of a muscle. More...
class	OffsetFrame
	An OffsetFrame is a Frame whose transform (translation and orientation) with respect to another (parent) Frame is constant in time. More...
class	PathActuator
	This is the base class for actuators that apply controllable tension along a geometry path. More...
class	PathPoint
	A path point that is stationary with respect to parent's PhysicalFrame. More...
class	PathPointSet
	A class for holding a set of path points. More...
class	PathSpring
	A class implementing a PathSpring. More...
class	PhysicalFrame
	A PhysicalFrame is a Frame that locates a physical element of the multi- body system that underlies a Model. More...
class	PhysicalOffsetFrame
	A PhysicalOffsetFrame is a PhysicalFrame whose transform is specified as a constant offset from another PhysicalFrame. More...
class	Point
	A Point is an OpenSim abstraction for any location in space. More...
class	PointForceDirection
	Convenience class for a generic representation of geometry of a complex Force (or any other object) with multiple points of contact through which forces are applied to bodies. More...
class	PointToPointSpring
	A simple point to point spring with a resting length and stiffness. More...
class	PrescribedForce
	This applies to a PhysicalFrame a force and/or torque that is specified as a function of time. More...
class	Probe
	This class represents a Probe which is designed to query a Vector of model values given system state. More...
class	ProbeSet
	A class for holding a set of probes. More...
class	SmoothSphereHalfSpaceForce
	This compliant contact force model is similar to HuntCrossleyForce, except that this model applies force even when not in contact. More...
class	Station
	A Station is a Point fixed to and located on a PhysicalFrame, which can be a Body, Ground or any PhysicalOffsetFrame. More...
class	SystemEnergyProbe
	SystemEnergyProbe is a ModelComponent Probe for computing an operation on a total system energy during a simulation. More...
class	TwoFrameLinker
	TwoFrameLinker is a utility class to extend a Component such that it connects two Frames. More...
class	Umberger2010MuscleMetabolicsProbe
	Umberger2010MuscleMetabolicsProbe is a Probe ModelComponent for computing the net metabolic energy rate of a set of Muscles in the model during a simulation. More...
class	Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameter
	Documentation for this class has been provided with the documentation for the Umberger2010MuscleMetabolicsProbe class. More...
class	Umberger2010MuscleMetabolicsProbe_MetabolicMuscleParameterSet
	MetabolicMuscleParameterSet is an internal container class containing the set of MetabolicMuscleParameters for each muscle that is probed. More...
class	MomentArmSolver
	Solve for the effective moment arms at all degrees-of-freedom due to one or more point forces. More...
class	ExperimentalFrame
	ExperimentalFrame is a concrete Frame that represents the experimental value of a Frame and can be used to display its frame in the OpenSim Visualizer. More...
class	ExperimentalMarker
	ExperimentalMarker is a concrete Point that represents the experimental value of a Marker and can be used to display its location in the OpenSim Visualizer. More...
class	IMUPlacer
	A class implementing a set of parameters describing how to place IMUs on a model to match placement of experimental sensors (IMUs) More...
class	OpenSenseUtilities
class	OrientationWeight
class	OrientationsReference
	Reference values for the Orientations of model frames that will be used to to compute tracking errors. More...
class	Reference_
	This base (abstract) class defines the interface for a Reference signals to be achieved/tracked via optimization and/or tracking controller. More...
class	StreamableReference_
class	BallJoint
	A class implementing a Ball joint. More...
class	Body
	An OpenSim::Body is a PhysicalFrame (reference frame) with associated inertia specified by its mass, center-of-mass located in the PhysicalFrame, and its moment of inertia tensor about the center-of-mass. More...
class	ConstantDistanceConstraint
	A class implementing a constraint that maintains a constant distance between between two points on separate PhysicalFrames. More...
class	Constraint
	A parent class for implementing a Simbody Constraint. More...
class	Coordinate
	A Coordinate is a ModelComponent for managing the access and behavior of a model's generalized coordinate including its value, speed and acceleration (once system accelerations have been realized). More...
class	CoordinateCouplerConstraint
class	CustomJoint
	A class implementing a custom joint. More...
class	EllipsoidJoint
	A class implementing a Ellipsoid joint. More...
class	FreeJoint
	A class implementing a Free joint. More...
class	GimbalJoint
	A class implementing a Gimbal joint. More...
class	JointFramesAreTheSame
class	Joint
	An OpenSim Joint is an OpenSim::ModelComponent which connects two PhysicalFrames together and specifies their relative permissible motion as described in internal coordinates. More...
class	JointHasNoCoordinates
class	PinJoint
	A Class implementing a Pin joint. More...
class	PlanarJoint
	A class implementing a Planar joint. More...
class	PointConstraint
	A class implementing a Point Constraint. More...
class	PointOnLineConstraint
	A class implementing a Point On Line Constraint. More...
class	RollingOnSurfaceConstraint
	A class implementing a collection of rolling-without-slipping and non-penetration constraints on a surface. More...
class	ScapulothoracicJoint
	A class implementing a 4-DOF ScapulothoracicJoint. More...
class	SimbodyEngine
	A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim. More...
class	SliderJoint
	A class implementing a Slider joint. More...
class	SpatialTransform
