This solver uses the CasADi library (https://casadi.org) to convert the MocoProblem into a generic nonlinear programming problem. More...

Inheritance diagram for OpenSim::MocoCasADiSolver:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
bool	parameters_require_initsystem
	"Do some MocoParameters in the problem require invoking " "initSystem() to take effect properly? " "This substantially slows down problems with parameter variables " "(default: true)." More...

std::string	optim_sparsity_detection
	"Detect the sparsity pattern of derivatives; 'none' " "(for safe block sparsity; default), 'random', or " "'initial-guess'." More...

std::string	optim_write_sparsity
	"Write files for the sparsity pattern of the gradient, Jacobian, " "and Hessian to the working directory using this as a prefix; " "empty (default) to not write such files." More...

std::string	optim_finite_difference_scheme
	"The finite difference scheme CasADi will use to calculate problem " "derivatives (default: 'central')." More...

int	output_interval
	"Write intermediate trajectories to file. 0, the default, " "indicates no intermediate trajectories are saved, 1 indicates " "each iteration is saved, 5 indicates every fifth iteration is " "saved, etc." More...

bool	minimize_implicit_multibody_accelerations
	"Minimize the integral of the squared acceleration continuous " "variables when using the implicit multibody mode. " "Default: false." More...

double	implicit_multibody_accelerations_weight
	"The weight on the cost term added if " "'minimize_implicit_multibody_accelerations' is enabled." "Default: 1.0." More...

bool	minimize_implicit_auxiliary_derivatives
	"Minimize the integral of the squared derivative continuous " "variables for components with implicit auxiliary dynamics. " "Default: false." More...

double	implicit_auxiliary_derivatives_weight
	"The weight on the cost term added if " "'minimize_implicit_auxiliary_derivatives' is enabled." "Default: 1.0." More...

Properties (optional)
int	parallel
	"Evaluate integral costs and the differential-algebraic " "equations in parallel across grid points? " "0: not parallel; 1: use all cores (default); greater than 1: use" "this number of parallel jobs. This overrides the OPENSIM_MOCO_PARALLEL " "environment variable." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoDirectCollocationSolver
int	num_mesh_intervals
	"The number of uniformly-sized mesh intervals for the problem " "(default: 100). If a non-uniform mesh exists, the non-uniform " "mesh is used instead." More...

int	verbosity
	"0 for silent. 1 for only Moco's own output. " "2 for output from CasADi and the underlying solver (default: 2)." More...

std::string	transcription_scheme
	"'trapezoidal' for trapezoidal transcription, or 'hermite-simpson' " "(default) for separated Hermite-Simpson transcription." More...

bool	interpolate_control_midpoints
	"If the transcription scheme is set to 'hermite-simpson', then " "enable this property to constrain the control values at mesh " "interval midpoints to be linearly interpolated from the control " "values at the mesh interval endpoints. Default: true." More...

std::string	multibody_dynamics_mode
	"Multibody dynamics are expressed as 'explicit' (default) or " "'implicit' differential equations." More...

std::string	optim_solver
	"The optimization solver to use (default: ipopt)." More...

int	optim_max_iterations
	"Maximum number of iterations in the optimization solver " "(-1 for solver's default)." More...

double	optim_convergence_tolerance
	"Tolerance used to determine if the objective is minimized " "(-1 for solver's default)" More...

double	optim_constraint_tolerance
	"Tolerance used to determine if the constraints are satisfied " "(-1 for solver's default)" More...

std::string	optim_hessian_approximation
	"When using IPOPT, 'limited-memory' (default) for quasi-Newton, or " "'exact' for full " "Newton." More...

int	optim_ipopt_print_level
	"IPOPT's verbosity (see IPOPT documentation)." More...

bool	minimize_lagrange_multipliers
	"If enabled, a term minimizing the weighted, squared sum of " "any existing Lagrange multipliers is added to the optimal control " "problem. This may be useful for imposing uniqueness in the " "Lagrange multipliers when not enforcing model kinematic " "constraint derivatives or when the constraint Jacobian is " "singular. To set the weight for this term use the " "'lagrange_multiplier_weight' property. Default: false" More...

double	lagrange_multiplier_weight
	"If the 'minimize_lagrange_multipliers' property is enabled, this " "defines the weight for the cost term added to the optimal control " "problem. Default: 1" More...

MocoBounds	velocity_correction_bounds
	"For problems where model kinematic constraint derivatives are " "enforced, set the bounds on the slack variables performing the " "velocity correction to project the model coordinates back onto " "the constraint manifold. Default: [-0.1, 0.1]" More...

MocoBounds	implicit_multibody_acceleration_bounds
	"Bounds on acceleration variables in implicit dynamics mode. " "Default: [-1000, 1000]" More...

