This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics.
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| MocoInverse () |
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void | setKinematics (TableProcessor kinematics) |
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MocoStudy | initialize () const |
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MocoInverseSolution | solve () const |
| Solve the problem returned by initialize() and compute the outputs listed in output_paths. More...
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const TableProcessor & | get_kinematics () const |
| Get the value of the kinematics property. More...
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TableProcessor & | upd_kinematics () |
| Get a writable reference to the kinematics property. More...
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void | set_kinematics (const TableProcessor &value) |
| Set the value of the kinematics property. More...
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const bool & | get_kinematics_allow_extra_columns () const |
| Get the value of the kinematics_allow_extra_columns property. More...
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bool & | upd_kinematics_allow_extra_columns () |
| Get a writable reference to the kinematics_allow_extra_columns property. More...
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void | set_kinematics_allow_extra_columns (const bool &value) |
| Set the value of the kinematics_allow_extra_columns property. More...
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const bool & | get_minimize_sum_squared_activations () const |
| Get the value of the minimize_sum_squared_activations property. More...
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bool & | upd_minimize_sum_squared_activations () |
| Get a writable reference to the minimize_sum_squared_activations property. More...
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void | set_minimize_sum_squared_activations (const bool &value) |
| Set the value of the minimize_sum_squared_activations property. More...
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const int & | get_max_iterations () const |
| Get the value of the max_iterations property. More...
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int & | upd_max_iterations () |
| Get a writable reference to the max_iterations property. More...
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void | set_max_iterations (const int &value) |
| Set the value of the max_iterations property. More...
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const double & | get_convergence_tolerance () const |
| Get the value of the convergence_tolerance property. More...
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double & | upd_convergence_tolerance () |
| Get a writable reference to the convergence_tolerance property. More...
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void | set_convergence_tolerance (const double &value) |
| Set the value of the convergence_tolerance property. More...
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const double & | get_constraint_tolerance () const |
| Get the value of the constraint_tolerance property. More...
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double & | upd_constraint_tolerance () |
| Get a writable reference to the constraint_tolerance property. More...
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void | set_constraint_tolerance (const double &value) |
| Set the value of the constraint_tolerance property. More...
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const std::string & | get_output_paths (int i) const |
| Get the value of the i-th element of the output_paths property. More...
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std::string & | upd_output_paths (int i) |
| Get a writable reference to the i-th element of the output_paths property. More...
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void | set_output_paths (int i, const std::string &value) |
| Set the value of the i-th element of output_paths property. More...
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int | append_output_paths (const std::string &value) |
| Append an element to the output_paths property. More...
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const double & | get_reserves_weight () const |
| Get the value of the reserves_weight property. More...
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double & | upd_reserves_weight () |
| Get a writable reference to the reserves_weight property. More...
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void | set_reserves_weight (const double &value) |
| Set the value of the reserves_weight property. More...
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| MocoTool () |
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void | setModel (ModelProcessor model) |
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const double & | get_initial_time () const |
| Get the value of the initial_time property. More...
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double & | upd_initial_time () |
| Get a writable reference to the initial_time property. More...
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void | set_initial_time (const double &value) |
| Set the value of the initial_time property. More...
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const double & | get_final_time () const |
| Get the value of the final_time property. More...
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double & | upd_final_time () |
| Get a writable reference to the final_time property. More...
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void | set_final_time (const double &value) |
| Set the value of the final_time property. More...
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const double & | get_mesh_interval () const |
| Get the value of the mesh_interval property. More...
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double & | upd_mesh_interval () |
| Get a writable reference to the mesh_interval property. More...
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void | set_mesh_interval (const double &value) |
| Set the value of the mesh_interval property. More...
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const bool & | get_clip_time_range () const |
| Get the value of the clip_time_range property. More...
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bool & | upd_clip_time_range () |
| Get a writable reference to the clip_time_range property. More...
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void | set_clip_time_range (const bool &value) |
| Set the value of the clip_time_range property. More...
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const ModelProcessor & | get_model () const |
| Get the value of the model property. More...
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ModelProcessor & | upd_model () |
| Get a writable reference to the model property. More...
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void | set_model (const ModelProcessor &value) |
| Set the value of the model property. More...
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virtual | ~Object () |
| Virtual destructor for cleanup. More...
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bool | isEqualTo (const Object &aObject) const |
| Equality operator wrapper for use from languages not supporting operator overloading. More...
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Object & | operator= (const Object &aObject) |
| Copy assignment copies he base class fields, including the properties. More...
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virtual bool | operator== (const Object &aObject) const |
| Determine if two objects are equal. More...
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virtual bool | operator< (const Object &aObject) const |
| Provide an ordering for objects so they can be put in sorted containers. More...
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void | setName (const std::string &name) |
| Set the name of the Object. More...
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const std::string & | getName () const |
| Get the name of this Object. More...
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void | setDescription (const std::string &description) |
| Set description, a one-liner summary. More...
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const std::string & | getDescription () const |
| Get description, a one-liner summary. More...
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const std::string & | getAuthors () const |
| Get Authors of this Object. More...
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void | setAuthors (const std::string &authors) |
| Set Authors of this object. More...
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const std::string & | getReferences () const |
| Get references or publications to cite if using this object. More...
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void | setReferences (const std::string &references) |
| Set references or publications to cite if using this object. More...
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int | getNumProperties () const |
| Determine how many properties are stored with this Object. More...
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const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| Get a const reference to a property by its index number, returned as an AbstractProperty. More...
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AbstractProperty & | updPropertyByIndex (int propertyIndex) |
| Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
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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...