	A class encapsulating the spatial transformation between two bodies that defines the behavior of a custom joint. More...
class	TransformAxis
	A class expressing a transformation of a child body in relation to a parent body along either a translation or about a rotation axis. More...
class	UnilateralConstraint
	An abstract class defining an OpenSim UnilateralConstraint. More...
class	UniversalJoint
	A class implementing a Universal joint. More...
class	WeldConstraint
	A class implementing a Weld Constraint. More...
class	WeldJoint
	A class implementing a Weld joint. More...
class	Solver
	The base (abstract) class for a family of objects responsible for solving system equations (statics, dynamic, kinematics, muscle, etc...) given by a model for values of interest. More...
class	StatesTrajectory
	This class holds a sequence of SimTK::States. More...
class	StatesTrajectoryReporter
	Stores the states during a simulation in a StatesTrajectory. More...
class	TableOperator
	This abstract class describes any operation that consumes and modifies a TimeSeriesTable as part of a TableProcessor. More...
class	TableProcessor
	This class describes a workflow for processing a table using TableOperators. More...
class	TabOpConvertDegreesToRadians
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	VisualizerUtilities
class	PathWrapPoint
	A class implementing a path wrapping point, which is a path point that is produced by a PathWrap. More...
class	WrapCylinder
	A class implementing a cylinder for muscle wrapping. More...
class	WrapEllipsoid
	A class implementing an ellipsoid for muscle wrapping. More...
class	WrapObject
	An abstract class that specifies the interface for a wrapping object. More...
class	WrapObjectSet
	A class for holding a set of wrap objects. More...
class	WrapSphere
	A class implementing a sphere for muscle wrapping. More...
class	WrapTorus
	A class implementing a torus for muscle wrapping. More...
class	ActuatorForceTarget
	A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production. More...
class	ActuatorForceTargetFast
	A Computed Muscle Control (CMC) optimization target for controlling dynamic systems whose actuators may be themselves governed by differential equations, meaning there may be non-linear behavior and delays in force production. More...
class	AnalyzeTool
	An abstract class for specifying the interface for an investigation. More...
class	CMC
	Computed Muscle Control (CMC) is an optimization-based control technique designed specifically for controlling dynamic models that are actuated by redundant sets of actuators whose force-generating properties may be nonlinear and governed by differential equations (and so have delays in force production). More...
class	CMC_Joint
	A class for specifying the tracking task for a joint. More...
class	CMC_Orientation
	A class for tracking the orientation of a body. More...
class	CMC_Point
	A class for specifying and computing parameters for tracking a point. More...
class	CMC_Task
	An abstract base class for specifying a task objective for a dynamic simulation. More...
class	CMC_TaskSet
	An class for holding and managing a set of tasks. More...
class	CMCTool
	An abstract class for specifying the interface for an investigation. More...
class	CorrectionController
	This is a simple feedback controller to be used in generating a forward dynamic simulation. More...
class	DynamicsTool
	An abstract Tool for defining tools for performing a dynamics analysis with a given model. More...
class	ForwardTool
	A concrete tool for performing forward dynamics simulations. More...
class	GenericModelMaker
	A class implementing a set of parameters describing a generic musculoskeletal model. More...
class	IKCoordinateTask
class	IKMarkerTask
class	IKTask
class	IKTaskSet
class	OrientationWeightSet
class	IMUInverseKinematicsTool
	A Study that performs an Inverse Kinematics analysis with a given model. More...
class	InverseDynamicsTool
	A Tool that performs an Inverse Dynamics analysis with a given model. More...
class	InverseKinematicsTool
	A Tool that performs an Inverse Kinematics analysis with a given model. More...
class	InverseKinematicsToolBase
	A Tool that performs an Inverse Kinematics analysis with a given model. More...
class	MarkerPair
	A class for holding the names of a pair of markers (for making measurements on a model). More...
class	MarkerPairSet
	A class for holding a set of SimmMarkerPairs. More...
class	MarkerPlacer
	A class implementing a set of parameters describing how to place markers on a model (presumably after it has been scaled to fit a subject). More...
class	Measurement
	A class implementing a measurement (the distance between one or more pairs of markers, used to scale a model). More...
class	MeasurementSet
	A class for holding a set of measurements. More...
class	ModelScaler
	A class for scaling a model. More...
class	MuscleStateTrackingTask
	A TrackingTask for that corresponds to a muscle state variable. More...
class	RRATool
	An abstract class for specifying the interface for an investigation. More...
class	ScaleTool
	A class implementing a set of parameters describing how to scale a model to fit a subject, place markers on it, and do IK on one or more motion trials. More...
class	SMC_Joint
	A class for specifying the tracking task for a joint. More...
class	StateTrackingTask
	A tracking task objective that corresponds to a state variable of a Force component (e.g. More...
class	Tool
	A Tool is an OpenSim abstraction that encapsulates an analysis or series of modeling and analysis steps. More...
class	TrackingTask
	An abstract base class for specifying a target for a tracking problem. More...
class	VectorFunctionForActuators
	An abstract class for representing a vector function. More...