MocoBounds	implicit_auxiliary_derivative_bounds
	"Bounds on derivative variables for components with auxiliary " "dynamics in implicit form. Default: [-1000, 1000]" More...

std::string	guess_file
	"A MocoTrajectory file storing an initial guess." More...

bool	enforce_constraint_derivatives
	"'true' (default) or 'false', whether or not derivatives of " "kinematic constraints are enforced as path constraints in the " "optimal control problem." More...

double	mesh
	"Usually non-uniform, user-defined list of mesh points to sample. " "Takes precedence over uniform mesh with num_mesh_intervals." More...

Public Member Functions
	MocoCasADiSolver ()

Property-related functions
const bool &	get_parameters_require_initsystem () const
	Get the value of the parameters_require_initsystem property. More...

bool &	upd_parameters_require_initsystem ()
	Get a writable reference to the parameters_require_initsystem property. More...

void	set_parameters_require_initsystem (const bool &value)
	Set the value of the parameters_require_initsystem property. More...

const std::string &	get_optim_sparsity_detection () const
	Get the value of the optim_sparsity_detection property. More...

std::string &	upd_optim_sparsity_detection ()
	Get a writable reference to the optim_sparsity_detection property. More...

void	set_optim_sparsity_detection (const std::string &value)
	Set the value of the optim_sparsity_detection property. More...

const std::string &	get_optim_write_sparsity () const
	Get the value of the optim_write_sparsity property. More...

std::string &	upd_optim_write_sparsity ()
	Get a writable reference to the optim_write_sparsity property. More...

void	set_optim_write_sparsity (const std::string &value)
	Set the value of the optim_write_sparsity property. More...

const std::string &	get_optim_finite_difference_scheme () const
	Get the value of the optim_finite_difference_scheme property. More...

std::string &	upd_optim_finite_difference_scheme ()
	Get a writable reference to the optim_finite_difference_scheme property. More...

void	set_optim_finite_difference_scheme (const std::string &value)
	Set the value of the optim_finite_difference_scheme property. More...

const int &	get_parallel () const
	Get the value of the parallel property. More...

int &	upd_parallel ()
	Get a writable reference to the parallel property. More...

void	set_parallel (const int &value)
	Set the value of the parallel property. More...

const int &	get_output_interval () const
	Get the value of the output_interval property. More...

int &	upd_output_interval ()
	Get a writable reference to the output_interval property. More...

void	set_output_interval (const int &value)
	Set the value of the output_interval property. More...

const bool &	get_minimize_implicit_multibody_accelerations () const
	Get the value of the minimize_implicit_multibody_accelerations property. More...

bool &	upd_minimize_implicit_multibody_accelerations ()
	Get a writable reference to the minimize_implicit_multibody_accelerations property. More...

void	set_minimize_implicit_multibody_accelerations (const bool &value)
	Set the value of the minimize_implicit_multibody_accelerations property. More...

const double &	get_implicit_multibody_accelerations_weight () const
	Get the value of the implicit_multibody_accelerations_weight property. More...

double &	upd_implicit_multibody_accelerations_weight ()
	Get a writable reference to the implicit_multibody_accelerations_weight property. More...

void	set_implicit_multibody_accelerations_weight (const double &value)
	Set the value of the implicit_multibody_accelerations_weight property. More...

const bool &	get_minimize_implicit_auxiliary_derivatives () const
	Get the value of the minimize_implicit_auxiliary_derivatives property. More...

bool &	upd_minimize_implicit_auxiliary_derivatives ()
	Get a writable reference to the minimize_implicit_auxiliary_derivatives property. More...

void	set_minimize_implicit_auxiliary_derivatives (const bool &value)
	Set the value of the minimize_implicit_auxiliary_derivatives property. More...

const double &	get_implicit_auxiliary_derivatives_weight () const
	Get the value of the implicit_auxiliary_derivatives_weight property. More...

double &	upd_implicit_auxiliary_derivatives_weight ()
	Get a writable reference to the implicit_auxiliary_derivatives_weight property. More...

void	set_implicit_auxiliary_derivatives_weight (const double &value)
	Set the value of the implicit_auxiliary_derivatives_weight property. More...

Specifying an initial guess
MocoTrajectory	createGuess (const std::string &type="bounds") const
	Create a guess that you can edit and then set using setGuess(). More...

void	setGuess (MocoTrajectory guess)
	The number of time points in the trajectory does not need to match `num_mesh_intervals`; the trajectory will be interpolated to the correct size. More...

void	setGuess (const std::string &type)
	Use this convenience function if you want to choose the type of guess used, but do not want to modify it first. More...

void	setGuessFile (const std::string &file)
	This clears any previously-set guess, if any. More...

void	clearGuess ()
	Clear the stored guess and the `guess_file` if any. More...

const MocoTrajectory &	getGuess () const
	Access the guess, loading it from the guess_file if necessary. More...

