API  4.3
For MATLAB, Python, Java, and C++ users
OpenSim::MocoPhase Class Reference

The states, controls, dynamics, parameters, goals, and constraints for a phase of the problem. More...

+ Inheritance diagram for OpenSim::MocoPhase:

OpenSim Properties, Sockets, Outputs, Inputs

Properties (single-value)
ModelProcessor model
 "OpenSim Model to provide dynamics." More...
 
MocoInitialBounds time_initial_bounds
 "Bounds on initial value." More...
 
MocoFinalBounds time_final_bounds
 "Bounds on final value." More...
 
MocoBounds default_speed_bounds
 "Bounds for coordinate speeds if not specified in " "state_infos (default: [-50, 50])." More...
 
bool bound_activation_from_excitation
 "For muscles without explicit activation bounds, set the bounds " "for muscle activation (if activation dynamics are enabled) from " "the bounds for muscle control (excitation), using " "min/max control if explicit control bounds are not " "provided. (default: true)." More...
 
MocoBounds kinematic_constraint_bounds
 "The bounds on all the kinematic constraints in the model to be " "enforced. By default the constraints are strictly enforced (zero " "bounds)." More...
 
MocoBounds multiplier_bounds
 "Variable info to apply to all Lagrange multipliers in the " "problem. " "The default bounds are [-1000 1000]." More...
 
Properties (list)
MocoVariableInfo state_infos
 "The state variables' bounds." More...
 
MocoVariableInfo state_infos_pattern
 "Set state variable bounds for all states matching a regular " "expression." More...
 
MocoVariableInfo control_infos
 "The control variables' bounds." More...
 
MocoVariableInfo control_infos_pattern
 "Set control variable bounds for all controls matching a regular " "expression." More...
 
MocoParameter parameters
 "Parameter variables (model properties) to optimize." More...
 
MocoGoal goals
 "Integral/endpoint quantities to minimize or constrain." More...
 
MocoPathConstraint path_constraints
 "Path constraints to enforce in the optimal control problem." More...
 

Public Member Functions

 MocoPhase ()
 
ModelsetModel (std::unique_ptr< Model > model)
 Set the Model whose dynamics should be used for this phase. More...
 
ModelsetModelAsCopy (Model model)
 The model is copied into the MocoPhase; further changes made to the passed-in model will have no effect on this MocoPhase. More...
 
void setModelProcessor (ModelProcessor model)
 Set a model processor for creating the model for this phase. More...
 
ModelProcessorupdModelProcessor ()
 Get a mutable reference to the internal ModelProcessor. More...
 
void setTimeBounds (const MocoInitialBounds &, const MocoFinalBounds &)
 Set the bounds on the initial and final time for this phase. More...
 
void printStateNamesWithSubstring (const std::string &name)
 Find and print the names of all state variables containing a substring. More...
 
void setStateInfo (const std::string &name, const MocoBounds &bounds, const MocoInitialBounds &init={}, const MocoFinalBounds &final={})
 Set information about a single state variable in this phase. More...
 
void setStateInfoPattern (const std::string &pattern, const MocoBounds &bounds, const MocoInitialBounds &init={}, const MocoFinalBounds &final={})
 Set information for state variables whose names match the provided regular expression. More...
 
void printControlNamesWithSubstring (const std::string &name)
 Find and print the names of all control variables containing a substring. More...
 
void setControlInfo (const std::string &name, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
 Set information about a single control variable in this phase. More...
 
void setDefaultSpeedBounds (const MocoBounds &bounds)
 Set the bounds on generalized speed state variables for which explicit bounds are not set. More...
 
void setControlInfoPattern (const std::string &pattern, const MocoBounds &, const MocoInitialBounds &={}, const MocoFinalBounds &={})
 Set information for control variables whose names match the provided regular expression. More...
 
void setBoundActivationFromExcitation (bool tf)
 For muscles without explicit activation bounds, set the bounds for muscle activation (if activation dynamics are enabled) from the bounds for muscle control (excitation), using min/max control if explicit control bounds are not provided. More...
 
void setKinematicConstraintBounds (const MocoBounds &bounds)
 Set the bounds on all of the kinematic constraint equations in this phase. More...
 
void setMultiplierBounds (const MocoBounds &bounds)
 Set the bounds on all of the Lagrange multipliers in this phase. More...
 
template<typename MocoParamType , typename... Args>
MocoParamType * addParameter (Args &&... args)
 Add a parameter to this phase. More...
 