Typedefs
typedef DataTable_< double, double >	DataTable
	See DataTable_ for details on the interface. More...
typedef DataTable_< double, SimTK::Vec3 >	DataTableVec3
	See DataTable_ for details on the interface. More...
typedef PropertyDblVec_< 2 >	PropertyDblVec2
typedef PropertyDblVec_< 3 >	PropertyDblVec3
typedef PropertyDblVec_< 4 >	PropertyDblVec4
typedef PropertyDblVec_< 5 >	PropertyDblVec5
typedef PropertyDblVec_< 6 >	PropertyDblVec6
typedef STOFileAdapter_< double >	STOFileAdapter
typedef STOFileAdapter_< SimTK::Vec3 >	STOFileAdapterVec3
typedef STOFileAdapter_< SimTK::Quaternion >	STOFileAdapterQuaternion
typedef std::map< std::string, std::string, std::less< std::string > >	MapKeysToValues
typedef std::map< std::string, OpenSim::StorageCreator *, std::less< std::string > >	mapExtensionsToCreators
typedef TableSource_< SimTK::Real >	TableSource
	This TableSource_ can hold a TimeSeriesTable_<SimTK::Real> and so its list-output 'column' will have channels of type SimTK::Real (double). More...
typedef TableSource_< SimTK::Vec3 >	TableSourceVec3
	This TableSource_ can hold a TimeSeriesTable_<SimTK::Vec3> and so its list-output 'column' will have channels of type SimTK::Vec3. More...
typedef TimeSeriesTable_< SimTK::Real >	TimeSeriesTable
	See TimeSeriesTable_ for details on the interface. More...
typedef TimeSeriesTable_< SimTK::Vec3 >	TimeSeriesTableVec3
	See TimeSeriesTable_ for details on the interface. More...
typedef TimeSeriesTable_< SimTK::Quaternion >	TimeSeriesTableQuaternion
	See TimeSeriesTable_ for details on the interface. More...
typedef TimeSeriesTable_< SimTK::Rotation >	TimeSeriesTableRotation
	See TimeSeriesTable_ for details on the interface. More...
using	VisualRepresentation = SimTK::DecorativeGeometry::Representation
	VisualRepresentation is the OpenSim name used across the OpenSim API, it is an that describes in what form is Geometry displayed: DrawPoints, DrawWireframe, DrawSurface are supported. More...
template<typename T >
using	SetTModelComponent = Set< T, ModelComponent >
	This is the base class for sets of ModelComponent subclasses. More...