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

void	setMesh (const std::vector< double > &mesh)
	Set the mesh to a user-defined list of mesh points to sample. More...

const int &	get_num_mesh_intervals () const
	Get the value of the num_mesh_intervals property. More...

int &	upd_num_mesh_intervals ()
	Get a writable reference to the num_mesh_intervals property. More...

void	set_num_mesh_intervals (const int &value)
	Set the value of the num_mesh_intervals property. More...

const int &	get_verbosity () const
	Get the value of the verbosity property. More...

int &	upd_verbosity ()
	Get a writable reference to the verbosity property. More...

void	set_verbosity (const int &value)
	Set the value of the verbosity property. More...

const std::string &	get_transcription_scheme () const
	Get the value of the transcription_scheme property. More...

std::string &	upd_transcription_scheme ()
	Get a writable reference to the transcription_scheme property. More...

void	set_transcription_scheme (const std::string &value)
	Set the value of the transcription_scheme property. More...

const bool &	get_interpolate_control_midpoints () const
	Get the value of the interpolate_control_midpoints property. More...

bool &	upd_interpolate_control_midpoints ()
	Get a writable reference to the interpolate_control_midpoints property. More...

void	set_interpolate_control_midpoints (const bool &value)
	Set the value of the interpolate_control_midpoints property. More...

const std::string &	get_multibody_dynamics_mode () const
	Get the value of the multibody_dynamics_mode property. More...

std::string &	upd_multibody_dynamics_mode ()
	Get a writable reference to the multibody_dynamics_mode property. More...

void	set_multibody_dynamics_mode (const std::string &value)
	Set the value of the multibody_dynamics_mode property. More...

const std::string &	get_optim_solver () const
	Get the value of the optim_solver property. More...

std::string &	upd_optim_solver ()
	Get a writable reference to the optim_solver property. More...

void	set_optim_solver (const std::string &value)
	Set the value of the optim_solver property. More...

const int &	get_optim_max_iterations () const
	Get the value of the optim_max_iterations property. More...

int &	upd_optim_max_iterations ()
	Get a writable reference to the optim_max_iterations property. More...

void	set_optim_max_iterations (const int &value)
	Set the value of the optim_max_iterations property. More...

const double &	get_optim_convergence_tolerance () const
	Get the value of the optim_convergence_tolerance property. More...

double &	upd_optim_convergence_tolerance ()
	Get a writable reference to the optim_convergence_tolerance property. More...

void	set_optim_convergence_tolerance (const double &value)
	Set the value of the optim_convergence_tolerance property. More...

const double &	get_optim_constraint_tolerance () const
	Get the value of the optim_constraint_tolerance property. More...

double &	upd_optim_constraint_tolerance ()
	Get a writable reference to the optim_constraint_tolerance property. More...

void	set_optim_constraint_tolerance (const double &value)
	Set the value of the optim_constraint_tolerance property. More...

const std::string &	get_optim_hessian_approximation () const
	Get the value of the optim_hessian_approximation property. More...

std::string &	upd_optim_hessian_approximation ()
	Get a writable reference to the optim_hessian_approximation property. More...

void	set_optim_hessian_approximation (const std::string &value)
	Set the value of the optim_hessian_approximation property. More...

const int &	get_optim_ipopt_print_level () const
	Get the value of the optim_ipopt_print_level property. More...

int &	upd_optim_ipopt_print_level ()
	Get a writable reference to the optim_ipopt_print_level property. More...

void	set_optim_ipopt_print_level (const int &value)
	Set the value of the optim_ipopt_print_level property. More...

const bool &	get_enforce_constraint_derivatives () const
	Get the value of the enforce_constraint_derivatives property. More...

bool &	upd_enforce_constraint_derivatives ()
	Get a writable reference to the enforce_constraint_derivatives property. More...

void	set_enforce_constraint_derivatives (const bool &value)
	Set the value of the enforce_constraint_derivatives property. More...

const bool &	get_minimize_lagrange_multipliers () const
	Get the value of the minimize_lagrange_multipliers property. More...

bool &	upd_minimize_lagrange_multipliers ()
	Get a writable reference to the minimize_lagrange_multipliers property. More...

void	set_minimize_lagrange_multipliers (const bool &value)
	Set the value of the minimize_lagrange_multipliers property. More...

const double &	get_lagrange_multiplier_weight () const
	Get the value of the lagrange_multiplier_weight property. More...

double &	upd_lagrange_multiplier_weight ()
	Get a writable reference to the lagrange_multiplier_weight property. More...

void	set_lagrange_multiplier_weight (const double &value)
	Set the value of the lagrange_multiplier_weight property. More...

const MocoBounds &	get_velocity_correction_bounds () const
	Get the value of the velocity_correction_bounds property. More...