template<typename MocoParamType >
MocoParamType * addParameter (std::unique_ptr< MocoParamType > param)
 
template<typename MocoGoalType , typename... Args>
MocoGoalType * addGoal (Args &&... args)
 Add a goal to this phase. More...
 
template<typename MocoGoalType >
MocoGoalType * addGoal (std::unique_ptr< MocoGoalType > goal)
 Add a goal term to this phase. More...
 
template<typename MocoPCType , typename... Args>
MocoPCType * addPathConstraint (Args &&... args)
 Add a path constraint to this phase. More...
 
template<typename MocoPCType >
MocoPCType * addPathConstraint (std::unique_ptr< MocoPCType > pc)
 Add a path constraint to this phase. More...
 
const ModelgetModel () const
 Get the base model in the internal ModelProcessor. More...
 
ModelupdModel ()
 Get a mutable reference to the base model in the internal ModelProcessor. More...
 
const ModelProcessorgetModelProcessor () const
 Get the ModelProcessor. More...
 
MocoInitialBounds getTimeInitialBounds () const
 
MocoFinalBounds getTimeFinalBounds () const
 
const MocoVariableInfogetStateInfo (const std::string &name) const
 Access explicit state infos provided to this phase. More...
 
const MocoVariableInfogetControlInfo (const std::string &name) const
 Access explicit control infos provided to this phase. More...
 
const MocoBoundsgetDefaultSpeedBounds () const
 
bool getBoundActivationFromExcitation () const
 
const MocoBoundsgetKinematicConstraintBounds () const
 
const MocoBoundsgetMultiplierBounds () const
 
const MocoParametergetParameter (const std::string &name) const
 
MocoParameterupdParameter (const std::string &name)
 
const MocoGoalgetGoal (const std::string &name) const
 
MocoGoalupdGoal (const std::string &name)
 
const MocoPathConstraintgetPathConstraint (const std::string &name) const
 Get a MocoPathConstraint from this MocoPhase. More...
 
MocoPathConstraintupdPathConstraint (const std::string &name)
 
- 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...
 
Objectoperator= (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 AbstractPropertygetPropertyByIndex (int propertyIndex) const
 Get a const reference to a property by its index number, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByIndex (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 AbstractPropertygetPropertyByName (const std::string &name) const
 Get a const reference to a property by its name, returned as an AbstractProperty. More...
 
AbstractPropertyupdPropertyByName (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...
 
PropertySetgetPropertySet ()
 OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
 
const PropertySetgetPropertySet () const
 

Auto-generated functions

static MocoPhasesafeDownCast (OpenSim::Object *obj)
 For use in MATLAB and Python to access the concrete class. More...
 
static const std::string & getClassName ()
 This returns "MocoPhase". More...
 
MocoPhaseclone () 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 ObjectgetDefaultInstanceOfType (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 ObjectnewInstanceOfType (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 ObjectmakeObjectFromFile (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 ObjectSafeCopy (const Object *aObject)
 Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
 
static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType(). More...
 
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType(). More...
 

Detailed Description

The states, controls, dynamics, parameters, goals, and constraints for a phase of the problem.

The dynamics are provided by the OpenSim Model.

This class allows you to define your problem, but does not let you do anything with your problem (this class only contains user input). Use MocoProblem::createRep() to create an instance of MocoProblemRep, which provides additional functionality.

Constructor & Destructor Documentation

◆ MocoPhase()

OpenSim::MocoPhase::MocoPhase ( )

Member Function Documentation

◆ addGoal() [1/2]

template<typename MocoGoalType , typename... Args>
MocoGoalType* OpenSim::MocoPhase::addGoal ( Args &&...  args)
inline

Add a goal to this phase.

Goal must have a name (MocoGoal::setName()), and the name must be unique. Note that goals have the name "goal" by default, so if you only have one goal, you don't need to set its name manually. C++ example:

auto goal0Ptr = phase.addGoal<MocoFinalTimeGoal>();
auto goal1Ptr = phase.addGoal<MocoFinalTimeGoal>("final_time");

You can edit the goal using the returned pointer. Python example:

goal = opensim.MocoFinalTimeGoal()
phase.addGoal(goal)

Matlab example:

goal = org.opensim.modeling.MocoFinalTimeGoal();
phase.addGoal(goal);

In both Python and Matlab, changes to goal will affect your problem.