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

Functions
template<typename T , typename... Args>
std::unique_ptr< T >	make_unique (Args &&... args)
	Since OpenSim does not require C++14 (which contains std::make_unique()), here is an implementation of make_unique(). More...
OSIMCOMMON_API std::string	getFormattedDateTime (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...
OSIMCOMMON_API SimTK::Vector	createVectorLinspace (int length, double start, double end)
	Create a SimTK::Vector with the provided length whose elements are uniformly spaced between start and end (same as Matlab's linspace()). More...
OSIMCOMMON_API SimTK::Vector	createVector (std::initializer_list< SimTK::Real > elements)
	Create a SimTK::Vector using modern C++ syntax. More...
OSIMCOMMON_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...
OSIMCOMMON_API std::string	convertRelativeFilePathToAbsoluteFromXMLDocument (const std::string &documentFileName, const std::string &filePathRelativeToDirectoryContainingDocument)
	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. More...
OSIMCOMMON_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...
template<typename ETX , typename ETY >
std::ostream &	operator<< (std::ostream &outStream, const DataTable_< ETX, ETY > &table)
	Print DataTable out to a stream. More...
OSIMCOMMON_API OPENSIM_PORTABLE_HMODULE WINAPI	LoadOpenSimLibrary (const std::string &lpLibFileName, bool verbose)
	Load an OpenSim (plugin) library, using a path to a library (relative or absolute) but without the file extension (.dll, .so, .dylib). More...
OSIMCOMMON_API void	LoadOpenSimLibrary (const std::string &aLibraryName)
	Uses LoadOpenSimLibrary(const std::string&, bool), with verbosity. More...
OSIMCOMMON_API bool	LoadOpenSimLibraryExact (const std::string &exactPath, bool verbose=true)
	Load an OpenSim (plugin) library using the exact path specified. More...
OSIMCOMMON_API void	LoadOpenSimLibraries (int argc, char **argv)
	Used to process legacy command line arguments that specify plugin libraries to load. More...
	SimTK_DEFINE_UNIQUE_INDEX_TYPE (PropertyIndex)
bool OSIMCOMMON_API	readNonCommentStringFromStream (std::istream &aStream, std::string &rBuffer)
bool OSIMCOMMON_API	readStringFromStream (std::istream &aStream, std::string &rBuffer)
bool OSIMCOMMON_API	readStringFromString (std::string &aString, std::string &rBuffer)
bool OSIMCOMMON_API	readTabDelimitedStringFromString (std::string &aString, std::string &rBuffer)
bool OSIMCOMMON_API	readIntegerFromString (std::string &aString, int *rNumber)
bool OSIMCOMMON_API	readDoubleFromString (std::string &aString, double *rNumber, bool allowNaNs=false)
bool OSIMCOMMON_API	readVectorFromString (std::string &aString, SimTK::Vec3 &rVec)
bool OSIMCOMMON_API	readVectorFromString (std::string &aString, double *rVX, double *rVY, double *rVZ)
bool OSIMCOMMON_API	readCoordinatesFromString (std::string &aString, double rVec[3], bool allowNaNs=false)
int OSIMCOMMON_API	findFirstNonWhiteSpace (std::string &aString)
int OSIMCOMMON_API	findFirstWhiteSpace (std::string &aString)
void OSIMCOMMON_API	convertString (std::string &aString, bool aPrependUnderscore)
std::string OSIMCOMMON_API	getCurrentTimeString ()
std::shared_ptr< DataAdapter >	createSTOFileAdapterForReading (const std::string &fileName)
std::shared_ptr< DataAdapter >	createSTOFileAdapterForWriting (const AbstractDataTable &table)
OSIMMOCO_API std::string	GetMocoVersionAndDate ()
OSIMMOCO_API std::string	GetMocoVersion ()
std::ostream &	operator<< (std::ostream &stream, const MocoBounds &bounds)
template<typename T >
TimeSeriesTable_< T >	analyzeMocoTrajectory (Model model, const MocoTrajectory &trajectory, const std::vector< std::string > &outputPaths)
	Calculate the requested outputs using the model in the problem and the provided StatesTrajectory and controls table. 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 MocoTrajectory. More...
OSIMMOCO_API MocoTrajectory	simulateTrajectoryWithTimeStepping (const MocoTrajectory &trajectory, Model model, double integratorAccuracy=SimTK::NaN)
	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 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...
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. More...
template<>
SimTK::MobilizedBody::FunctionBased	CustomJoint::createMobilizedBody< SimTK::MobilizedBody::FunctionBased > (SimTK::MobilizedBody &inboard, const SimTK::Transform &inboardTransform, const SimTK::Body &outboard, const SimTK::Transform &outboardTransform, int &startingCoorinateIndex) const
OSIMSIMULATION_API SimTK::State	simulate (Model &model, const SimTK::State &initialState, double finalTime, bool saveStatesFile=false)
	Simulate a model from an initial state and return the final state. More...
OSIMSIMULATION_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...
OSIMSIMULATION_API std::unique_ptr< Storage >	updatePre40KinematicsStorageFor40MotionType (const Model &pre40Model, const Storage &kinematics)
	Not available through scripting. More...
OSIMSIMULATION_API void	updatePre40KinematicsFilesFor40MotionType (const Model &model, const std::vector< std::string > &filePaths, std::string suffix="_updated")
	This function can be used to upgrade MOT files generated with versions before 4.0 in which some data columns are associated with coordinates that were incorrectly marked as Rotational (rather than Coupled). More...
OSIMSIMULATION_API void	updateSocketConnecteesBySearch (Model &model)
	This function attempts to update the connectee path for any Socket anywhere in the model whose connectee path does not point to an existing component. More...
OSIMSIMULATION_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...
OSIMSIMULATION_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. More...
OSIMSIMULATION_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. More...
OSIMSIMULATION_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...
OSIMSIMULATION_API std::vector< std::string >	createControlNamesFromModel (const Model &model)
	Same as above, but when there is no mapping to the modelControlIndices. More...
OSIMSIMULATION_API std::unordered_map< std::string, int >	createSystemControlIndexMap (const Model &model)
	The map provides the index of each control variable in the SimTK::Vector returned by Model::getControls(), using the control name as the key. More...
OSIMSIMULATION_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. More...
OSIMSIMULATION_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 >
TimeSeriesTable_< T >	analyze (Model model, const TimeSeriesTable &statesTable, const TimeSeriesTable &controlsTable, const std::vector< std::string > &outputPaths)
	Calculate the requested outputs using the model in the problem and the provided states and controls tables The controls table is used to set the model's controls vector. More...