MocoBounds &	upd_velocity_correction_bounds ()
	Get a writable reference to the velocity_correction_bounds property. More...

void	set_velocity_correction_bounds (const MocoBounds &value)
	Set the value of the velocity_correction_bounds property. More...

const MocoBounds &	get_implicit_multibody_acceleration_bounds () const
	Get the value of the implicit_multibody_acceleration_bounds property. More...

MocoBounds &	upd_implicit_multibody_acceleration_bounds ()
	Get a writable reference to the implicit_multibody_acceleration_bounds property. More...

void	set_implicit_multibody_acceleration_bounds (const MocoBounds &value)
	Set the value of the implicit_multibody_acceleration_bounds property. More...

const MocoBounds &	get_implicit_auxiliary_derivative_bounds () const
	Get the value of the implicit_auxiliary_derivative_bounds property. More...

MocoBounds &	upd_implicit_auxiliary_derivative_bounds ()
	Get a writable reference to the implicit_auxiliary_derivative_bounds property. More...

void	set_implicit_auxiliary_derivative_bounds (const MocoBounds &value)
	Set the value of the implicit_auxiliary_derivative_bounds property. More...

Public Member Functions inherited from OpenSim::MocoSolver
	MocoSolver ()=default

	MocoSolver (const MocoProblem &problem)
	This calls resetProblem() with the provided problem. More...

virtual	~MocoSolver ()=default

void	resetProblem (const MocoProblem &problem) const
	Call this to prepare the solver for use on the provided problem. More...

MocoTrajectory	createGuessTimeStepping () const
	(Experimental) Run a forward simulation (using the OpenSim Manager, which uses a SimTK::Integrator), using the default controls for actuators and the default states as the initial states, to create a guess that is dynamically consistent (constraint errors should be small). More...

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

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

Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...

virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...

virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...

void	setName (const std::string &name)
	Set the name of the Object. More...

const std::string &	getName () const
	Get the name of this Object. More...

void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...

const std::string &	getDescription () const
	Get description, a one-liner summary. More...

const std::string &	getAuthors () const
	Get Authors of this Object. More...

void	setAuthors (const std::string &authors)
	Set Authors of this object. More...

const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...

void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...

int	getNumProperties () const
	Determine how many properties are stored with this Object. More...

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

AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...

bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty. More...

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

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

template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...

template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...

template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...

bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...

void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...

virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

void	updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
	Serialize this object into the XML node that represents it. More...

bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...

void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...

std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...

int	getDocumentFileVersion () const
	If there is a document associated with this object then return its version number. More...

void	setAllPropertiesUseDefault (bool aUseDefault)

bool	print (const std::string &fileName) const
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...

std::string	dump () const
	dump the XML representation of this Object into an std::string and return it. More...

virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...

const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...

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

const PropertySet &	getPropertySet () const

Static Public Member Functions
static bool	isAvailable ()
	Returns true if Moco was compiled with the CasADi library; returns false otherwise. More...

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

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

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

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

Static Public Member Functions inherited from OpenSim::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced. More...

static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name. More...

static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...

template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...

static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...

static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far. More...

template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...

static bool	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true)
	Same as the other signature but the class name and property name are provided as two separate strings. More...

static Object *	makeObjectFromFile (const std::string &fileName)
	Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...

static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object". More...

static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...

static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag. More...

static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...

static void	setDebugLevel (int newLevel)
	Set the amount of logging output. More...

static int	getDebugLevel ()
	Get the current setting of debug level. More...

static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...

static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType(). More...

static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType(). More...

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

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

MocoCasADiSolver *	clone () const override
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string. More...

Detailed Description

This solver uses the CasADi library (https://casadi.org) to convert the MocoProblem into a generic nonlinear programming problem.

CasADi efficiently calculcates the derivatives required to solve MocoProblems, and may solve your MocoProblem more quickly that MocoTropterSolver. In general, we hope that the feature sets of MocoCasADiSolver and MocoTropterSolver are the same. Note, however, that parameter optimization problems are implemented much less efficiently in this solver; for parameter optimization, first try MocoTropterSolver.

Sparsity

Direct collocation is fast because the derivative matrices (Jacobian and Hessian) in the optimization problem are extremely sparse. By default, CasADi determines the sparsity pattern of these matrices to be block patterns: the individual functions that invoke OpenSim are treated as dense, but this dense pattern is repeated in a sparse way. This is conservative because we ensure that no "nonzeros" are accidentally treated as "zeros." However, the problem may solve faster if we discover more "zeros."

