A MocoParameter allows you to optimize property values in an OpenSim Model. More...

Inheritance diagram for OpenSim::MocoParameter:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (unnamed)
MocoBounds	MocoBounds
	"Bounds over all time." More...

Properties (list)
std::string	component_paths
	"The path to " "the model component that owns the property associated with the " "MocoParameter." More...

Properties (single-value)
std::string	property_name
	"The name of the " "model property associated with the MocoParameter." More...

Properties (optional)
int	property_element
	"For non-scalar " "model properties, the index of the element to be optimized." More...

Public Member Functions
	MocoParameter ()

	MocoParameter (const std::string &name, const std::vector< std::string > &componentPaths, const std::string &propertyName, const MocoBounds &, const int &propertyElt)
	This is a generic constructor that supports applying this parameter to multiple components and to non-scalar properties. More...

	MocoParameter (const std::string &name, const std::string &componentPath, const std::string &propertyName, const MocoBounds &)

	MocoParameter (const std::string &name, const std::string &componentPath, const std::string &propertyName, const MocoBounds &, const int &propertyElt)

	MocoParameter (const std::string &name, const std::vector< std::string > &componentPaths, const std::string &propertyName, const MocoBounds &)

MocoBounds	getBounds () const

std::string	getPropertyName () const

std::vector< std::string >	getComponentPaths () const

void	setBounds (const MocoBounds &bounds)

void	setPropertyName (const std::string &propertyName)

void	appendComponentPath (const std::string &componentPath)

void	initializeOnModel (Model &model) const
	For use by solvers. More...

void	applyParameterToModelProperties (const double &value) const
	Set the value of the stored model properties, which may include properties from multiple models. More...

void	printDescription () const
	Print the name, property name, component paths, property element (if it exists), and bounds for this parameter. 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 MocoParameter *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

MocoParameter *	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::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

A MocoParameter allows you to optimize property values in an OpenSim Model.

To describe this parameter, you must provide the name of the property you want to optimize and the path to the component in the model where the property exists. If the property is not a scalar, then you must also provide the element index of the property you want to optimize. To optimize multiple elements of a non-scalar property, use multiple MocoParameters. By specifying multiple component paths, you can optimize the same property in multiple components (each property will have the same value, as determined by this parameter). The following property types are currently supported:

double
Vec3
Vec6

List properties are not currently supported.

The name you give to a MocoParameter does not need to match the name of its model property.

The default initial guess for a parameter depends on the solver you use. Most likely, the default initial guess is the midpoint of the bounds on the parameter (NOT the value of the property in the model).

Create a MocoParameter from a property in the model:

MocoParameter p0;
p0.setName("torso_mass");
p0.appendComponentPath("torso");
p0.setParameterName("mass");
MocoBounds massBounds(60, 80);
p0.setBounds(massBounds);

Using the convenience constructor:

MocoParameter p0("torso_mass", "torso", "mass", MocoBounds(60, 80));

Here is a Matlab example of optimizing the optimal fiber length of a muscle:

study = MocoStudy();
problem = study.updProblem();
param = MocoParameter('my_param_name', '/forceset/soleus_r', ...
        'optimal_fiber_length', MocoBounds(0.04, 0.06));
problem.addParameter(param);

The generic constructor can be used for more complex MocoParameter assignments. Here, we create a MocoParameter for the y-position of the mass center of three different rigid bodies in the model:

int propertyElt = 1; // y-position is the second element of the mass_center
std::vector<std::string> componentPaths = {
    "/bodyset/pelvis",
    "/bodyset/thigh",
    "/bodyset/shank"
};
MocoParameter y_com("y_com", componentPaths, "mass_center",
        MocoBounds(-0.05, 0.05), propertyElt);

For developers: Every time the problem is solved, a copy of this parameter is used. An individual instance of a parameter is only ever used in a single problem. Therefore, there is no need to clear cache variables that you create in initializeImpl(). Also, information stored in this parameter does not persist across multiple solves. Lastly, a MocoParameter may be applied to multiple models at once, as long as the value described in the MocoParameter exists and initializeOnModel() is called on all models of interest.

Constructor & Destructor Documentation

◆ MocoParameter() [1/5]

OpenSim::MocoParameter::MocoParameter ( )

◆ MocoParameter() [2/5]

OpenSim::MocoParameter::MocoParameter	(	const std::string &	name,
		const std::vector< std::string > &	componentPaths,
		const std::string &	propertyName,
		const MocoBounds &	,
		const int &	propertyElt
	)

This is a generic constructor that supports applying this parameter to multiple components and to non-scalar properties.