Variables
const char	ObjectDEFAULT_NAME [] = "default"

Detailed Description

The Moco interface is contained within the OpenSim namespace.

Version

1.0

Author

Ayman Habib

Typedef Documentation

DataTable

typedef DataTable_<double, double> OpenSim::DataTable

See DataTable_ for details on the interface.

DataTableVec3

typedef DataTable_<double, SimTK::Vec3> OpenSim::DataTableVec3

See DataTable_ for details on the interface.

mapExtensionsToCreators

typedef std::map<std::string, OpenSim::StorageCreator*, std::less<std::string> > OpenSim::mapExtensionsToCreators

MapKeysToValues

typedef std::map<std::string, std::string, std::less<std::string> > OpenSim::MapKeysToValues

PropertyDblVec2

typedef PropertyDblVec_<2> OpenSim::PropertyDblVec2

PropertyDblVec3

typedef PropertyDblVec_<3> OpenSim::PropertyDblVec3

PropertyDblVec4

typedef PropertyDblVec_<4> OpenSim::PropertyDblVec4

PropertyDblVec5

typedef PropertyDblVec_<5> OpenSim::PropertyDblVec5

PropertyDblVec6

typedef PropertyDblVec_<6> OpenSim::PropertyDblVec6

SetTModelComponent

template<typename T >

using OpenSim::SetTModelComponent = typedef Set<T, ModelComponent>

This is the base class for sets of ModelComponent subclasses.

It provides methods for invoking all of the ModelComponent methods on each member of the set.

Template Parameters

T	This must be a concrete class derived from ModelComponent.

STOFileAdapter

typedef STOFileAdapter_<double> OpenSim::STOFileAdapter

STOFileAdapterQuaternion

typedef STOFileAdapter_<SimTK::Quaternion> OpenSim::STOFileAdapterQuaternion

STOFileAdapterVec3

typedef STOFileAdapter_<SimTK::Vec3> OpenSim::STOFileAdapterVec3

TableSource

typedef TableSource_<SimTK::Real> OpenSim::TableSource

This TableSource_ can hold a TimeSeriesTable_<SimTK::Real> and so its list-output 'column' will have channels of type SimTK::Real (double).