See the optim_sparsity_detection setting for more information. In the case of "random", we use 3 random trajectories and combine the resulting sparsity patterns. The seed used for these 3 random trajectories is always exactly the same, ensuring that the sparsity pattern is deterministic.

To explore the sparsity pattern for your problem, set optim_write_sparsity and run the resulting files with the plot_casadi_sparsity.py Python script.

Finite difference scheme

The "central" finite difference is more accurate but can be 2 times slower than "forward" (tested on exampleSlidingMass). Sometimes, problems may struggle to converge with "forward".

Parallelization

By default, CasADi evaluate the integral cost integrand and the differential-algebraic equations in parallel. This should work fine for almost all models, but if you have custom model components, ensure they are threadsafe. Make sure that threads do not access shared resources like files or global variables at the same time.

You can turn off or change the number of parallel jobs used for individual problems via either the OPENSIM_MOCO_PARALLEL environment variable (see getMocoParallelEnvironmentVariable()) or the parallel property of this class. For example, if you plan to solve two problems at the same time on a machine with 4 processor cores, you could set OPENSIM_MOCO_PARALLEL to 2 to use all 4 cores.

Note that there is overhead in the parallelization; if you plan to solve many problems, it is better to turn off parallelization here and parallelize the solving of your multiple problems using your system (e.g., invoke Moco in multiple Terminals or Command Prompts).

Note that the parallel property overrides the environment variable, allowing more granular control over parallelization. However, the parallelization setting does not logically belong as a property, as it does not affect the solution. We encourage you to use the environment variable instead, as this allows different users to solve the same problem with the parallelization they prefer.

Parameter variables

By default, MocoCasADiSolver is much slower than MocoTroperSolver at handling problems with MocoParameters. Many parameters require invoking Model::initSystem() to take effect, and this function is expensive (for CasADi, we must invoke this function for every time point, while in Tropter, we can invoke the function only once for every NLP iterate). However, if you know that all parameters in your problem do not require Model::initSystem(), you can substantially speed up your optimization by setting the parameters_require_initsystem property to false. Be careful, though: you will end up with incorrect results if your parameter does indeed require Model::initSystem(). To protect against this, ensure that you obtain the same results whether this setting is true or false.

Note: The software license of CasADi (LGPL) is more restrictive than that of the rest of Moco (Apache 2.0).; This solver currently only supports systems for which \( \dot{q} = u \) (e.g., no quaternions).

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleMocoCustomEffortGoal.cpp, exampleSlidingMass.cpp, and exampleSlidingMassAdvanced.cpp.

Constructor & Destructor Documentation

◆ MocoCasADiSolver()

OpenSim::MocoCasADiSolver::MocoCasADiSolver ( )

Member Function Documentation

◆ checkGuess()

void OpenSim::MocoCasADiSolver::checkGuess ( const MocoTrajectory & guess ) const

protected

Check that the provided guess is compatible with the problem and this solver.

◆ clearGuess()

void OpenSim::MocoCasADiSolver::clearGuess ( )

Clear the stored guess and the guess_file if any.

◆ clone()

MocoCasADiSolver* OpenSim::MocoCasADiSolver::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::MocoDirectCollocationSolver.

◆ createCasOCProblem()

std::unique_ptr<MocoCasOCProblem> OpenSim::MocoCasADiSolver::createCasOCProblem ( ) const

protected

◆ createCasOCSolver()

std::unique_ptr<CasOC::Solver> OpenSim::MocoCasADiSolver::createCasOCSolver ( const MocoCasOCProblem & ) const

protected

◆ createGuess()

MocoTrajectory OpenSim::MocoCasADiSolver::createGuess ( const std::string & type = "bounds" ) const

Create a guess that you can edit and then set using setGuess().

The types of guesses available are:

bounds: variable values are the midpoint between the variables' bounds (the value for variables with ony one bound is the specified bound). This is the default type.
random: values are randomly generated within the bounds.
time-stepping: see MocoSolver::createGuessTimeStepping(). NOTE: This option does not yet work well for this solver.
Note
Calling this method does not set an initial guess to be used in the solver; you must call setGuess() or setGuessFile() for that.

Precondition(s):
You must have called resetProblem().

◆ get_implicit_auxiliary_derivatives_weight()

const double& OpenSim::MocoCasADiSolver::get_implicit_auxiliary_derivatives_weight ( ) const

inline

Get the value of the implicit_auxiliary_derivatives_weight property.

◆ get_implicit_multibody_accelerations_weight()

const double& OpenSim::MocoCasADiSolver::get_implicit_multibody_accelerations_weight ( ) const

inline

Get the value of the implicit_multibody_accelerations_weight property.

