Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle.
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MocoStepTimeAsymmetryGoalGroup | left_contact_group |
| "Paths to SmoothSphereHalfSpaceForce objects on the left foot of " "the model whose forces are summed to determine when the left foot " "is in contact with the ground." More...
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MocoStepTimeAsymmetryGoalGroup | right_contact_group |
| "Paths to SmoothSphereHalfSpaceForce objects on the right foot of " "the model whose forces are summed to determine when the right foot " "is in contact with the ground." More...
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double | target_asymmetry |
| "The target asymmetry value, between -1.0 and 1.0. Positive " "asymmetry is associated with the right leg, and negative asymmetry " "for the left. Default: 0" More...
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double | asymmetry_smoothing |
| "The value that determines the smoothing of the asymmetry " "computation (default: 10)" More...
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double | contact_force_threshold |
| "The contact force threshold that determines when the foot is in " "contact with the ground (default: 25 [Newtons])." More...
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std::string | contact_force_direction |
| "The direction of the contact force component in the ground frame " "which is used to compute foot-contact detection. " "Acceptable direction values include 'positive-x', 'positive-y', " "'positive-z', 'negative-x', 'negative-y', and 'negative-z'. " "Default: 'positive-x'." More...
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double | contact_detection_smoothing |
| "The value that determines the smoothing of the foot-contact " "detection. Default: 0.25." More...
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std::string | walking_direction |
| "The walking direction of the model in the ground frame, which " "is used to determine the leading foot during double support. " "Acceptable direction values include 'positive-x', 'positive-y', " "'positive-z', 'negative-x', 'negative-y', and 'negative-z'. " "Default: 'positive-x'." More...
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bool | enabled |
| "This bool indicates whether this goal is enabled." More...
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double | weight |
| "In cost mode, the goal is multiplied by this weight (default: " "1)." More...
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std::string | mode |
| "'cost' to enforce as a penalty, 'endpoint_constraint' to enforce " "as a constraint." More...
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MocoConstraintInfo | MocoConstraintInfo |
| "The bounds and labels for this MocoGoal, if applied as an " "endpoint constraint." More...
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MocoScaleFactor | scale_factors |
| "Scale factors added by derived MocoGoal classes that are optimized " "via a MocoParameter. A copy of each MocoScaleFactor component is " "added to the model internal to MocoProblem, which makes the scale " "factors values available when computing the cost function for each " "MocoGoal." More...
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| MocoStepTimeAsymmetryGoal () |
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| MocoStepTimeAsymmetryGoal (std::string name) |
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| MocoStepTimeAsymmetryGoal (std::string name, double weight) |
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void | setLeftContactGroup (const std::vector< std::string > &contactForcePaths, const std::string &footPositionForcePath) |
| Add the group of contact forces that determine the position of the left foot and when it is in contact with the ground. More...
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void | setRightContactGroup (const std::vector< std::string > &contactForcePaths, const std::string &footPositionForcePath) |
| Add the group of contact forces that determine the position of the right foot and when it is in contact with the ground. More...
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void | setTargetAsymmetry (double asymmetry) |
| Set the asymmetry value targeted by this goal. More...
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double | getTargetAsymmetry () |
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void | setContactForceThreshold (double threshold) |
| Set the threshold force value used to detect is a foot is in contact with the ground. More...
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double | getContactForceThreshold () |
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void | setContactForceDirection (const std::string &direction) |
| Set the direction in ground of the total contact force component used to detect foot contact. More...
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std::string | getContactForceDirection () |
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void | setWalkingDirection (const std::string &direction) |
| Set the walking direction of the model in the ground frame, which is used to determine the leading foot during double support. More...
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std::string | getWalkingDirection () |
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void | setAsymmetrySmoothing (double smoothing) |
| Set the values that determines the smoothing of the asymmetry computation. More...
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double | getAsymmetrySmoothing () |
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void | setContactDetectionSmoothing (double smoothing) |
| Set the value that determins the smoothing of the contact force detection. More...
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double | getContactDetectionSmoothing () |
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| MocoGoal () |
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| MocoGoal (std::string name) |
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| MocoGoal (std::string name, double weight) |
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void | setEnabled (bool enabled) |
| Set whether this goal is used in the problem. More...
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bool | getEnabled () const |
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void | setWeight (double weight) |
| In cost mode, the goal is multiplied by this weight. More...