Its other output 'row' will be of type SimTK::Vector_<SimTK::Real>.

TableSourceVec3

typedef TableSource_<SimTK::Vec3> OpenSim::TableSourceVec3

This TableSource_ can hold a TimeSeriesTable_<SimTK::Vec3> and so its list-output 'column' will have channels of type SimTK::Vec3.

Its other output 'row' will be of type SimTK::Vector_<SimTK::Vec3>.

TimeSeriesTable

typedef TimeSeriesTable_<SimTK::Real> OpenSim::TimeSeriesTable

See TimeSeriesTable_ for details on the interface.

Examples

example2DWalking.cpp, exampleMocoInverse.cpp, and exampleTracking.cpp.

TimeSeriesTableQuaternion

typedef TimeSeriesTable_<SimTK::Quaternion> OpenSim::TimeSeriesTableQuaternion

See TimeSeriesTable_ for details on the interface.

TimeSeriesTableRotation

typedef TimeSeriesTable_<SimTK::Rotation> OpenSim::TimeSeriesTableRotation

See TimeSeriesTable_ for details on the interface.

TimeSeriesTableVec3

typedef TimeSeriesTable_<SimTK::Vec3> OpenSim::TimeSeriesTableVec3

See TimeSeriesTable_ for details on the interface.

Examples

exampleMarkerTracking.cpp.

VisualRepresentation

using OpenSim::VisualRepresentation = typedef SimTK::DecorativeGeometry::Representation

VisualRepresentation is the OpenSim name used across the OpenSim API, it is an that describes in what form is Geometry displayed:
DrawPoints, DrawWireframe, DrawSurface are supported.

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.

Enumerator
Position
DtPosition
Velocity
DtDtPosition
DtVelocity
Acceleration

Function Documentation

convertString()

void OSIMCOMMON_API OpenSim::convertString	(	std::string &	aString,
		bool	aPrependUnderscore
	)

createSTOFileAdapterForReading()

std::shared_ptr<DataAdapter> OpenSim::createSTOFileAdapterForReading

(

const std::string &

fileName

)

createSTOFileAdapterForWriting()

std::shared_ptr<DataAdapter> OpenSim::createSTOFileAdapterForWriting

(

const AbstractDataTable &

table

)

CustomJoint::createMobilizedBody< SimTK::MobilizedBody::FunctionBased >()

template<>

SimTK::MobilizedBody::FunctionBased OpenSim::CustomJoint::createMobilizedBody< SimTK::MobilizedBody::FunctionBased >	(	SimTK::MobilizedBody &	inboard,
		const SimTK::Transform &	inboardTransform,
		const SimTK::Body &	outboard,
		const SimTK::Transform &	outboardTransform,
		int &	startingCoorinateIndex
	)		const

findFirstNonWhiteSpace()

int OSIMCOMMON_API OpenSim::findFirstNonWhiteSpace

(

std::string &

aString

)

findFirstWhiteSpace()

int OSIMCOMMON_API OpenSim::findFirstWhiteSpace

(

std::string &

aString

)

getCurrentTimeString()

std::string OSIMCOMMON_API OpenSim::getCurrentTimeString

(

)

GetMocoVersion()

OSIMMOCO_API std::string OpenSim::GetMocoVersion

(

)

GetMocoVersionAndDate()

OSIMMOCO_API std::string OpenSim::GetMocoVersionAndDate

(

)

LoadOpenSimLibraries()

OSIMCOMMON_API void OpenSim::LoadOpenSimLibraries	(	int	argc,
		char **	argv
	)

Used to process legacy command line arguments that specify plugin libraries to load.

Internally uses LoadOpenSimLibrary(const std::string&, bool) with verbosity.

LoadOpenSimLibrary() [1/2]

OSIMCOMMON_API void OpenSim::LoadOpenSimLibrary

(

const std::string &

aLibraryName

)

Uses LoadOpenSimLibrary(const std::string&, bool), with verbosity.

LoadOpenSimLibrary() [2/2]

OSIMCOMMON_API OPENSIM_PORTABLE_HMODULE WINAPI OpenSim::LoadOpenSimLibrary	(	const std::string &	lpLibFileName,
		bool	verbose
	)

Load an OpenSim (plugin) library, using a path to a library (relative or absolute) but without the file extension (.dll, .so, .dylib).