◆ get_minimize_implicit_auxiliary_derivatives()

const bool& OpenSim::MocoCasADiSolver::get_minimize_implicit_auxiliary_derivatives ( ) const

inline

Get the value of the minimize_implicit_auxiliary_derivatives property.

◆ get_minimize_implicit_multibody_accelerations()

const bool& OpenSim::MocoCasADiSolver::get_minimize_implicit_multibody_accelerations ( ) const

inline

Get the value of the minimize_implicit_multibody_accelerations property.

◆ get_optim_finite_difference_scheme()

const std::string& OpenSim::MocoCasADiSolver::get_optim_finite_difference_scheme ( ) const

inline

Get the value of the optim_finite_difference_scheme property.

◆ get_optim_sparsity_detection()

const std::string& OpenSim::MocoCasADiSolver::get_optim_sparsity_detection ( ) const

inline

Get the value of the optim_sparsity_detection property.

◆ get_optim_write_sparsity()

const std::string& OpenSim::MocoCasADiSolver::get_optim_write_sparsity ( ) const

inline

Get the value of the optim_write_sparsity property.

◆ get_output_interval()

const int& OpenSim::MocoCasADiSolver::get_output_interval ( ) const

inline

Get the value of the output_interval property.

◆ get_parallel()

const int& OpenSim::MocoCasADiSolver::get_parallel ( ) const

inline

Get the value of the parallel property.

◆ get_parameters_require_initsystem()

const bool& OpenSim::MocoCasADiSolver::get_parameters_require_initsystem ( ) const

inline

Get the value of the parameters_require_initsystem property.

◆ getClassName()

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

inlinestatic

This returns "MocoCasADiSolver".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoCasADiSolver::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::MocoDirectCollocationSolver.

◆ getGuess()

const MocoTrajectory& OpenSim::MocoCasADiSolver::getGuess ( ) const

Access the guess, loading it from the guess_file if necessary.

This throws an exception if you have not set a guess (or guess file). If you have not set a guess (or guess file), this returns an empty guess, and when solving, we will generate a guess using bounds.

◆ isAvailable()

static bool OpenSim::MocoCasADiSolver::isAvailable ( )

static

Returns true if Moco was compiled with the CasADi library; returns false otherwise.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_implicit_auxiliary_derivatives_weight()

void OpenSim::MocoCasADiSolver::set_implicit_auxiliary_derivatives_weight ( const double & value )

inline

Set the value of the implicit_auxiliary_derivatives_weight property.

◆ set_implicit_multibody_accelerations_weight()

void OpenSim::MocoCasADiSolver::set_implicit_multibody_accelerations_weight ( const double & value )

inline

Set the value of the implicit_multibody_accelerations_weight property.

◆ set_minimize_implicit_auxiliary_derivatives()

void OpenSim::MocoCasADiSolver::set_minimize_implicit_auxiliary_derivatives ( const bool & value )

inline

Set the value of the minimize_implicit_auxiliary_derivatives property.

◆ set_minimize_implicit_multibody_accelerations()

void OpenSim::MocoCasADiSolver::set_minimize_implicit_multibody_accelerations ( const bool & value )

inline

Set the value of the minimize_implicit_multibody_accelerations property.

◆ set_optim_finite_difference_scheme()

void OpenSim::MocoCasADiSolver::set_optim_finite_difference_scheme ( const std::string & value )

inline

Set the value of the optim_finite_difference_scheme property.

◆ set_optim_sparsity_detection()

void OpenSim::MocoCasADiSolver::set_optim_sparsity_detection ( const std::string & value )

inline

Set the value of the optim_sparsity_detection property.

◆ set_optim_write_sparsity()

void OpenSim::MocoCasADiSolver::set_optim_write_sparsity ( const std::string & value )

inline

Set the value of the optim_write_sparsity property.

◆ set_output_interval()

void OpenSim::MocoCasADiSolver::set_output_interval ( const int & value )

inline

Set the value of the output_interval property.

◆ set_parallel()

void OpenSim::MocoCasADiSolver::set_parallel ( const int & value )

inline

Set the value of the parallel property.

◆ set_parameters_require_initsystem()

void OpenSim::MocoCasADiSolver::set_parameters_require_initsystem ( const bool & value )

inline

Set the value of the parameters_require_initsystem property.

◆ setGuess() [1/2]

void OpenSim::MocoCasADiSolver::setGuess ( MocoTrajectory guess )

The number of time points in the trajectory does not need to match num_mesh_intervals; the trajectory will be interpolated to the correct size.

If you have updated the problem since the solver was initialized, you may need to invoke MocoSolver::resetProblem() for the provided guess to be recognized as compatible with the problem. This clears the guess_file, if one exists.

