The top-level class for solving a custom optimal control problem. More...

Inheritance diagram for OpenSim::MocoStudy:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (single-value)
bool	write_solution
	"Should the solution be written to a file at the end of solving " "the problem? Default: false." More...

std::string	results_directory
	"Provide the folder path (relative to working directory) to which " "the solution file should be written. Default: './'." More...

MocoProblem	problem
	"The optimal control problem to solve." More...

MocoSolver	solver
	"The optimal control algorithm for solving the problem." More...

Public Member Functions
	MocoStudy ()

	MocoStudy (const std::string &omocoFile)
	Load a MocoStudy setup file. More...

const MocoProblem &	getProblem () const
	Access the MocoProblem within this study. More...

MocoProblem &	updProblem ()
	Access the MocoProblem within this study. More...

MocoCasADiSolver &	initCasADiSolver ()
	Call this method once you have finished setting up your MocoProblem. More...

MocoTropterSolver &	initTropterSolver ()
	Call this method once you have finished setting up your MocoProblem. More...

MocoSolver &	updSolver ()
	Access the solver. More...

MocoSolution	solve () const
	Solve the provided MocoProblem using the provided MocoSolver, and obtain the solution to the problem. More...

void	visualize (const MocoTrajectory &it) const
	Interactively visualize a trajectory using the simbody-visualizer. More...

TimeSeriesTable	analyze (const MocoTrajectory &it, std::vector< std::string > outputPaths) const
	Calculate the requested outputs using the model in the problem and the states and controls in the MocoTrajectory. More...

template<>
OSIMMOCO_API MocoTropterSolver &	initSolver ()

template<>
OSIMMOCO_API MocoCasADiSolver &	initSolver ()

Using other solvers
template<typename SolverType >
void	setCustomSolver ()

template<typename SolverType >
SolverType &	initSolver ()

template<typename SolverType >
SolverType &	updSolver ()

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

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

MocoStudy *	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...

Property-related functions
const bool &	get_write_solution () const
	Get the value of the write_solution property. More...

bool &	upd_write_solution ()
	Get a writable reference to the write_solution property. More...

void	set_write_solution (const bool &value)
	Set the value of the write_solution property. More...

const std::string &	get_results_directory () const
	Get the value of the results_directory property. More...

std::string &	upd_results_directory ()
	Get a writable reference to the results_directory property. More...

void	set_results_directory (const std::string &value)
	Set the value of the results_directory property. More...

const MocoProblem &	get_problem () const
	Get the value of the problem property. More...

MocoProblem &	upd_problem ()
	Get a writable reference to the problem property. More...

void	set_problem (const MocoProblem &value)
	Set the value of the problem property. More...

const MocoSolver &	get_solver () const
	Get the value of the solver property. More...

MocoSolver &	upd_solver ()
	Get a writable reference to the solver property. More...

void	set_solver (const MocoSolver &value)
	Set the value of the solver property. 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 top-level class for solving a custom optimal control problem.

This class consists of a MocoProblem, which describes the optimal control problem, and a MocoSolver, which describes the numerical method for solving the problem.

Workflow

When building a MocoStudy programmatically (e.g., in C++), the workflow is as follows:

Build the MocoProblem (set the model, constraints, etc.).
Call MocoStudy::initSolver(), which returns a reference to the MocoSolver. After this, you cannot edit the MocoProblem.
Edit the settings of the MocoSolver (returned by initSolver()).
Call MocoStudy::solve(). This returns the MocoSolution.
(Optional) Postprocess the solution, perhaps using MocoStudy::visualize().

After calling solve(), you can edit the MocoProblem and/or the MocoSolver. You can then call solve() again, if you wish.

Obtaining the solution

The most common way to obtain the MocoStudy is in code, using the MocoSolution object returned by solve(). This norm differs from the behavior of OpenSim's other tools, which do not make their results available in code and instead write their results to file. If you want MocoStudy to write the solution to file at the end of solve(), use set_write_solution() and set_results_directory(). The name of the solution file is "<study-name>_solution.sto" or "MocoStudy_solution.sto" if the MocoStudy object has no name. Alternatively, you can write the solution to file yourself:

MocoSolution solution = study.solve();

solution.write("solution.sto");

Saving the study setup to a file

You can save the MocoStudy to a file by calling MocoStudy::print(), and you can load the setup using MocoStudy(const std::string& omocoFile). MocoStudy setup files have a .omoco extension.

