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...

Inheritance diagram for OpenSim::MocoAngularVelocityTrackingGoal:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
TableProcessor	states_reference
	"Trajectories of model state variables from which tracked angular " "velocity data is computed. Column labels should be model state " "paths, e.g., '/jointset/ankle_angle_r/value'" More...

std::string	angular_velocity_reference_file
	"Path to file (.sto, .csv, ...) containing angular velocity " "reference data to track. Column labels should be paths to frames " "in the model, e.g. '/bodyset/torso'." More...

MocoWeightSet	angular_velocity_weights
	"Set of weight objects to weight the tracking of " "individual frames' angular velocities in the cost." More...

Properties (list)
std::string	frame_paths
	"The frames in the model that this cost term will track. " "The names set here must correspond to Components that " "derive from class Frame." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoGoal
bool	enabled
	"This bool indicates whether this goal is enabled." More...

double	weight
	"In cost mode, the goal is multiplied by this weight (default: " "1)." More...

std::string	mode
	"'cost' to enforce as a penalty, 'endpoint_constraint' to enforce " "as a constraint." More...

MocoConstraintInfo	MocoConstraintInfo
	"The bounds and labels for this MocoGoal, if applied as an " "endpoint constraint." More...

MocoScaleFactor	scale_factors
	"Scale factors added by derived MocoGoal classes that are optimized " "via a MocoParameter. A copy of each MocoScaleFactor component is " "added to the model internal to MocoProblem, which makes the scale " "factors values available when computing the cost function for each " "MocoGoal." More...

Public Member Functions
	MocoAngularVelocityTrackingGoal ()

	MocoAngularVelocityTrackingGoal (std::string name)

	MocoAngularVelocityTrackingGoal (std::string name, double weight)

void	setAngularVelocityReferenceFile (const std::string &filepath)
	Set directly the angular velocities of individual frames in ground to be tracked in the cost. More...

void	setAngularVelocityReference (const TimeSeriesTableVec3 &ref)
	Each column label must be the path of a valid frame path (see setAngularVelocityReferenceFile()). More...

void	setStatesReference (const TableProcessor &ref)
	Provide a table containing values of model state variables. More...

void	setFramePaths (const std::vector< std::string > &paths)
	Set the paths to frames in the model that this cost term will track. More...

void	setWeightForFrame (const std::string &frameName, const double &weight)
	Set the weight for an individual frame's angular velocity tracking. More...

void	setWeightSet (const MocoWeightSet &weightSet)
	Provide a MocoWeightSet to weight frame angular velocity tracking in the cost. More...

const TableProcessor &	getStatesReference () const
	If no states reference has been provided, this returns an empty processor. More...

std::string	getAngularVelocityReferenceFile () const
	If no angular velocity reference file has been provided, this returns an empty string. More...

Public Member Functions inherited from OpenSim::MocoGoal
	MocoGoal ()

	MocoGoal (std::string name)

	MocoGoal (std::string name, double weight)

void	setEnabled (bool enabled)
	Set whether this goal is used in the problem. More...

bool	getEnabled () const

void	setWeight (double weight)
	In cost mode, the goal is multiplied by this weight. More...

double	getWeight () const

void	setMode (std::string mode)
	Set the mode property to either 'cost' or 'endpoint_constraint'. More...

std::string	getModeAsString () const
	This returns the default mode of the goal, unless the user overrode the default using setMode(). More...

Mode	getMode () const

bool	getModeIsCost () const

bool	getModeIsEndpointConstraint () const

Mode	getDefaultMode () const
	Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. More...

bool	getSupportsEndpointConstraint () const
	Can this goal be used in endpoint constraint mode? More...

const MocoConstraintInfo &	getConstraintInfo () const
	Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More...

MocoConstraintInfo &	updConstraintInfo ()

int	getNumOutputs () const
	Get the length of the return value of calcGoal(). More...

int	getNumIntegrals () const
	Get the number of integrals required by this cost. More...

SimTK::Stage	getStageDependency () const
	Obtain the stage that this goal depends on. More...

SimTK::Real	calcIntegrand (const IntegrandInput &input) const
	Calculate the integrand that should be integrated and passed to calcCost(). More...

void	calcGoal (const GoalInput &input, SimTK::Vector &goal) const
	In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost. More...

void	initializeOnModel (const Model &model) const
	Perform error checks on user input for this goal, and cache quantities needed when computing the goal value. More...

std::vector< MocoScaleFactor >	getScaleFactors () const
	Get a vector of the MocoScaleFactors added to this MocoGoal. More...

void	printDescription () const
	Print the name type and mode of this goal. More...