◆ setGuess() [2/2]

void OpenSim::MocoCasADiSolver::setGuess ( const std::string & type )

inline

Use this convenience function if you want to choose the type of guess used, but do not want to modify it first.

◆ setGuessFile()

void OpenSim::MocoCasADiSolver::setGuessFile ( const std::string & file )

This clears any previously-set guess, if any.

The file is not loaded until solving or if you call getGuess(). Set to an empty string to clear the guess file.

◆ solveImpl()

MocoSolution OpenSim::MocoCasADiSolver::solveImpl ( ) const

overrideprotectedvirtual

This is the meat of a solver: solve the problem and return the solution.

Implements OpenSim::MocoSolver.

◆ upd_implicit_auxiliary_derivatives_weight()

double& OpenSim::MocoCasADiSolver::upd_implicit_auxiliary_derivatives_weight ( )

inline

Get a writable reference to the implicit_auxiliary_derivatives_weight property.

◆ upd_implicit_multibody_accelerations_weight()

double& OpenSim::MocoCasADiSolver::upd_implicit_multibody_accelerations_weight ( )

inline

Get a writable reference to the implicit_multibody_accelerations_weight property.

◆ upd_minimize_implicit_auxiliary_derivatives()

bool& OpenSim::MocoCasADiSolver::upd_minimize_implicit_auxiliary_derivatives ( )

inline

Get a writable reference to the minimize_implicit_auxiliary_derivatives property.

◆ upd_minimize_implicit_multibody_accelerations()

bool& OpenSim::MocoCasADiSolver::upd_minimize_implicit_multibody_accelerations ( )

inline

Get a writable reference to the minimize_implicit_multibody_accelerations property.

◆ upd_optim_finite_difference_scheme()

std::string& OpenSim::MocoCasADiSolver::upd_optim_finite_difference_scheme ( )

inline

Get a writable reference to the optim_finite_difference_scheme property.

◆ upd_optim_sparsity_detection()

std::string& OpenSim::MocoCasADiSolver::upd_optim_sparsity_detection ( )

inline

Get a writable reference to the optim_sparsity_detection property.

◆ upd_optim_write_sparsity()

std::string& OpenSim::MocoCasADiSolver::upd_optim_write_sparsity ( )

inline

Get a writable reference to the optim_write_sparsity property.

◆ upd_output_interval()

int& OpenSim::MocoCasADiSolver::upd_output_interval ( )

inline

Get a writable reference to the output_interval property.

◆ upd_parallel()

int& OpenSim::MocoCasADiSolver::upd_parallel ( )

inline

Get a writable reference to the parallel property.

◆ upd_parameters_require_initsystem()

bool& OpenSim::MocoCasADiSolver::upd_parameters_require_initsystem ( )

inline

Get a writable reference to the parameters_require_initsystem property.

OpenSim Property, Socket, Output, Input Documentation

◆ implicit_auxiliary_derivatives_weight

double OpenSim::MocoCasADiSolver::implicit_auxiliary_derivatives_weight

"The weight on the cost term added if " "'minimize_implicit_auxiliary_derivatives' is enabled." "Default: 1.0."

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

See also: get_implicit_auxiliary_derivatives_weight(), upd_implicit_auxiliary_derivatives_weight(), set_implicit_auxiliary_derivatives_weight()

◆ implicit_multibody_accelerations_weight

double OpenSim::MocoCasADiSolver::implicit_multibody_accelerations_weight

"The weight on the cost term added if " "'minimize_implicit_multibody_accelerations' is enabled." "Default: 1.0."

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

See also: get_implicit_multibody_accelerations_weight(), upd_implicit_multibody_accelerations_weight(), set_implicit_multibody_accelerations_weight()

◆ minimize_implicit_auxiliary_derivatives

bool OpenSim::MocoCasADiSolver::minimize_implicit_auxiliary_derivatives

"Minimize the integral of the squared derivative continuous " "variables for components with implicit auxiliary dynamics. " "Default: false."

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

See also: get_minimize_implicit_auxiliary_derivatives(), upd_minimize_implicit_auxiliary_derivatives(), set_minimize_implicit_auxiliary_derivatives()

◆ minimize_implicit_multibody_accelerations

bool OpenSim::MocoCasADiSolver::minimize_implicit_multibody_accelerations

"Minimize the integral of the squared acceleration continuous " "variables when using the implicit multibody mode. " "Default: false."

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

See also: get_minimize_implicit_multibody_accelerations(), upd_minimize_implicit_multibody_accelerations(), set_minimize_implicit_multibody_accelerations()

◆ optim_finite_difference_scheme

std::string OpenSim::MocoCasADiSolver::optim_finite_difference_scheme

"The finite difference scheme CasADi will use to calculate problem " "derivatives (default: 'central')."