◆ addGoal() [2/2]

template<typename MocoGoalType >
MocoGoalType* OpenSim::MocoPhase::addGoal ( std::unique_ptr< MocoGoalType >  goal)
inline

Add a goal term to this phase.

Similar to above.

◆ addParameter() [1/2]

template<typename MocoParamType , typename... Args>
MocoParamType* OpenSim::MocoPhase::addParameter ( Args &&...  args)
inline

Add a parameter to this phase.

Parameter variables must have a name (MocoParameter::setName()), and the name must be unique. Note that parameters have the name "parameter" by default, but choosing a more appropriate name is recommended. C++ example:

// Using the base MocoParameter directly.
auto param0Ptr = phase.addParameter("mass", "body", "mass", {0, 10});
// Using a custom MocoParameter.
auto param1Ptr = phase.addParameter<MyCustomParameter>(...);

You can edit the parameter using the returned pointer. Python example:

param = opensim.MocoParameter()
phase.addParameter(param)

Matlab example:

param = org.opensim.modeling.MocoParameter();
phase.addParameter(param);

In both Python and Matlab, changes to param will affect your problem.

◆ addParameter() [2/2]

template<typename MocoParamType >
MocoParamType* OpenSim::MocoPhase::addParameter ( std::unique_ptr< MocoParamType >  param)
inline

◆ addPathConstraint() [1/2]

template<typename MocoPCType , typename... Args>
MocoPCType* OpenSim::MocoPhase::addPathConstraint ( Args &&...  args)
inline

Add a path constraint to this phase.

Path constraints must have a name (MocoPathConstraint::setName()), and the name must be unique. Note that path constraints have the name "path_constraint" by default, so if you only have one path constraint, you don't need to set its name manually. C++ example:

auto pcPtr = phase.addPathConstraint<MyPathConstraint>();

You can edit the constraint using the returned pointer. Python example:

pc = opensim.MyPathConstraint()
phase.addPathConstraint(pc)

Matlab example:

pc = MyPathConstraint();
phase.addPathConstraint(pc);

In both Python and Matlab, changes to pc will affect your problem.

◆ addPathConstraint() [2/2]

template<typename MocoPCType >
MocoPCType* OpenSim::MocoPhase::addPathConstraint ( std::unique_ptr< MocoPCType >  pc)
inline

Add a path constraint to this phase.

Similar to above.

◆ append_control_infos()

int OpenSim::MocoPhase::append_control_infos ( const MocoVariableInfo value)
inlineprotected

Append an element to the control_infos property.

◆ append_control_infos_pattern()

int OpenSim::MocoPhase::append_control_infos_pattern ( const MocoVariableInfo value)
inlineprotected

Append an element to the control_infos_pattern property.

◆ append_goals()

int OpenSim::MocoPhase::append_goals ( const MocoGoal value)
inlineprotected

Append an element to the goals property.

◆ append_parameters()

int OpenSim::MocoPhase::append_parameters ( const MocoParameter value)
inlineprotected

Append an element to the parameters property.

◆ append_path_constraints()

int OpenSim::MocoPhase::append_path_constraints ( const MocoPathConstraint value)
inlineprotected

Append an element to the path_constraints property.

◆ append_state_infos()

int OpenSim::MocoPhase::append_state_infos ( const MocoVariableInfo value)
inlineprotected

Append an element to the state_infos property.

◆ append_state_infos_pattern()

int OpenSim::MocoPhase::append_state_infos_pattern ( const MocoVariableInfo value)
inlineprotected

Append an element to the state_infos_pattern property.

◆ clone()

MocoPhase* OpenSim::MocoPhase::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.

◆ get_bound_activation_from_excitation()

const bool& OpenSim::MocoPhase::get_bound_activation_from_excitation ( ) const
inlineprotected

Get the value of the bound_activation_from_excitation property.

◆ get_control_infos()

const MocoVariableInfo& OpenSim::MocoPhase::get_control_infos ( int  i) const
inlineprotected

Get the value of the i-th element of the control_infos property.

◆ get_control_infos_pattern()

const MocoVariableInfo& OpenSim::MocoPhase::get_control_infos_pattern ( int  i) const
inlineprotected

Get the value of the i-th element of the control_infos_pattern property.

◆ get_default_speed_bounds()

const MocoBounds& OpenSim::MocoPhase::get_default_speed_bounds ( ) const
inlineprotected

Get the value of the default_speed_bounds property.

