This path constraint enforces that the distance between the origins of pairs of model frames is kept between minimum and maximum bounds. More...

Inheritance diagram for OpenSim::MocoFrameDistanceConstraint:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (list)
MocoFrameDistanceConstraintPair	frame_pairs
	"Pairs of frames whose origins are constrained to be within " "minimum and maximum bounds." More...

Properties (single-value)
std::string	projection
	"'none' (default): use full 3-D distance; " "'vector': project distance onto projection_vector; " "'plane': project distance onto the plane perpendicular " "to projection_vector." More...

Properties (optional)
SimTK::Vec3	projection_vector
	"(optional) If provided, the distance is projected onto the " "plane perpendicular to this vector. The vector is expressed in " "ground and can have any length." More...

OpenSim Properties, Sockets, Outputs, Inputs inherited from OpenSim::MocoPathConstraint
MocoConstraintInfo	MocoConstraintInfo
	"The bounds and labels for this MocoPathConstraint." More...

Public Member Functions
	MocoFrameDistanceConstraint ()

void	addFramePair (MocoFrameDistanceConstraintPair pair)

void	addFramePair (const std::string &frame1_path, const std::string &frame2_path, double minimum_distance, double maximum_distance)

void	setProjection (std::string projection)
	Set if each distance should be projected onto either a vector or plane. More...

std::string	getProjection () const

void	setProjectionVector (SimTK::Vec3 vector)
	Set the vector to use for projecting each distance. More...

void	clearProjectionVector ()
	Unset the projection vector. More...

SimTK::Vec3	getProjectionVector () const

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

const MocoConstraintInfo &	getConstraintInfo () const

MocoConstraintInfo &	updConstraintInfo ()

void	setConstraintInfo (const MocoConstraintInfo &cInfo)

int	getPathConstraintIndex () const
	For use by solvers. More...

void	calcPathConstraintErrors (const SimTK::State &state, SimTK::Vector &errors) const
	Calculate errors in the path constraint equations. More...

void	calcPathConstraintErrorsView (const SimTK::State &state, SimTK::Vector &errors) const
	Calculate errors in the path constraint equations. More...

void	initializeOnModel (const Model &model, const MocoProblemInfo &, const int &pathConstraintIndex) const
	Perform error checks on user input for this constraint, and cache quantities needed when computing the constraint errors. 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 MocoFrameDistanceConstraint *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

MocoFrameDistanceConstraint *	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::MocoPathConstraint
static MocoPathConstraint *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

This path constraint enforces that the distance between the origins of pairs of model frames is kept between minimum and maximum bounds.

Frame pairs and their bounds are specified via a MocoFrameDistancConstraintPair. Any model component derived from Frame is valid to be included in a frame pair, and any number of frame pairs may be append to this constraint via addFramePair().

This constraint can be used as a simple method for preventing bodies in your model from intersecting during an optimization. For example, the following prevents feet from intersecting during a walking optimization:

distance = problem.addPathConstraint<MocoFrameDistanceConstraint>();
distance.setName("minimum_distance");
SimTK::Real inf = SimTK::Infinity;
distance.addFramePair('/bodyset/calcn_l', '/bodyset/calcn_r', 0.1, inf);
distance.addFramePair('/bodyset/toes_l', '/bodyset/toes_r', 0.1, inf);
distance.addFramePair('/bodyset/calcn_l', '/bodyset/toes_r', 0.1, inf);
distance.addFramePair('/bodyset/toes_l', '/bodyset/calcn_r', 0.1, inf);

To project the frame distance onto a vector or plane before ensuring its within the provided bounds, use setProjection() and setProjectionVector().

Note: This class represents a path constraint, not a model kinematic constraint. Therefore, there are no Lagrange multipliers or constraint forces associated with this constraint. The model's force elements (including actuators) must generate the forces necessary for satisfying this constraint.

