This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods. More...

Inheritance diagram for OpenSim::MocoTool:

OpenSim Properties, Sockets, Outputs, Inputs
Properties (optional)
double	initial_time
	"The start of the time interval. " "All data must start at or before this time. " "(default: earliest time available in all provided data)" More...

double	final_time
	"The end of the time interval. " "All data must end at or after this time. " "(default: latest time available in all provided data)" More...

Properties (single-value)
double	mesh_interval
	"The time duration of each mesh interval " "(default: 0.020 seconds)." More...

bool	clip_time_range
	"Set the time range to be 1e-3 shorter on both ends to leave space " "for finite difference estimates (default: false)." More...

ModelProcessor	model
	"The musculoskeletal model to use." More...

Public Member Functions
	MocoTool ()

void	setModel (ModelProcessor model)

Property-related functions
const double &	get_initial_time () const
	Get the value of the initial_time property. More...

double &	upd_initial_time ()
	Get a writable reference to the initial_time property. More...

void	set_initial_time (const double &value)
	Set the value of the initial_time property. More...

const double &	get_final_time () const
	Get the value of the final_time property. More...

double &	upd_final_time ()
	Get a writable reference to the final_time property. More...

void	set_final_time (const double &value)
	Set the value of the final_time property. More...

const double &	get_mesh_interval () const
	Get the value of the mesh_interval property. More...

double &	upd_mesh_interval ()
	Get a writable reference to the mesh_interval property. More...

void	set_mesh_interval (const double &value)
	Set the value of the mesh_interval property. More...

const bool &	get_clip_time_range () const
	Get the value of the clip_time_range property. More...

bool &	upd_clip_time_range ()
	Get a writable reference to the clip_time_range property. More...

void	set_clip_time_range (const bool &value)
	Set the value of the clip_time_range property. More...

const ModelProcessor &	get_model () const
	Get the value of the model property. More...

ModelProcessor &	upd_model ()
	Get a writable reference to the model property. More...

void	set_model (const ModelProcessor &value)
	Set the value of the model property. More...

Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup. More...

bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading. More...

Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties. More...

virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal. More...

virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers. More...

void	setName (const std::string &name)
	Set the name of the Object. More...

const std::string &	getName () const
	Get the name of this Object. More...

void	setDescription (const std::string &description)
	Set description, a one-liner summary. More...

const std::string &	getDescription () const
	Get description, a one-liner summary. More...

const std::string &	getAuthors () const
	Get Authors of this Object. More...

void	setAuthors (const std::string &authors)
	Set Authors of this object. More...

const std::string &	getReferences () const
	Get references or publications to cite if using this object. More...

void	setReferences (const std::string &references)
	Set references or publications to cite if using this object. More...

int	getNumProperties () const
	Determine how many properties are stored with this Object. More...

const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty. More...

bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty. More...

const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty. More...

AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty. More...

template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T. More...

template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type. More...

template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type. More...

bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called. More...

void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object. More...

virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element. More...

void	updateXMLNode (SimTK::Xml::Element &parent, const AbstractProperty *prop=nullptr) const
	Serialize this object into the XML node that represents it. More...

bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument. More...

void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case. More...

std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document. More...

int	getDocumentFileVersion () const
	If there is a document associated with this object then return its version number. More...

void	setAllPropertiesUseDefault (bool aUseDefault)

bool	print (const std::string &fileName) const
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim". More...

std::string	dump () const
	dump the XML representation of this Object into an std::string and return it. More...

virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name. More...

const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name. More...

PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object. More...

const PropertySet &	getPropertySet () const

Auto-generated functions
static MocoTool *	safeDownCast (OpenSim::Object *obj)
	For use in MATLAB and Python to access the concrete class. More...

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

MocoTool *	clone () const override=0
	Create a new heap-allocated copy of the concrete object to which this Object refers. More...

const std::string &	getConcreteClassName () const override=0
	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

This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods.

MocoTool Properties

Mesh interval

A smaller mesh interval increases the convergence time, but is necessary for fast motions or problems with stiff differential equations (e.g., stiff tendons). For gait, consider using a mesh interval between 0.01 and 0.05 seconds. Try solving your problem with decreasing mesh intervals and choose a mesh interval at which the solution stops changing noticeably.

Reserve actuators

Sometimes it is not possible to achieve the desired motion using muscles alone. There are multiple possible causes for this:

the muscles are not strong enough to achieve the required net joint moments,
the net joint moments change more rapidly than activation and deactivation time constants allow,
the filtering of the data causes unrealistic desired net joint moments. You may want to add "reserve" actuators to your model. This can be done with the ModOpAddReserves model operator.

Constructor & Destructor Documentation

◆ MocoTool()

OpenSim::MocoTool::MocoTool ( )

inline

Member Function Documentation

◆ clone()

MocoTool* OpenSim::MocoTool::clone ( ) const

overridepure virtual

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.

Implemented in OpenSim::MocoTrack, and OpenSim::MocoInverse.

◆ get_clip_time_range()

const bool& OpenSim::MocoTool::get_clip_time_range ( ) const

inline

Get the value of the clip_time_range property.

◆ get_final_time()

const double& OpenSim::MocoTool::get_final_time ( ) const

inline

Get the value of the final_time property.

◆ get_initial_time()

const double& OpenSim::MocoTool::get_initial_time ( ) const

inline

Get the value of the initial_time property.

◆ get_mesh_interval()

const double& OpenSim::MocoTool::get_mesh_interval ( ) const

inline

Get the value of the mesh_interval property.