◆ get_goals()

const MocoGoal& OpenSim::MocoPhase::get_goals ( int  i) const
inlineprotected

Get the value of the i-th element of the goals property.

◆ get_kinematic_constraint_bounds()

const MocoBounds& OpenSim::MocoPhase::get_kinematic_constraint_bounds ( ) const
inlineprotected

Get the value of the kinematic_constraint_bounds property.

◆ get_model()

const ModelProcessor& OpenSim::MocoPhase::get_model ( ) const
inlineprotected

Get the value of the model property.

◆ get_multiplier_bounds()

const MocoBounds& OpenSim::MocoPhase::get_multiplier_bounds ( ) const
inlineprotected

Get the value of the multiplier_bounds property.

◆ get_parameters()

const MocoParameter& OpenSim::MocoPhase::get_parameters ( int  i) const
inlineprotected

Get the value of the i-th element of the parameters property.

◆ get_path_constraints()

const MocoPathConstraint& OpenSim::MocoPhase::get_path_constraints ( int  i) const
inlineprotected

Get the value of the i-th element of the path_constraints property.

◆ get_state_infos()

const MocoVariableInfo& OpenSim::MocoPhase::get_state_infos ( int  i) const
inlineprotected

Get the value of the i-th element of the state_infos property.

◆ get_state_infos_pattern()

const MocoVariableInfo& OpenSim::MocoPhase::get_state_infos_pattern ( int  i) const
inlineprotected

Get the value of the i-th element of the state_infos_pattern property.

◆ get_time_final_bounds()

const MocoFinalBounds& OpenSim::MocoPhase::get_time_final_bounds ( ) const
inlineprotected

Get the value of the time_final_bounds property.

◆ get_time_initial_bounds()

const MocoInitialBounds& OpenSim::MocoPhase::get_time_initial_bounds ( ) const
inlineprotected

Get the value of the time_initial_bounds property.

◆ getBoundActivationFromExcitation()

bool OpenSim::MocoPhase::getBoundActivationFromExcitation ( ) const
inline

◆ getClassName()

static const std::string& OpenSim::MocoPhase::getClassName ( )
inlinestatic

This returns "MocoPhase".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoPhase::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.

◆ getControlInfo()

const MocoVariableInfo& OpenSim::MocoPhase::getControlInfo ( const std::string &  name) const

Access explicit control infos provided to this phase.

Default bounds are obtained from the model. This function does not provide such automatically-populated bounds from the model. For that, use see MocoProblemRep::getControlInfo().

◆ getDefaultSpeedBounds()

const MocoBounds& OpenSim::MocoPhase::getDefaultSpeedBounds ( ) const
inline

◆ getGoal()

const MocoGoal& OpenSim::MocoPhase::getGoal ( const std::string &  name) const

◆ getKinematicConstraintBounds()

const MocoBounds& OpenSim::MocoPhase::getKinematicConstraintBounds ( ) const
inline

◆ getModel()

const Model& OpenSim::MocoPhase::getModel ( ) const
inline

Get the base model in the internal ModelProcessor.

This throws an exception if the ModelProcessor does not have a base model. By default, the model is an empty model.

References OpenSim::ModelComponent::getModel().

◆ getModelProcessor()

const ModelProcessor& OpenSim::MocoPhase::getModelProcessor ( ) const
inline

Get the ModelProcessor.

◆ getMultiplierBounds()

const MocoBounds& OpenSim::MocoPhase::getMultiplierBounds ( ) const
inline

◆ getParameter()

const MocoParameter& OpenSim::MocoPhase::getParameter ( const std::string &  name) const

◆ getPathConstraint()

const MocoPathConstraint& OpenSim::MocoPhase::getPathConstraint ( const std::string &  name) const

Get a MocoPathConstraint from this MocoPhase.

Note: this does not include MocoKinematicConstraints, use getKinematicConstraint() instead.

◆ getStateInfo()

const MocoVariableInfo& OpenSim::MocoPhase::getStateInfo ( const std::string &  name) const

Access explicit state infos provided to this phase.

For some state variables, default bounds are obtained from the model. This function does not provide such automatically-populated bounds from the model. For that, use see MocoProblemRep::getStateInfo().

◆ getTimeFinalBounds()

MocoFinalBounds OpenSim::MocoPhase::getTimeFinalBounds ( ) const

Note: the return value is constructed fresh on every call from the internal property. Avoid repeated calls to this function.