Solver

The default solver, MocoCasADiSolver, uses the CasADi automatic differentiation and optimization library. Moco also provides the MocoTropterSolver, which uses the tropter optimal control library that is part of the OpenSim project. If you want to use MocoTropterSolver instead of MocoCasADiSolver, call initTropterSolver() before solve(). We would like to support users plugging in their own solvers, but there is no timeline for this.

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleCustomImplicitAuxiliaryDynamics.cpp, exampleHangingMuscle.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

Constructor & Destructor Documentation

◆ MocoStudy() [1/2]

OpenSim::MocoStudy::MocoStudy ( )

◆ MocoStudy() [2/2]

OpenSim::MocoStudy::MocoStudy ( const std::string & omocoFile )

Load a MocoStudy setup file.

Member Function Documentation

◆ analyze()

TimeSeriesTable OpenSim::MocoStudy::analyze	(	const MocoTrajectory &	it,
		std::vector< std::string >	outputPaths
	)		const

Calculate the requested outputs using the model in the problem and the states and controls in the MocoTrajectory.

The output paths can be regular expressions. For example, ".*activation" gives the activation of all muscles. Constraints are not enforced but prescribed motion (e.g., PositionMotion) is.

See also: OpenSim::analyze()

Note: Parameters in the MocoTrajectory are not applied to the model.

◆ clone()

MocoStudy* OpenSim::MocoStudy::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_problem()

const MocoProblem& OpenSim::MocoStudy::get_problem ( ) const

inlineprotected

Get the value of the problem property.

◆ get_results_directory()

const std::string& OpenSim::MocoStudy::get_results_directory ( ) const

inline

Get the value of the results_directory property.

◆ get_solver()

const MocoSolver& OpenSim::MocoStudy::get_solver ( ) const

inlineprotected

Get the value of the solver property.

◆ get_write_solution()

const bool& OpenSim::MocoStudy::get_write_solution ( ) const

inline

Get the value of the write_solution property.

◆ getClassName()

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

inlinestatic

This returns "MocoStudy".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoStudy::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.

◆ getProblem()

const MocoProblem& OpenSim::MocoStudy::getProblem ( ) const

Access the MocoProblem within this study.

◆ initCasADiSolver()

MocoCasADiSolver& OpenSim::MocoStudy::initCasADiSolver ( )

Call this method once you have finished setting up your MocoProblem.

This returns a reference to the MocoSolver, which you can then edit. If using this method in C++, make sure to include the "&" in the return type; otherwise, you'll make a copy of the solver, and the copy will have no effect on this MocoStudy. This deletes the previous solver if one exists.

Examples:: example2DWalking.cpp, exampleHangingMuscle.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

◆ initSolver() [1/3]

template<typename SolverType >

SolverType& OpenSim::MocoStudy::initSolver ( )

inline

Precondition(s):: If not using MocoTropterSolver or MocoCasADiSolver, you must invoke setCustomSolver() first.

◆ initSolver() [2/3]

template<>

OSIMMOCO_API MocoTropterSolver& OpenSim::MocoStudy::initSolver ( )

◆ initSolver() [3/3]

template<>

OSIMMOCO_API MocoCasADiSolver& OpenSim::MocoStudy::initSolver ( )

◆ initTropterSolver()

MocoTropterSolver& OpenSim::MocoStudy::initTropterSolver ( )

Call this method once you have finished setting up your MocoProblem.

This returns a reference to the MocoSolver, which you can then edit. If using this method in C++, make sure to include the "&" in the return type; otherwise, you'll make a copy of the solver, and the copy will have no effect on this MocoStudy. This deletes the previous solver if one exists.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_problem()

void OpenSim::MocoStudy::set_problem ( const MocoProblem & value )

inlineprotected

Set the value of the problem property.

◆ set_results_directory()

void OpenSim::MocoStudy::set_results_directory ( const std::string & value )

inline

Set the value of the results_directory property.

◆ set_solver()

void OpenSim::MocoStudy::set_solver ( const MocoSolver & value )

inlineprotected

Set the value of the solver property.

◆ set_write_solution()

void OpenSim::MocoStudy::set_write_solution ( const bool & value )

inline

Set the value of the write_solution property.

◆ setCustomSolver()

template<typename SolverType >

void OpenSim::MocoStudy::setCustomSolver ( )

inline

◆ solve()

MocoSolution OpenSim::MocoStudy::solve ( ) const

Solve the provided MocoProblem using the provided MocoSolver, and obtain the solution to the problem.

If the write_solution property is true, then the solution is also written to disk in the directory specified in the results_directory property.

Precondition(s):

You must have finished setting up both the problem and solver.

This reinitializes the solver so that any changes you have made will hold.