Constructor & Destructor Documentation

◆ MocoFrameDistanceConstraint()

OpenSim::MocoFrameDistanceConstraint::MocoFrameDistanceConstraint ( )

Member Function Documentation

◆ addFramePair() [1/2]

void OpenSim::MocoFrameDistanceConstraint::addFramePair ( MocoFrameDistanceConstraintPair pair )

inline

◆ addFramePair() [2/2]

void OpenSim::MocoFrameDistanceConstraint::addFramePair	(	const std::string &	frame1_path,
		const std::string &	frame2_path,
		double	minimum_distance,
		double	maximum_distance
	)

inline

◆ calcPathConstraintErrorsImpl()

void OpenSim::MocoFrameDistanceConstraint::calcPathConstraintErrorsImpl	(	const SimTK::State &	state,
		SimTK::Vector &	errors
	)		const

overrideprotectedvirtual

Precondition(s):: The state is realized to SimTK::Stage::Position. If you need access to the controls, you must realize to Velocity:
getModel().realizeVelocity(state);

Implements OpenSim::MocoPathConstraint.

◆ clearProjectionVector()

void OpenSim::MocoFrameDistanceConstraint::clearProjectionVector ( )

inline

Unset the projection vector.

◆ clone()

MocoFrameDistanceConstraint* OpenSim::MocoFrameDistanceConstraint::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::MocoPathConstraint.

◆ getClassName()

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

inlinestatic

This returns "MocoFrameDistanceConstraint".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoFrameDistanceConstraint::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::MocoPathConstraint.

◆ getProjection()

std::string OpenSim::MocoFrameDistanceConstraint::getProjection ( ) const

inline

◆ getProjectionVector()

SimTK::Vec3 OpenSim::MocoFrameDistanceConstraint::getProjectionVector ( ) const

inline

◆ initializeOnModelImpl()

void OpenSim::MocoFrameDistanceConstraint::initializeOnModelImpl	(	const Model &	,
		const MocoProblemInfo &
	)		const

overrideprotectedvirtual

Perform any caching.

The number of scalar constraint equations this MocoPathConstraint implements must be defined here (see setNumEquations() below).

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, in addition to the checks provided in initialize().

Implements OpenSim::MocoPathConstraint.

◆ safeDownCast()

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

inlinestatic

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

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

◆ setProjection()

void OpenSim::MocoFrameDistanceConstraint::setProjection ( std::string projection )

inline

Set if each distance should be projected onto either a vector or plane.

Possible values: "none" (default), "vector", and "plane".

◆ setProjectionVector()

void OpenSim::MocoFrameDistanceConstraint::setProjectionVector ( SimTK::Vec3 vector )

inline

Set the vector to use for projecting each distance.

If the projection type is "vector", the distance is projected onto the vector provided here. If the projection type is "plane", the distance is projected onto the plane perpendicular to this vector.

OpenSim Property, Socket, Output, Input Documentation

◆ frame_pairs

MocoFrameDistanceConstraintPair OpenSim::MocoFrameDistanceConstraint::frame_pairs

"Pairs of frames whose origins are constrained to be within " "minimum and maximum bounds."

This property appears in XML files under the tag <frame_pairs>. 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_pairs(), upd_frame_pairs(), set_frame_pairs(), append_frame_pairs()

◆ projection

std::string OpenSim::MocoFrameDistanceConstraint::projection

"'none' (default): use full 3-D distance; " "'vector': project distance onto projection_vector; " "'plane': project distance onto the plane perpendicular " "to projection_vector."

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

See also: get_projection(), upd_projection(), set_projection()

◆ projection_vector

SimTK::Vec3 OpenSim::MocoFrameDistanceConstraint::projection_vector

"(optional) If provided, the distance is projected onto the " "plane perpendicular to this vector. The vector is expressed in " "ground and can have any length."

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

See also: get_projection_vector(), upd_projection_vector(), set_projection_vector()

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

OpenSim/Moco/MocoFrameDistanceConstraint.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MocoFrameDistanceConstraint()

Member Function Documentation

◆ addFramePair() [1/2]

◆ addFramePair() [2/2]

◆ calcPathConstraintErrorsImpl()

◆ clearProjectionVector()

◆ clone()

◆ getClassName()

◆ getConcreteClassName()

◆ getProjection()

◆ getProjectionVector()

◆ initializeOnModelImpl()

◆ safeDownCast()

◆ setProjection()

◆ setProjectionVector()

OpenSim Property, Socket, Output, Input Documentation

◆ frame_pairs

◆ projection

◆ projection_vector