◆ getTimeInitialBounds()

MocoInitialBounds OpenSim::MocoPhase::getTimeInitialBounds ( ) const

Note: the return value is constructed fresh on every call from the internal property. Avoid repeated calls to this function.

◆ printControlNamesWithSubstring()

void OpenSim::MocoPhase::printControlNamesWithSubstring ( const std::string &  name)

Find and print the names of all control variables containing a substring.

◆ printStateNamesWithSubstring()

void OpenSim::MocoPhase::printStateNamesWithSubstring ( const std::string &  name)

Find and print the names of all state variables containing a substring.

◆ safeDownCast()

static MocoPhase* OpenSim::MocoPhase::safeDownCast ( OpenSim::Object obj)
inlinestatic

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

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

◆ set_bound_activation_from_excitation()

void OpenSim::MocoPhase::set_bound_activation_from_excitation ( const bool &  value)
inlineprotected

Set the value of the bound_activation_from_excitation property.

◆ set_control_infos()

void OpenSim::MocoPhase::set_control_infos ( int  i,
const MocoVariableInfo value 
)
inlineprotected

Set the value of the i-th element of control_infos property.

◆ set_control_infos_pattern()

void OpenSim::MocoPhase::set_control_infos_pattern ( int  i,
const MocoVariableInfo value 
)
inlineprotected

Set the value of the i-th element of control_infos_pattern property.

◆ set_default_speed_bounds()

void OpenSim::MocoPhase::set_default_speed_bounds ( const MocoBounds value)
inlineprotected

Set the value of the default_speed_bounds property.

◆ set_goals()

void OpenSim::MocoPhase::set_goals ( int  i,
const MocoGoal value 
)
inlineprotected

Set the value of the i-th element of goals property.

◆ set_kinematic_constraint_bounds()

void OpenSim::MocoPhase::set_kinematic_constraint_bounds ( const MocoBounds value)
inlineprotected

Set the value of the kinematic_constraint_bounds property.

◆ set_model()

void OpenSim::MocoPhase::set_model ( const ModelProcessor value)
inlineprotected

Set the value of the model property.

◆ set_multiplier_bounds()

void OpenSim::MocoPhase::set_multiplier_bounds ( const MocoBounds value)
inlineprotected

Set the value of the multiplier_bounds property.

◆ set_parameters()

void OpenSim::MocoPhase::set_parameters ( int  i,
const MocoParameter value 
)
inlineprotected

Set the value of the i-th element of parameters property.

◆ set_path_constraints()

void OpenSim::MocoPhase::set_path_constraints ( int  i,
const MocoPathConstraint value 
)
inlineprotected

Set the value of the i-th element of path_constraints property.

◆ set_state_infos()

void OpenSim::MocoPhase::set_state_infos ( int  i,
const MocoVariableInfo value 
)
inlineprotected

Set the value of the i-th element of state_infos property.

◆ set_state_infos_pattern()

void OpenSim::MocoPhase::set_state_infos_pattern ( int  i,
const MocoVariableInfo value 
)
inlineprotected

Set the value of the i-th element of state_infos_pattern property.

◆ set_time_final_bounds()

void OpenSim::MocoPhase::set_time_final_bounds ( const MocoFinalBounds value)
inlineprotected

Set the value of the time_final_bounds property.

◆ set_time_initial_bounds()

void OpenSim::MocoPhase::set_time_initial_bounds ( const MocoInitialBounds value)
inlineprotected

Set the value of the time_initial_bounds property.

◆ setBoundActivationFromExcitation()

void OpenSim::MocoPhase::setBoundActivationFromExcitation ( bool  tf)
inline

For muscles without explicit activation bounds, set the bounds for muscle activation (if activation dynamics are enabled) from the bounds for muscle control (excitation), using min/max control if explicit control bounds are not provided.

Default: true.

◆ setControlInfo()

void OpenSim::MocoPhase::setControlInfo ( const std::string &  name,
const MocoBounds ,
const MocoInitialBounds = {},
const MocoFinalBounds = {} 
)

Set information about a single control variable in this phase.

Similar to setStateInfo(). The name for a control is the path to the associated actuator (e.g., "/forceset/soleus_r"). If setting a control info for an actuator with multiple controls, the name should be the actuator path appended by the control index (e.g. "/actuator_0"); If info is not specified for a ScalarActuator (or if only the initial and/or final bounds are provided), the actuator's min and max control are used for the bounds over the phase. By default, non-ScalarActuators are unconstrained.