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

See also: get_optim_finite_difference_scheme(), upd_optim_finite_difference_scheme(), set_optim_finite_difference_scheme()

◆ optim_sparsity_detection

std::string OpenSim::MocoCasADiSolver::optim_sparsity_detection

"Detect the sparsity pattern of derivatives; 'none' " "(for safe block sparsity; default), 'random', or " "'initial-guess'."

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

See also: get_optim_sparsity_detection(), upd_optim_sparsity_detection(), set_optim_sparsity_detection()

◆ optim_write_sparsity

std::string OpenSim::MocoCasADiSolver::optim_write_sparsity

"Write files for the sparsity pattern of the gradient, Jacobian, " "and Hessian to the working directory using this as a prefix; " "empty (default) to not write such files."

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

See also: get_optim_write_sparsity(), upd_optim_write_sparsity(), set_optim_write_sparsity()

◆ output_interval

int OpenSim::MocoCasADiSolver::output_interval

"Write intermediate trajectories to file. 0, the default, " "indicates no intermediate trajectories are saved, 1 indicates " "each iteration is saved, 5 indicates every fifth iteration is " "saved, etc."

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

See also: get_output_interval(), upd_output_interval(), set_output_interval()

◆ parallel

int OpenSim::MocoCasADiSolver::parallel

"Evaluate integral costs and the differential-algebraic " "equations in parallel across grid points? " "0: not parallel; 1: use all cores (default); greater than 1: use" "this number of parallel jobs. This overrides the OPENSIM_MOCO_PARALLEL " "environment variable."

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

See also: get_parallel(), upd_parallel(), set_parallel()

◆ parameters_require_initsystem

bool OpenSim::MocoCasADiSolver::parameters_require_initsystem

"Do some MocoParameters in the problem require invoking " "initSystem() to take effect properly? " "This substantially slows down problems with parameter variables " "(default: true)."

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

See also: get_parameters_require_initsystem(), upd_parameters_require_initsystem(), set_parameters_require_initsystem()

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

OpenSim/Moco/MocoCasADiSolver/MocoCasADiSolver.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Static Public Member Functions

Auto-generated functions

Detailed Description

Sparsity

Finite difference scheme

Parallelization

Parameter variables

Constructor & Destructor Documentation

◆ MocoCasADiSolver()

Member Function Documentation

◆ checkGuess()

◆ clearGuess()

◆ clone()

◆ createCasOCProblem()

◆ createCasOCSolver()

◆ createGuess()

◆ get_implicit_auxiliary_derivatives_weight()

◆ get_implicit_multibody_accelerations_weight()

◆ get_minimize_implicit_auxiliary_derivatives()

◆ get_minimize_implicit_multibody_accelerations()

◆ get_optim_finite_difference_scheme()

◆ get_optim_sparsity_detection()

◆ get_optim_write_sparsity()

◆ get_output_interval()

◆ get_parallel()

◆ get_parameters_require_initsystem()

◆ getClassName()

◆ getConcreteClassName()

◆ getGuess()

◆ isAvailable()

◆ safeDownCast()

◆ set_implicit_auxiliary_derivatives_weight()

◆ set_implicit_multibody_accelerations_weight()

◆ set_minimize_implicit_auxiliary_derivatives()

◆ set_minimize_implicit_multibody_accelerations()

◆ set_optim_finite_difference_scheme()

◆ set_optim_sparsity_detection()

◆ set_optim_write_sparsity()

◆ set_output_interval()

◆ set_parallel()

◆ set_parameters_require_initsystem()

◆ setGuess() [1/2]

◆ setGuess() [2/2]

◆ setGuessFile()

◆ solveImpl()

◆ upd_implicit_auxiliary_derivatives_weight()

◆ upd_implicit_multibody_accelerations_weight()

◆ upd_minimize_implicit_auxiliary_derivatives()

◆ upd_minimize_implicit_multibody_accelerations()

◆ upd_optim_finite_difference_scheme()

◆ upd_optim_sparsity_detection()

◆ upd_optim_write_sparsity()

◆ upd_output_interval()

◆ upd_parallel()

◆ upd_parameters_require_initsystem()

OpenSim Property, Socket, Output, Input Documentation

◆ implicit_auxiliary_derivatives_weight

◆ implicit_multibody_accelerations_weight

◆ minimize_implicit_auxiliary_derivatives

◆ minimize_implicit_multibody_accelerations

◆ optim_finite_difference_scheme

◆ optim_sparsity_detection

◆ optim_write_sparsity

◆ output_interval

◆ parallel

◆ parameters_require_initsystem