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double | getWeight () const |
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void | setMode (std::string mode) |
| Set the mode property to either 'cost' or 'endpoint_constraint'. More...
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std::string | getModeAsString () const |
| This returns the default mode of the goal, unless the user overrode the default using setMode(). More...
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Mode | getMode () const |
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bool | getModeIsCost () const |
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bool | getModeIsEndpointConstraint () const |
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Mode | getDefaultMode () const |
| Types of goals have a class-level default for whether they are enforced as a cost or endpoint constraint. More...
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bool | getSupportsEndpointConstraint () const |
| Can this goal be used in endpoint constraint mode? More...
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const MocoConstraintInfo & | getConstraintInfo () const |
| Get bounds for the constraints that are enforced when using this goal in endpoint constraint mode. More...
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MocoConstraintInfo & | updConstraintInfo () |
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int | getNumOutputs () const |
| Get the length of the return value of calcGoal(). More...
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int | getNumIntegrals () const |
| Get the number of integrals required by this cost. More...
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SimTK::Stage | getStageDependency () const |
| Obtain the stage that this goal depends on. More...
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SimTK::Real | calcIntegrand (const IntegrandInput &input) const |
| Calculate the integrand that should be integrated and passed to calcCost(). More...
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void | calcGoal (const GoalInput &input, SimTK::Vector &goal) const |
| In cost mode, the returned cost includes the weight, and the elements of the returned vector should be summed by the caller to obtain the total cost. More...
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void | initializeOnModel (const Model &model) const |
| Perform error checks on user input for this goal, and cache quantities needed when computing the goal value. More...
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std::vector< MocoScaleFactor > | getScaleFactors () const |
| Get a vector of the MocoScaleFactors added to this MocoGoal. More...
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void | printDescription () const |
| Print the name type and mode of this goal. More...
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virtual | ~Object () |
| Virtual destructor for cleanup. More...
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bool | isEqualTo (const Object &aObject) const |
| Equality operator wrapper for use from languages not supporting operator overloading. More...
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Object & | operator= (const Object &aObject) |
| Copy assignment copies he base class fields, including the properties. More...
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virtual bool | operator== (const Object &aObject) const |
| Determine if two objects are equal. More...
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virtual bool | operator< (const Object &aObject) const |
| Provide an ordering for objects so they can be put in sorted containers. More...
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void | setName (const std::string &name) |
| Set the name of the Object. More...
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const std::string & | getName () const |
| Get the name of this Object. More...
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void | setDescription (const std::string &description) |
| Set description, a one-liner summary. More...
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const std::string & | getDescription () const |
| Get description, a one-liner summary. More...
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const std::string & | getAuthors () const |
| Get Authors of this Object. More...
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void | setAuthors (const std::string &authors) |
| Set Authors of this object. More...
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const std::string & | getReferences () const |
| Get references or publications to cite if using this object. More...
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void | setReferences (const std::string &references) |
| Set references or publications to cite if using this object. More...
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int | getNumProperties () const |
| Determine how many properties are stored with this Object. More...
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const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| Get a const reference to a property by its index number, returned as an AbstractProperty. More...
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AbstractProperty & | updPropertyByIndex (int propertyIndex) |
| Get a writable reference to a property by its index number, returned as an AbstractProperty. More...
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bool | hasProperty (const std::string &name) const |
| Return true if this Object has a property of any type with the given name, which must not be empty. More...
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const AbstractProperty & | getPropertyByName (const std::string &name) const |
| Get a const reference to a property by its name, returned as an AbstractProperty. More...
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AbstractProperty & | updPropertyByName (const std::string &name) |
| Get a writable reference to a property by its name, returned as an AbstractProperty. More...
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template<class T > |
bool | hasProperty () const |
| Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...
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template<class T > |
const Property< T > & | getProperty (const PropertyIndex &index) const |
| Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...
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template<class T > |
Property< T > & | updProperty (const PropertyIndex &index) |
| Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...
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bool | isObjectUpToDateWithProperties () const |
| Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...
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void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
| We're given an XML element from which we are to populate this Object. More...
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virtual void | updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber) |
| Use this method to deserialize an object from a SimTK::Xml::Element. More...
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void | updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const |
| Serialize this object into the XML node that represents it. More...
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bool | getInlined () const |
| Inlined means an in-memory Object that is not associated with an XMLDocument. More...
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void | setInlined (bool aInlined, const std::string &aFileName="") |
| Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...