◆ setControlInfoPattern()

void OpenSim::MocoPhase::setControlInfoPattern ( const std::string &  pattern,
const MocoBounds ,
const MocoInitialBounds = {},
const MocoFinalBounds = {} 
)

Set information for control variables whose names match the provided regular expression.

You can use this to set bounds for all muscle activations, etc. Infos provided via setControlInfoPattern() take precedence over the default values from the model. Infos provided via setControlInfo() take precedence over infos provided with setControlInfoPattern(). If a state variable name matches multiple patterns, the info provided with the last pattern is used for that control variable.

◆ setDefaultSpeedBounds()

void OpenSim::MocoPhase::setDefaultSpeedBounds ( const MocoBounds bounds)
inline

Set the bounds on generalized speed state variables for which explicit bounds are not set.

◆ setKinematicConstraintBounds()

void OpenSim::MocoPhase::setKinematicConstraintBounds ( const MocoBounds bounds)
inline

Set the bounds on all of the kinematic constraint equations in this phase.

When creating a MocoProblemRep, these bounds are used to create MocoConstraintInfo's for each kinematic constraint equation in the phase.

◆ setModel()

Model* OpenSim::MocoPhase::setModel ( std::unique_ptr< Model model)

Set the Model whose dynamics should be used for this phase.

The phase takes ownership of the passed-in model. This function returns a pointer to the model stored in the phase (identical to the passed-in model).

◆ setModelAsCopy()

Model* OpenSim::MocoPhase::setModelAsCopy ( Model  model)

The model is copied into the MocoPhase; further changes made to the passed-in model will have no effect on this MocoPhase.

This function returns a pointer to the model stored in the phase (the copy).

◆ setModelProcessor()

void OpenSim::MocoPhase::setModelProcessor ( ModelProcessor  model)

Set a model processor for creating the model for this phase.

Use this to provide a model as a .osim file.

◆ setMultiplierBounds()

void OpenSim::MocoPhase::setMultiplierBounds ( const MocoBounds bounds)
inline

Set the bounds on all of the Lagrange multipliers in this phase.

When creating a MocoProblemRep, these bounds are used to create MocoVariableInfos for each Lagrange multiplier in the phase.

◆ setStateInfo()

void OpenSim::MocoPhase::setStateInfo ( const std::string &  name,
const MocoBounds bounds,
const MocoInitialBounds init = {},
const MocoFinalBounds final = {} 
)

Set information about a single state variable in this phase.

Parameters
nameThe name must match the path of a state variable in the model (e.g., /hip/flexion/value or /hip/flexion/speed).
boundsThe bounds on this state variable over the entire phase. If default-constructed ({}), then either the variable is unconstrained or default bounds are used (see below).
initThe bounds on this state variable at the start of the phase. By default, there are no additional bounds on the initial value (though the bounds over the entire phase still apply to the initial value).
finalSimilar to init but for the value at the end of the phase.

For all bounds arguments: if you want to constrain to a single value, pass that single value. If you want to constrain to a range, pass the lower and upper bounds to the constructor as two arguments.

Default bounds

  1. Coordinate values: the Coordinate's range is used (regardless of whether the coordinate is clamped).
  2. Coordinate speeds: this class's default_speed_bounds property.
  3. All other states: if a component has a SimTK::Vec2 output named statebounds_<state-name>, then this output is used to set default bounds for the state variable <state-name> for that component. The first element of the Vec2 is the lower bound and the second is the upper bound.

These defaults are also used if you completely omit state info for a state variable.

For states with default bounds, if you actually want a variable to be unconstrained, pass in MocoBounds::unconstrained().

Examples Set bounds over the entire phase, but do not specify additional bounds on the value at the start and end of the phase.

phase.setStateInfo("/knee/flexion/value", {-1.5*SimTK::Pi, 0});

Allow any value throughout the phase (within the coordinate's range), but the initial value is 5.

phase.setStateInfo("/ankle/flexion/value", {}, 5);

Constrain the initial and final state to a single value of 0, but use default speed bounds elsewhere.

phase.setStateInfo("/ankle/flexion/speed", {}, 0, 0);

Make a coordinate value unconstrained.

phase.setStateInfo("/ankle/flexion/value", MocoBounds::unconstrained());

This function will overwrite any info that has previously been set for this state variable.