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const AbstractProperty & | getPropertyByName (const std::string &name) const |
| Get a const reference to a property by its name, returned as an AbstractProperty. More...
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AbstractProperty & | updPropertyByName (const std::string &name) |
| Get a writable reference to a property by its name, returned as an AbstractProperty. More...
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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...
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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...
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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...
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bool | isObjectUpToDateWithProperties () const |
| Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
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void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
| We're given an XML element from which we are to populate this Object. More...
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virtual void | updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber) |
| Use this method to deserialize an object from a SimTK::Xml::Element. More...
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void | updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const |
| Serialize this object into the XML node that represents it. More...
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bool | getInlined () const |
| Inlined means an in-memory Object that is not associated with an XMLDocument. More...
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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...
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std::string | getDocumentFileName () const |
| If there is a document associated with this object then return the file name maintained by the document. More...
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int | getDocumentFileVersion () const |
| If there is a document associated with this object then return its version number. More...
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void | setAllPropertiesUseDefault (bool aUseDefault) |
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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...
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std::string | dump () const |
| dump the XML representation of this Object into an std::string and return it. More...
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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...
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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...
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PropertySet & | getPropertySet () |
| OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
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const PropertySet & | getPropertySet () const |
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static MocoTool * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More...
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static const std::string & | getClassName () |
| This returns "MocoTool". More...
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static void | registerType (const Object &defaultObject) |
| Register an instance of a class; if the class is already registered it will be replaced. More...
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static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
| Support versioning by associating the current Object type with an old name. More...
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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...
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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...
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static Object * | newInstanceOfType (const std::string &concreteClassName) |
| Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
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static void | getRegisteredTypenames (Array< std::string > &typeNames) |
| Retrieve all the typenames registered so far. More...
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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...
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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...
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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...
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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...
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static const std::string & | getClassName () |
| Return the name of this class as a string; i.e., "Object". More...
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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...
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static bool | getSerializeAllDefaults () |
| Report the value of the "serialize all defaults" flag. More...
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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...
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static void | setDebugLevel (int newLevel) |
| Set the amount of logging output. More...
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static int | getDebugLevel () |
| Get the current setting of debug level. More...
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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...
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static void | RegisterType (const Object &defaultObject) |
| OBSOLETE alternate name for registerType(). More...
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static void | RenameType (const std::string &oldName, const std::string &newName) |
| OBSOLETE alternate name for renameType(). More...
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This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics.
The term "inverse" describes methods that estimate quantities from an observation; on the other hand, "forward" methods attempt to predict (unobserved) behavior. In this case, "inverse" refers to the multibody systems. This class can still be used to simulate muscles in a "forward" or predictive sense.
The kinematics file must provide values for all coordinates (even those labeled as dependent in a CoordinateCouplerConstraint); missing coordinates are set to NaN.
The provided trajectory is altered to satisfy any enabled kinematic constraints in the model.
Cost
By default, MocoInverse minimizes the sum of squared controls and constrains initial activation to be equal to initial excitation (to avoid initial activation spikes). To customize the cost, invoke initialize(), add costs manually, and solve the problem using the solver directly. Note, however, that kinematic states are not included in the solution if you use the solver directly.
Default solver settings
- solver: MocoCasADiSolver
- multibody_dynamics_mode: implicit
- interpolate_control_midpoints: false
- minimize_implicit_auxiliary_derivatives: true
- implicit_auxiliary_derivatives_weight: 0.01
- optim_convergence_tolerance: 1e-3
- optim_constraint_tolerance: 1e-3
- optim_sparsity_detection: random
- optim_finite_difference_scheme: forward
If you would like to use settings other than these defaults, see "Customizing
a problem" below.
MocoInverse minimizes the sum of squared controls and, optionally, the sum of squared activations. As MocoInverse becomes more mature and general, the costs will become more flexible.
Mesh interval
A smaller mesh interval increases the convergence time, but is necessary for fast motions or problems with stiff differential equations (e.g., stiff tendons). For gait, consider using a mesh interval between 0.01 and 0.05 seconds. Try solving your problem with decreasing mesh intervals and choose a mesh interval at which the solution stops changing noticeably.
Basic example
This example shows how to use MocoInverse in C++:
inverse.setName("prescribed_motion");
inverse.setModel(ModelProcessor("model_file.osim") |
ModOpAddExternalLoads("external_loads.xml") |
ModOpAddReserves());
inverse.setKinematics(TableProcessor("states_reference_file.sto"));
inverse.set_mesh_interval(0.02);
MocoInverseSolution solution = inverse.solve();
solution.getMocoSolution().write("MocoInverse_solution.sto");
Customizing the tool
The example below shows how you can customize the MocoInverse tool by obtaining the underlying MocoStudy. You can change the "Default solver settings" above and add additional goals.
inverse.setName("prescribed_motion");
inverse.setModel(ModelProcessor("model_file.osim") |
ModOpAddExternalLoads("external_loads.xml") |
ModOpAddReserves(1));
inverse.setKinematics(TableProcessor("states_reference_file.sto"));
inverse.set_mesh_interval(0.02);
MocoStudy study = inverse.initialize();
MocoProblem& problem = study.updProblem();
auto* emg_tracking = problem.addGoal<MocoControlTrackingGoal>("emg_tracking");
auto& solver = study.updSolver<MocoCasADiSolver>();
solver.set_optim_convergence_tolerance(1e-4);
MocoSolution solution = study.solve();
solution.write("MocoInverse_solution.sto");
Do NOT change the multibody_dynamics_mode solver setting, as setting this to "implicit" is vital to how MocoInverse works.
- Examples:
- exampleMocoInverse.cpp.