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

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

Auto-generated functions
static MocoAngularVelocityTrackingGoal *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "MocoAngularVelocityTrackingGoal". More...

MocoAngularVelocityTrackingGoal *	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...

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::MocoGoal
static MocoGoal *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

static const std::string &	getClassName ()
	This returns "MocoGoal". 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...

Detailed Description

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.

This can be used to track angular velocity quantities in the model that don't correspond to model degrees of freedom. The reference can be provided as a trajectory of SimTK::Vec3s representing the angular velocity reference data, or as a states trajectory from which the tracked angular velocity reference is computed. Both angular velocity and states references can be provided as a file name to a STO or CSV file (or other file types for which there is a FileAdapter), or programmatically as a TimeSeriesTableVec3 (for the angular velocity reference) or as a scalar TimeSeriesTable (for the states reference).

Errors for this cost are computed assuming that the provided reference angular velocity data is expressed in the ground frame. If you are using this cost to track raw signals from an inertial measurement unit (IMU), make sure that the frame you're tracking produces angular velocity values that correspond to the real-world placement of your IMU.

This cost requires realization to SimTK::Stage::Velocity.

Constructor & Destructor Documentation

◆ MocoAngularVelocityTrackingGoal() [1/3]

OpenSim::MocoAngularVelocityTrackingGoal::MocoAngularVelocityTrackingGoal ( )

inline

◆ MocoAngularVelocityTrackingGoal() [2/3]

OpenSim::MocoAngularVelocityTrackingGoal::MocoAngularVelocityTrackingGoal ( std::string name )

inline

◆ MocoAngularVelocityTrackingGoal() [3/3]

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

inline

Member Function Documentation

◆ calcGoalImpl()

void OpenSim::MocoAngularVelocityTrackingGoal::calcGoalImpl	(	const GoalInput &	input,
		SimTK::Vector &	goal
	)		const

inlineoverrideprotectedvirtual

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

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

Implements OpenSim::MocoGoal.

References OpenSim::MocoGoal::GoalInput::integral.

◆ calcIntegrandImpl()

void OpenSim::MocoAngularVelocityTrackingGoal::calcIntegrandImpl	(	const IntegrandInput &	input,
		double &	integrand
	)		const

overrideprotected

◆ clone()

MocoAngularVelocityTrackingGoal* OpenSim::MocoAngularVelocityTrackingGoal::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::MocoGoal.

◆ getAngularVelocityReferenceFile()

std::string OpenSim::MocoAngularVelocityTrackingGoal::getAngularVelocityReferenceFile ( ) const

inline

If no angular velocity reference file has been provided, this returns an empty string.

◆ getClassName()

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

inlinestatic

This returns "MocoAngularVelocityTrackingGoal".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoAngularVelocityTrackingGoal::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::MocoGoal.

◆ getStatesReference()

const TableProcessor& OpenSim::MocoAngularVelocityTrackingGoal::getStatesReference ( ) const

inline

If no states reference has been provided, this returns an empty processor.

◆ initializeOnModelImpl()

void OpenSim::MocoAngularVelocityTrackingGoal::initializeOnModelImpl ( const Model & ) const

overrideprotectedvirtual

Perform any caching before the problem is solved.

You must override this function and invoke setRequirements().

Precondition(s):: The model is initialized (initSystem()) and getModel() is available. The passed-in model is equivalent to getModel(). Use this opportunity to check for errors in user input.

Implements OpenSim::MocoGoal.

◆ printDescriptionImpl()

void OpenSim::MocoAngularVelocityTrackingGoal::printDescriptionImpl ( ) const

overrideprotectedvirtual

Print a more detailed description unique to each goal.

Reimplemented from OpenSim::MocoGoal.

◆ safeDownCast()

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

inlinestatic

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

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

◆ setAngularVelocityReference()

void OpenSim::MocoAngularVelocityTrackingGoal::setAngularVelocityReference ( const TimeSeriesTableVec3 & ref )

inline

Each column label must be the path of a valid frame path (see setAngularVelocityReferenceFile()).

Calling this function clears the states_reference_file and angular_velocity_reference_file properties or the table provided via setStatesReference(), if any.

◆ setAngularVelocityReferenceFile()

void OpenSim::MocoAngularVelocityTrackingGoal::setAngularVelocityReferenceFile ( const std::string & filepath )

inline

Set directly the angular velocities of individual frames in ground to be tracked in the cost.

The column labels of the provided reference must be paths to frames in the model, e.g. /bodyset/torso. If the frame_paths property is empty, all frames with data in this reference will be tracked. Otherwise, only the frames specified via setFramePaths() will be tracked. Calling this function clears the values provided via setStatesReference(), setAngularVelocityReference(), or the states_reference_file property, if any.