◆ setStateInfoPattern()

void OpenSim::MocoPhase::setStateInfoPattern ( const std::string &  pattern,
const MocoBounds bounds,
const MocoInitialBounds init = {},
const MocoFinalBounds final = {} 
)

Set information for state variables whose names match the provided regular expression.

You can use this to set bounds for all muscle activations, etc. Infos provided via setStateInfoPattern() take precedence over the default values from the model. Infos provided via setStateInfo() take precedence over infos provided with setStateInfoPattern(). If a state variable name matches multiple patterns, the info provided with the last pattern is used for that state variable.

◆ setTimeBounds()

void OpenSim::MocoPhase::setTimeBounds ( const MocoInitialBounds ,
const MocoFinalBounds  
)

Set the bounds on the initial and final time for this phase.

If you want to constrain the initial time to a single value, pass that value to the constructor of MocoInitialBounds. If you want the initial time to fall within a range, pass the lower and upper bounds to the constructor of MocoInitialBounds. Likewise for MocoFinalBounds. This will overwrite bounds that were set previously, if any.

◆ upd_bound_activation_from_excitation()

bool& OpenSim::MocoPhase::upd_bound_activation_from_excitation ( )
inlineprotected

Get a writable reference to the bound_activation_from_excitation property.

◆ upd_control_infos()

MocoVariableInfo& OpenSim::MocoPhase::upd_control_infos ( int  i)
inlineprotected

Get a writable reference to the i-th element of the control_infos property.

◆ upd_control_infos_pattern()

MocoVariableInfo& OpenSim::MocoPhase::upd_control_infos_pattern ( int  i)
inlineprotected

Get a writable reference to the i-th element of the control_infos_pattern property.

◆ upd_default_speed_bounds()

MocoBounds& OpenSim::MocoPhase::upd_default_speed_bounds ( )
inlineprotected

Get a writable reference to the default_speed_bounds property.

◆ upd_goals()

MocoGoal& OpenSim::MocoPhase::upd_goals ( int  i)
inlineprotected

Get a writable reference to the i-th element of the goals property.

◆ upd_kinematic_constraint_bounds()

MocoBounds& OpenSim::MocoPhase::upd_kinematic_constraint_bounds ( )
inlineprotected

Get a writable reference to the kinematic_constraint_bounds property.

◆ upd_model()

ModelProcessor& OpenSim::MocoPhase::upd_model ( )
inlineprotected

Get a writable reference to the model property.

◆ upd_multiplier_bounds()

MocoBounds& OpenSim::MocoPhase::upd_multiplier_bounds ( )
inlineprotected

Get a writable reference to the multiplier_bounds property.

◆ upd_parameters()

MocoParameter& OpenSim::MocoPhase::upd_parameters ( int  i)
inlineprotected

Get a writable reference to the i-th element of the parameters property.

◆ upd_path_constraints()

MocoPathConstraint& OpenSim::MocoPhase::upd_path_constraints ( int  i)
inlineprotected

Get a writable reference to the i-th element of the path_constraints property.

◆ upd_state_infos()

MocoVariableInfo& OpenSim::MocoPhase::upd_state_infos ( int  i)
inlineprotected

Get a writable reference to the i-th element of the state_infos property.

◆ upd_state_infos_pattern()

MocoVariableInfo& OpenSim::MocoPhase::upd_state_infos_pattern ( int  i)
inlineprotected

Get a writable reference to the i-th element of the state_infos_pattern property.

◆ upd_time_final_bounds()

MocoFinalBounds& OpenSim::MocoPhase::upd_time_final_bounds ( )
inlineprotected

Get a writable reference to the time_final_bounds property.

◆ upd_time_initial_bounds()

MocoInitialBounds& OpenSim::MocoPhase::upd_time_initial_bounds ( )
inlineprotected

Get a writable reference to the time_initial_bounds property.

◆ updGoal()

MocoGoal& OpenSim::MocoPhase::updGoal ( const std::string &  name)

◆ updModel()

Model& OpenSim::MocoPhase::updModel ( )
inline

Get a mutable reference to the base model in the internal ModelProcessor.

This throws an exception if the ModelProcessor does not have a base model. By default, the model is an empty model.

References OpenSim::ModelComponent::updModel().

◆ updModelProcessor()

ModelProcessor& OpenSim::MocoPhase::updModelProcessor ( )

Get a mutable reference to the internal ModelProcessor.