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std::string | getDocumentFileName () const |
| If there is a document associated with this object then return the file name maintained by the document. More...
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int | getDocumentFileVersion () const |
| If there is a document associated with this object then return its version number. More...
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void | setAllPropertiesUseDefault (bool aUseDefault) |
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bool | print (const std::string &fileName) const |
| Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...
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std::string | dump () const |
| dump the XML representation of this Object into an std::string and return it. More...
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virtual bool | isA (const char *type) const |
| The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...
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const std::string & | toString () const |
| Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...
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PropertySet & | getPropertySet () |
| OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...
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const PropertySet & | getPropertySet () const |
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static MocoGoal * | safeDownCast (OpenSim::Object *obj) |
| For use in MATLAB and Python to access the concrete class. More...
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static const std::string & | getClassName () |
| This returns "MocoGoal". More...
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static void | registerType (const Object &defaultObject) |
| Register an instance of a class; if the class is already registered it will be replaced. More...
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static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
| Support versioning by associating the current Object type with an old name. More...
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static const Object * | getDefaultInstanceOfType (const std::string &concreteClassName) |
| Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered. More...
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template<class T > |
static bool | isObjectTypeDerivedFrom (const std::string &concreteClassName) |
| Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*. More...
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static Object * | newInstanceOfType (const std::string &concreteClassName) |
| Create a new instance of the concrete Object type whose class name is given as concreteClassName. More...
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static void | getRegisteredTypenames (Array< std::string > &typeNames) |
| Retrieve all the typenames registered so far. More...
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template<class T > |
static void | getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray) |
| Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete. More...
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static bool | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName, bool printFlagInfo=true) |
| Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects. More...
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static bool | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName, bool printFlagInfo=true) |
| Same as the other signature but the class name and property name are provided as two separate strings. More...
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static Object * | makeObjectFromFile (const std::string &fileName) |
| Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in. More...
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static const std::string & | getClassName () |
| Return the name of this class as a string; i.e., "Object". More...
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static void | setSerializeAllDefaults (bool shouldSerializeDefaults) |
| Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically. More...
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static bool | getSerializeAllDefaults () |
| Report the value of the "serialize all defaults" flag. More...
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static bool | isKindOf (const char *type) |
| Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name. More...
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static void | setDebugLevel (int newLevel) |
| Set the amount of logging output. More...
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static int | getDebugLevel () |
| Get the current setting of debug level. More...
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static Object * | SafeCopy (const Object *aObject) |
| Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned. More...
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static void | RegisterType (const Object &defaultObject) |
| OBSOLETE alternate name for registerType(). More...
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static void | RenameType (const std::string &oldName, const std::string &newName) |
| OBSOLETE alternate name for renameType(). More...
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Minimize the error between a model's step time asymmetry and a specified target asymmetry value over a gait cycle.
Step time is defined as the time between consecutive foot strikes. Step Time Asymmetry (STA) is a ratio and is calculated as follows:
- Right Step Time (RST) = Time from left foot-strike to right foot-strike
- Left Step Time (LST) = Time from right foot-strike to left foot-strike
- STA = (RST - LST) / (RST + LST)
In this goal, the step time asymmetry is computed by "counting" the number of nodes that each foot is in contact with the ground (with respect to a specified contact force threshold). Since, in walking, there are double support phases where both feet are on the ground, the goal also detects which foot is in front and assigns the step time to the leading foot. Altogether, it estimates the time between consecutive heel strikes in order to infer the left and right step times.
The contact elements for each foot must specified via 'setLeftContactGroup()' and 'setRightContactGroup()'. The force element and force threshold used to determine when a foot is in contact is set via 'setContactForceDirection()' and 'setContactForceThreshold()'.
Users must provide the target asymmetry value via 'setTargetAsymmetry()'. Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20% positive step time asymmetry with greater right step times than left step times. A symmetric step times solution can be achieved by setting this property to zero. This goal can be used only in 'cost' mode, where the error between the target asymmetry and model asymmetry is squared. To make this goal suitable for gradient-based optimization, step time values are assigned via smoothing functions which can be controlled via 'setAsymmetrySmoothing()' and 'setContactDetectionSmoothing()'.
- Note
- This goal is designed for simulations of bipedal gait.
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The only contact element supported is SmoothSphereHalfSpaceForce.
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Since this goal approximates step time asymmetry, users should calculate the true asymmetry value after running an optimization.