◆ setFramePaths()

void OpenSim::MocoAngularVelocityTrackingGoal::setFramePaths ( const std::vector< std::string > & paths )

inline

Set the paths to frames in the model that this cost term will track.

The names set here must correspond to OpenSim::Components that derive from OpenSim::Frame, which includes 'angular_velocity' (SimTK::Vec3) as an output. Replaces the frame path set if it already exists.

◆ setStatesReference()

void OpenSim::MocoAngularVelocityTrackingGoal::setStatesReference ( const TableProcessor & ref )

inline

Provide a table containing values of model state variables.

These data are used to create a StatesTrajectory internally, from which the angular velocity data for the frames specified in setFramePaths() are computed. Each column label in the reference must be the path of a state variable, e.g., /jointset/ankle_angle_r/value. Calling this function clears the table provided via setAngularVelocityReference(), or the angular_velocity_reference_file property, if any. The table is not loaded until the MocoProblem is initialized.

◆ setWeightForFrame()

void OpenSim::MocoAngularVelocityTrackingGoal::setWeightForFrame	(	const std::string &	frameName,
		const double &	weight
	)

inline

Set the weight for an individual frame's angular velocity tracking.

If a weight is already set for the requested frame, then the provided weight replaces the previous weight. An exception is thrown if a weight for an unknown frame is provided.

◆ setWeightSet()

void OpenSim::MocoAngularVelocityTrackingGoal::setWeightSet ( const MocoWeightSet & weightSet )

inline

Provide a MocoWeightSet to weight frame angular velocity tracking in the cost.

Replaces the weight set if it already exists.

OpenSim Property, Socket, Output, Input Documentation

◆ angular_velocity_reference_file

std::string OpenSim::MocoAngularVelocityTrackingGoal::angular_velocity_reference_file

"Path to file (.sto, .csv, ...) containing angular velocity " "reference data to track. Column labels should be paths to frames " "in the model, e.g. '/bodyset/torso'."

This property appears in XML files under the tag <angular_velocity_reference_file>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also: get_angular_velocity_reference_file(), upd_angular_velocity_reference_file(), set_angular_velocity_reference_file()

◆ angular_velocity_weights

MocoWeightSet OpenSim::MocoAngularVelocityTrackingGoal::angular_velocity_weights

"Set of weight objects to weight the tracking of " "individual frames' angular velocities in the cost."

This property appears in XML files under the tag <angular_velocity_weights>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also: get_angular_velocity_weights(), upd_angular_velocity_weights(), set_angular_velocity_weights()

◆ frame_paths

std::string OpenSim::MocoAngularVelocityTrackingGoal::frame_paths

"The frames in the model that this cost term will track. " "The names set here must correspond to Components that " "derive from class Frame."

This property appears in XML files under the tag <frame_paths>. This property holds a list of objects, and was generated with the OpenSim_DECLARE_LIST_PROPERTY macro; see Property to learn about the property system.

See also: get_frame_paths(), upd_frame_paths(), set_frame_paths(), append_frame_paths()

◆ states_reference

TableProcessor OpenSim::MocoAngularVelocityTrackingGoal::states_reference

"Trajectories of model state variables from which tracked angular " "velocity data is computed. Column labels should be model state " "paths, e.g., '/jointset/ankle_angle_r/value'"

This property appears in XML files under the tag <states_reference>. This property was generated with the OpenSim_DECLARE_PROPERTY macro; see Property to learn about the property system.

See also: get_states_reference(), upd_states_reference(), set_states_reference()

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

OpenSim/Moco/MocoGoal/MocoAngularVelocityTrackingGoal.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MocoAngularVelocityTrackingGoal() [1/3]

◆ MocoAngularVelocityTrackingGoal() [2/3]

◆ MocoAngularVelocityTrackingGoal() [3/3]

Member Function Documentation

◆ calcGoalImpl()

◆ calcIntegrandImpl()

◆ clone()

◆ getAngularVelocityReferenceFile()

◆ getClassName()

◆ getConcreteClassName()

◆ getStatesReference()

◆ initializeOnModelImpl()

◆ printDescriptionImpl()

◆ safeDownCast()

◆ setAngularVelocityReference()

◆ setAngularVelocityReferenceFile()

◆ setFramePaths()

◆ setStatesReference()

◆ setWeightForFrame()

◆ setWeightSet()

OpenSim Property, Socket, Output, Input Documentation

◆ angular_velocity_reference_file

◆ angular_velocity_weights

◆ frame_paths

◆ states_reference