This method will prefer a debug variant of the library if OpenSim was built in debug.

In MATLAB/Python, we suggest you use LoadOpenSimLibraryExact instead of this function. If you insist on using this variant, see the examples below.

To load a plugin in MATLAB, use the following:

import org.opensim.modeling.*;
opensimCommon.LoadOpenSimLibrary('<path>/osimMyPlugin');

Do NOT use MATLAB's loadlibrary().

To load a plugin in Python, use the following:

import opensim
opensim.LoadOpenSimLibrary('<path>/osimMyPlugin')

LoadOpenSimLibraryExact()

OSIMCOMMON_API bool OpenSim::LoadOpenSimLibraryExact	(	const std::string &	exactPath,
		bool	verbose = true
	)

Load an OpenSim (plugin) library using the exact path specified.

Therefore, you must supply an exact path to the library (either relative or absolute), including the file extension (.dll, .so, .dylib). The only change that may be made to the path is to convert forward slashes to backslashes on Windows (and vice versa on UNIX).

To load a plugin in MATLAB, use the following:

import org.opensim.modeling.*;
opensimCommon.LoadOpenSimLibraryExact('<path>/osimMyPlugin.dll');

Do NOT use MATLAB's loadlibrary().

To load a plugin in Python, use the following:

import opensim
opensim.LoadOpenSimLibraryExact('<path>/osimMyPlugin.dll')

Note

If your (plugin) library depends on other libraries, make sure they are available as well (e.g., by setting the appropriate values for environment variables like PATH (Windows), LD_LIBRARY_PATH (Linux), and DYLD_LIBRARY_PATH (macOS)).

Returns

true if the library was successfully loaded; false otherwise.

operator<<() [1/2]

template<typename ETX , typename ETY >

std::ostream& OpenSim::operator<<	(	std::ostream &	outStream,
		const DataTable_< ETX, ETY > &	table
	)

Print DataTable out to a stream.

References OpenSim::DataTable_< ETX, ETY >::toString().

operator<<() [2/2]

std::ostream& OpenSim::operator<< ( std::ostream &  stream, const MocoBounds &  bounds  )

inline

References OpenSim::MocoBounds::getLower(), OpenSim::MocoBounds::getUpper(), and OpenSim::MocoBounds::isEquality().

readCoordinatesFromString()

bool OSIMCOMMON_API OpenSim::readCoordinatesFromString	(	std::string &	aString,
		double	rVec[3],
		bool	allowNaNs = false
	)

readDoubleFromString()

bool OSIMCOMMON_API OpenSim::readDoubleFromString	(	std::string &	aString,
		double *	rNumber,
		bool	allowNaNs = false
	)

readIntegerFromString()

bool OSIMCOMMON_API OpenSim::readIntegerFromString	(	std::string &	aString,
		int *	rNumber
	)

readNonCommentStringFromStream()

bool OSIMCOMMON_API OpenSim::readNonCommentStringFromStream	(	std::istream &	aStream,
		std::string &	rBuffer
	)

readStringFromStream()

bool OSIMCOMMON_API OpenSim::readStringFromStream	(	std::istream &	aStream,
		std::string &	rBuffer
	)

readStringFromString()

bool OSIMCOMMON_API OpenSim::readStringFromString	(	std::string &	aString,
		std::string &	rBuffer
	)

readTabDelimitedStringFromString()

bool OSIMCOMMON_API OpenSim::readTabDelimitedStringFromString	(	std::string &	aString,
		std::string &	rBuffer
	)

readVectorFromString() [1/2]

bool OSIMCOMMON_API OpenSim::readVectorFromString	(	std::string &	aString,
		double *	rVX,
		double *	rVY,
		double *	rVZ
	)

readVectorFromString() [2/2]

bool OSIMCOMMON_API OpenSim::readVectorFromString	(	std::string &	aString,
		SimTK::Vec3 &	rVec
	)

SimTK_DEFINE_UNIQUE_INDEX_TYPE()

OpenSim::SimTK_DEFINE_UNIQUE_INDEX_TYPE

(

PropertyIndex

)

Variable Documentation

ObjectDEFAULT_NAME

const char OpenSim::ObjectDEFAULT_NAME[] = "default"