◆ get_model()

const ModelProcessor& OpenSim::MocoTool::get_model ( ) const

inline

Get the value of the model property.

◆ getClassName()

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

inlinestatic

This returns "MocoTool".

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

◆ getConcreteClassName()

const std::string& OpenSim::MocoTool::getConcreteClassName ( ) const

overridepure virtual

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.

Implemented in OpenSim::MocoTrack, and OpenSim::MocoInverse.

◆ getDocumentDirectory()

std::string OpenSim::MocoTool::getDocumentDirectory ( ) const

protected

Get the (canonicalized) absolute directory containing the file from which this tool was loaded.

If the tool was not loaded from a file, this returns an empty string.

◆ getFilePath()

std::string OpenSim::MocoTool::getFilePath ( const std::string & file ) const

protected

Get the canonicalized absolute pathname with respect to the setup file directory from a given pathname which can be relative or absolute.

Here, canonicalized means that the pathname is analyzed and possibly modified to conform to the current platform.

◆ safeDownCast()

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

inlinestatic

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

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

◆ set_clip_time_range()

void OpenSim::MocoTool::set_clip_time_range ( const bool & value )

inline

Set the value of the clip_time_range property.

◆ set_final_time()

void OpenSim::MocoTool::set_final_time ( const double & value )

inline

Set the value of the final_time property.

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

◆ set_initial_time()

void OpenSim::MocoTool::set_initial_time ( const double & value )

inline

Set the value of the initial_time property.

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

◆ set_mesh_interval()

void OpenSim::MocoTool::set_mesh_interval ( const double & value )

inline

Set the value of the mesh_interval property.

Examples:: exampleMocoInverse.cpp, and exampleMocoTrack.cpp.

◆ set_model()

void OpenSim::MocoTool::set_model ( const ModelProcessor & value )

inline

Set the value of the model property.

Referenced by setModel().

◆ setModel()

void OpenSim::MocoTool::setModel ( ModelProcessor model )

inline

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

References model, and set_model().

◆ upd_clip_time_range()

bool& OpenSim::MocoTool::upd_clip_time_range ( )

inline

Get a writable reference to the clip_time_range property.

◆ upd_final_time()

double& OpenSim::MocoTool::upd_final_time ( )

inline

Get a writable reference to the final_time property.

◆ upd_initial_time()

double& OpenSim::MocoTool::upd_initial_time ( )

inline

Get a writable reference to the initial_time property.

◆ upd_mesh_interval()

double& OpenSim::MocoTool::upd_mesh_interval ( )

inline

Get a writable reference to the mesh_interval property.

◆ upd_model()

ModelProcessor& OpenSim::MocoTool::upd_model ( )

inline

Get a writable reference to the model property.

◆ updateTimeInfo()

void OpenSim::MocoTool::updateTimeInfo	(	const std::string &	dataLabel,
		const double &	dataInitial,
		const double &	dataFinal,
		TimeInfo &	info
	)		const

protected

This function updates a TimeInfo so the initial and final times are within the data times provided.

If the user provided a value for the initial_time or final_time properties, then this ensures the user-provided times are within the data times, and the info is updated to use the user-provided times. Finally, the TimeInfo.numMeshPoints field is updated based on the mesh_interval property.

OpenSim Property, Socket, Output, Input Documentation

◆ clip_time_range

bool OpenSim::MocoTool::clip_time_range

"Set the time range to be 1e-3 shorter on both ends to leave space " "for finite difference estimates (default: false)."

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

See also: get_clip_time_range(), upd_clip_time_range(), set_clip_time_range()

◆ final_time

double OpenSim::MocoTool::final_time

"The end of the time interval. " "All data must end at or after this time. " "(default: latest time available in all provided data)"

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

See also: get_final_time(), upd_final_time(), set_final_time()

◆ initial_time

double OpenSim::MocoTool::initial_time

"The start of the time interval. " "All data must start at or before this time. " "(default: earliest time available in all provided data)"

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

See also: get_initial_time(), upd_initial_time(), set_initial_time()

◆ mesh_interval

double OpenSim::MocoTool::mesh_interval

"The time duration of each mesh interval " "(default: 0.020 seconds)."

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

See also: get_mesh_interval(), upd_mesh_interval(), set_mesh_interval()

◆ model

ModelProcessor OpenSim::MocoTool::model

"The musculoskeletal model to use."

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()

Referenced by setModel().

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

OpenSim/Moco/MocoTool.h

OpenSim Properties, Sockets, Outputs, Inputs

Public Member Functions

Auto-generated functions

Additional Inherited Members

Detailed Description

MocoTool Properties

Mesh interval

Reserve actuators

Constructor & Destructor Documentation

◆ MocoTool()

Member Function Documentation

◆ clone()

◆ get_clip_time_range()

◆ get_final_time()

◆ get_initial_time()

◆ get_mesh_interval()

◆ get_model()

◆ getClassName()

◆ getConcreteClassName()

◆ getDocumentDirectory()

◆ getFilePath()

◆ safeDownCast()

◆ set_clip_time_range()

◆ set_final_time()

◆ set_initial_time()

◆ set_mesh_interval()

◆ set_model()

◆ setModel()

◆ upd_clip_time_range()

◆ upd_final_time()

◆ upd_initial_time()

◆ upd_mesh_interval()

◆ upd_model()

◆ updateTimeInfo()

OpenSim Property, Socket, Output, Input Documentation

◆ clip_time_range

◆ final_time

◆ initial_time

◆ mesh_interval

◆ model