Specifying propertyElt as -1 is treated as not specifying a property element.

◆ MocoParameter() [3/5]

OpenSim::MocoParameter::MocoParameter	(	const std::string &	name,
		const std::string &	componentPath,
		const std::string &	propertyName,
		const MocoBounds &
	)

◆ MocoParameter() [4/5]

OpenSim::MocoParameter::MocoParameter	(	const std::string &	name,
		const std::string &	componentPath,
		const std::string &	propertyName,
		const MocoBounds &	,
		const int &	propertyElt
	)

◆ MocoParameter() [5/5]

OpenSim::MocoParameter::MocoParameter	(	const std::string &	name,
		const std::vector< std::string > &	componentPaths,
		const std::string &	propertyName,
		const MocoBounds &
	)

Member Function Documentation

◆ appendComponentPath()

void OpenSim::MocoParameter::appendComponentPath ( const std::string & componentPath )

inline

◆ applyParameterToModelProperties()

void OpenSim::MocoParameter::applyParameterToModelProperties ( const double & value ) const

Set the value of the stored model properties, which may include properties from multiple models.

◆ clone()

MocoParameter* OpenSim::MocoParameter::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::Object.

◆ getBounds()

MocoBounds OpenSim::MocoParameter::getBounds ( ) const

inline

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::addParameters().

◆ getClassName()

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

inlinestatic

This returns "MocoParameter".

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

◆ getComponentPaths()

std::vector<std::string> OpenSim::MocoParameter::getComponentPaths ( ) const

inline

◆ getConcreteClassName()

const std::string& OpenSim::MocoParameter::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::Object.

◆ getPropertyName()

std::string OpenSim::MocoParameter::getPropertyName ( ) const

inline

◆ initializeOnModel()

void OpenSim::MocoParameter::initializeOnModel ( Model & model ) const

For use by solvers.

This performs error checks and caches information about the model that is useful during the optimization. This method takes a non-const reference to the model because parameters need to be able to alter the model. If it is desired to apply this MocoParameter to multiple models, this should be called on all models of interest. The property references from each model will be appended to this MocoParameter's internal property reference list.

◆ printDescription()

void OpenSim::MocoParameter::printDescription ( ) const

Print the name, property name, component paths, property element (if it exists), and bounds for this parameter.

◆ safeDownCast()

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

inlinestatic

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

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

◆ setBounds()

void OpenSim::MocoParameter::setBounds ( const MocoBounds & bounds )

inline

◆ setPropertyName()

void OpenSim::MocoParameter::setPropertyName ( const std::string & propertyName )

inline

OpenSim Property, Socket, Output, Input Documentation

◆ component_paths

std::string OpenSim::MocoParameter::component_paths

"The path to " "the model component that owns the property associated with the " "MocoParameter."

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

See also: get_component_paths(), upd_component_paths(), set_component_paths(), append_component_paths()

◆ MocoBounds

MocoBounds OpenSim::MocoParameter::MocoBounds

"Bounds over all time."

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

See also: get_MocoBounds(), upd_MocoBounds(), set_MocoBounds()

◆ property_element

int OpenSim::MocoParameter::property_element

"For non-scalar " "model properties, the index of the element to be optimized."

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

See also: get_property_element(), upd_property_element(), set_property_element()

◆ property_name

std::string OpenSim::MocoParameter::property_name

"The name of the " "model property associated with the MocoParameter."

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

See also: get_property_name(), upd_property_name(), set_property_name()

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

OpenSim/Moco/MocoParameter.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MocoParameter() [1/5]

◆ MocoParameter() [2/5]

◆ MocoParameter() [3/5]

◆ MocoParameter() [4/5]

◆ MocoParameter() [5/5]

Member Function Documentation

◆ appendComponentPath()

◆ applyParameterToModelProperties()

◆ clone()

◆ getBounds()

◆ getClassName()

◆ getComponentPaths()

◆ getConcreteClassName()

◆ getPropertyName()

◆ initializeOnModel()

◆ printDescription()

◆ safeDownCast()

◆ setBounds()

◆ setPropertyName()

OpenSim Property, Socket, Output, Input Documentation

◆ component_paths

◆ MocoBounds

◆ property_element

◆ property_name