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 ()

Model *	setModel (std::unique_ptr< Model > model)
	Set the Model whose dynamics should be used for this phase. More...

Model *	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. More...

void	setModelProcessor (ModelProcessor model)
	Set a model processor for creating the model for this phase. More...

ModelProcessor &	updModelProcessor ()
	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 Model &	getModel () const
	Get the base model in the internal ModelProcessor. More...

Model &	updModel ()
	Get a mutable reference to the base model in the internal ModelProcessor. More...

const ModelProcessor &	getModelProcessor () const
	Get the ModelProcessor. More...

MocoInitialBounds	getTimeInitialBounds () const

MocoFinalBounds	getTimeFinalBounds () const

const MocoVariableInfo &	getStateInfo (const std::string &name) const
	Access explicit state infos provided to this phase. More...

const MocoVariableInfo &	getControlInfo (const std::string &name) const
	Access explicit control infos provided to this phase. More...

const MocoBounds &	getDefaultSpeedBounds () const

bool	getBoundActivationFromExcitation () const

const MocoBounds &	getKinematicConstraintBounds () const

const MocoBounds &	getMultiplierBounds () const

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

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

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

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

const MocoPathConstraint &	getPathConstraint (const std::string &name) const
	Get a MocoPathConstraint from this MocoPhase. More...

MocoPathConstraint &	updPathConstraint (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...

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

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

MocoPhase *	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

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

name	The name must match the path of a state variable in the model (e.g., `/hip/flexion/value` or `/hip/flexion/speed`).
bounds	The 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).
init	The 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).
final	Similar 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

Coordinate values: the Coordinate's range is used (regardless of whether the coordinate is clamped).
Coordinate speeds: this class's default_speed_bounds property.
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:

OpenSim/Moco/MocoProblem.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MocoPhase()

Member Function Documentation

◆ addGoal() [1/2]

◆ addGoal() [2/2]

◆ addParameter() [1/2]

◆ addParameter() [2/2]

◆ addPathConstraint() [1/2]

◆ addPathConstraint() [2/2]

◆ append_control_infos()

◆ append_control_infos_pattern()

◆ append_goals()

◆ append_parameters()

◆ append_path_constraints()

◆ append_state_infos()

◆ append_state_infos_pattern()

◆ clone()

◆ get_bound_activation_from_excitation()

◆ get_control_infos()

◆ get_control_infos_pattern()

◆ get_default_speed_bounds()

◆ get_goals()

◆ get_kinematic_constraint_bounds()

◆ get_model()

◆ get_multiplier_bounds()

◆ get_parameters()

◆ get_path_constraints()

◆ get_state_infos()

◆ get_state_infos_pattern()

◆ get_time_final_bounds()

◆ get_time_initial_bounds()

◆ getBoundActivationFromExcitation()

◆ getClassName()

◆ getConcreteClassName()

◆ getControlInfo()

◆ getDefaultSpeedBounds()

◆ getGoal()

◆ getKinematicConstraintBounds()

◆ getModel()

◆ getModelProcessor()

◆ getMultiplierBounds()

◆ getParameter()

◆ getPathConstraint()

◆ getStateInfo()

◆ getTimeFinalBounds()

◆ getTimeInitialBounds()

◆ printControlNamesWithSubstring()

◆ printStateNamesWithSubstring()

◆ safeDownCast()

◆ set_bound_activation_from_excitation()

◆ set_control_infos()

◆ set_control_infos_pattern()

◆ set_default_speed_bounds()

◆ set_goals()

◆ set_kinematic_constraint_bounds()

◆ set_model()

◆ set_multiplier_bounds()

◆ set_parameters()

◆ set_path_constraints()

◆ set_state_infos()

◆ set_state_infos_pattern()

◆ set_time_final_bounds()

◆ set_time_initial_bounds()

◆ setBoundActivationFromExcitation()

◆ setControlInfo()

◆ setControlInfoPattern()

◆ setDefaultSpeedBounds()

◆ setKinematicConstraintBounds()

◆ setModel()

◆ setModelAsCopy()

◆ setModelProcessor()

◆ setMultiplierBounds()

◆ setStateInfo()

◆ setStateInfoPattern()

◆ setTimeBounds()