Use this to set the processor's base model or to add operators to the processor.

◆ updParameter()

MocoParameter& OpenSim::MocoPhase::updParameter ( const std::string &  name)

◆ updPathConstraint()

MocoPathConstraint& OpenSim::MocoPhase::updPathConstraint ( const std::string &  name)

OpenSim Property, Socket, Output, Input Documentation

◆ bound_activation_from_excitation

bool OpenSim::MocoPhase::bound_activation_from_excitation

"For muscles without explicit activation bounds, set the bounds " "for muscle activation (if activation dynamics are enabled) from " "the bounds for muscle control (excitation), using " "min/max control if explicit control bounds are not " "provided. (default: true)."

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

See also
get_bound_activation_from_excitation(), upd_bound_activation_from_excitation(), set_bound_activation_from_excitation()

◆ control_infos

MocoVariableInfo OpenSim::MocoPhase::control_infos

"The control variables' bounds."

This property appears in XML files under the tag <control_infos>. 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_control_infos(), upd_control_infos(), set_control_infos(), append_control_infos()

◆ control_infos_pattern

MocoVariableInfo OpenSim::MocoPhase::control_infos_pattern

"Set control variable bounds for all controls matching a regular " "expression."

This property appears in XML files under the tag <control_infos_pattern>. 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_control_infos_pattern(), upd_control_infos_pattern(), set_control_infos_pattern(), append_control_infos_pattern()

◆ default_speed_bounds

MocoBounds OpenSim::MocoPhase::default_speed_bounds

"Bounds for coordinate speeds if not specified in " "state_infos (default: [-50, 50])."

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

See also
get_default_speed_bounds(), upd_default_speed_bounds(), set_default_speed_bounds()

◆ goals

MocoGoal OpenSim::MocoPhase::goals

"Integral/endpoint quantities to minimize or constrain."

This property appears in XML files under the tag <goals>. 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_goals(), upd_goals(), set_goals(), append_goals()

◆ kinematic_constraint_bounds

MocoBounds OpenSim::MocoPhase::kinematic_constraint_bounds

"The bounds on all the kinematic constraints in the model to be " "enforced. By default the constraints are strictly enforced (zero " "bounds)."

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

See also
get_kinematic_constraint_bounds(), upd_kinematic_constraint_bounds(), set_kinematic_constraint_bounds()

◆ model

ModelProcessor OpenSim::MocoPhase::model

"OpenSim Model to provide dynamics."

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

See also
get_model(), upd_model(), set_model()

◆ multiplier_bounds

MocoBounds OpenSim::MocoPhase::multiplier_bounds

"Variable info to apply to all Lagrange multipliers in the " "problem. " "The default bounds are [-1000 1000]."

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

See also
get_multiplier_bounds(), upd_multiplier_bounds(), set_multiplier_bounds()

◆ parameters

MocoParameter OpenSim::MocoPhase::parameters

"Parameter variables (model properties) to optimize."

This property appears in XML files under the tag <parameters>. 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_parameters(), upd_parameters(), set_parameters(), append_parameters()

◆ path_constraints

MocoPathConstraint OpenSim::MocoPhase::path_constraints

"Path constraints to enforce in the optimal control problem."

This property appears in XML files under the tag <path_constraints>. 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_path_constraints(), upd_path_constraints(), set_path_constraints(), append_path_constraints()

◆ state_infos

MocoVariableInfo OpenSim::MocoPhase::state_infos

"The state variables' bounds."

This property appears in XML files under the tag <state_infos>. 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_state_infos(), upd_state_infos(), set_state_infos(), append_state_infos()

◆ state_infos_pattern

MocoVariableInfo OpenSim::MocoPhase::state_infos_pattern

"Set state variable bounds for all states matching a regular " "expression."

This property appears in XML files under the tag <state_infos_pattern>. 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_state_infos_pattern(), upd_state_infos_pattern(), set_state_infos_pattern(), append_state_infos_pattern()

◆ time_final_bounds

MocoFinalBounds OpenSim::MocoPhase::time_final_bounds

"Bounds on final value."

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

See also
get_time_final_bounds(), upd_time_final_bounds(), set_time_final_bounds()

◆ time_initial_bounds

MocoInitialBounds OpenSim::MocoPhase::time_initial_bounds

"Bounds on initial value."

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

See also
get_time_initial_bounds(), upd_time_initial_bounds(), set_time_initial_bounds()

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