Use MocoSolution::success() on the returned solution to detect if the solver succeeded. If the solver did not succeed the solution will be sealed: you will not be able to use the failed solution until you acknowledge the failure by invoking MocoSolution::unseal().

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleCustomImplicitAuxiliaryDynamics.cpp, exampleHangingMuscle.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

◆ upd_problem()

MocoProblem& OpenSim::MocoStudy::upd_problem ( )

inlineprotected

Get a writable reference to the problem property.

◆ upd_results_directory()

std::string& OpenSim::MocoStudy::upd_results_directory ( )

inline

Get a writable reference to the results_directory property.

◆ upd_solver()

MocoSolver& OpenSim::MocoStudy::upd_solver ( )

inlineprotected

Get a writable reference to the solver property.

◆ upd_write_solution()

bool& OpenSim::MocoStudy::upd_write_solution ( )

inline

Get a writable reference to the write_solution property.

◆ updProblem()

MocoProblem& OpenSim::MocoStudy::updProblem ( )

Access the MocoProblem within this study.

This function allows you to modify the MocoProblem. If using this method in C++, make sure to include the "&" in the return type; otherwise, you'll make a copy of the problem, and the copy will have no effect on this MocoStudy. See this example:

MocoProblem& problem = study.updProblem();

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleCustomImplicitAuxiliaryDynamics.cpp, exampleHangingMuscle.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoInverse.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

◆ updSolver() [1/2]

MocoSolver& OpenSim::MocoStudy::updSolver ( )

Access the solver.

Make sure to call initSolver() beforehand. If using this method in C++, make sure to include the "&" in the return type; otherwise, you'll make a copy of the solver, and the copy will have no effect on this MocoStudy.

Examples:: example2DWalking.cpp, and example2DWalkingMetabolics.cpp.

◆ updSolver() [2/2]

template<typename SolverType >

SolverType& OpenSim::MocoStudy::updSolver ( )

inline

◆ visualize()

void OpenSim::MocoStudy::visualize ( const MocoTrajectory & it ) const

Interactively visualize a trajectory using the simbody-visualizer.

The trajectory could be an initial guess, a solution, etc.

Precondition(s):

The MocoProblem must contain the model corresponding to
the provided trajectory.

Examples:: example2DWalking.cpp, example2DWalkingMetabolics.cpp, exampleMarkerTracking.cpp, exampleMocoCustomEffortGoal.cpp, exampleMocoTrack.cpp, exampleSlidingMass.cpp, exampleSlidingMassAdvanced.cpp, and exampleTracking.cpp.

OpenSim Property, Socket, Output, Input Documentation

◆ problem

MocoProblem OpenSim::MocoStudy::problem

"The optimal control problem to solve."

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

See also: get_problem(), upd_problem(), set_problem()

◆ results_directory

std::string OpenSim::MocoStudy::results_directory

"Provide the folder path (relative to working directory) to which " "the solution file should be written. Default: './'."

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

See also: get_results_directory(), upd_results_directory(), set_results_directory()

◆ solver

MocoSolver OpenSim::MocoStudy::solver

"The optimal control algorithm for solving the problem."

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

See also: get_solver(), upd_solver(), set_solver()

◆ write_solution

bool OpenSim::MocoStudy::write_solution

"Should the solution be written to a file at the end of solving " "the problem? Default: false."

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

See also: get_write_solution(), upd_write_solution(), set_write_solution()

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

OpenSim/Moco/MocoStudy.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Property-related functions

Additional Inherited Members

Detailed Description

Workflow

Obtaining the solution

Saving the study setup to a file

Solver

Constructor & Destructor Documentation

◆ MocoStudy() [1/2]

◆ MocoStudy() [2/2]

Member Function Documentation

◆ analyze()

◆ clone()

◆ get_problem()

◆ get_results_directory()

◆ get_solver()

◆ get_write_solution()

◆ getClassName()

◆ getConcreteClassName()

◆ getProblem()

◆ initCasADiSolver()

◆ initSolver() [1/3]

◆ initSolver() [2/3]

◆ initSolver() [3/3]

◆ initTropterSolver()

◆ safeDownCast()

◆ set_problem()

◆ set_results_directory()

◆ set_solver()

◆ set_write_solution()

◆ setCustomSolver()

◆ solve()

◆ upd_problem()

◆ upd_results_directory()

◆ upd_solver()

◆ upd_write_solution()

◆ updProblem()

◆ updSolver() [1/2]

◆ updSolver() [2/2]

◆ visualize()

OpenSim Property, Socket, Output, Input Documentation

◆ problem

◆ results_directory

◆ solver

◆ write_solution