This goal minimizes the sum of muscle activations to a specified power, optionally allowing custom weights for specific muscles. More...

#include <MocoActivationGoal.h>

Inheritance diagram for MocoActivationGoal:

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Public Member Functions
	MocoActivationGoal ()
	Default constructor.

	MocoActivationGoal (std::string name)
	Constructor with name.

	MocoActivationGoal (std::string name, double weight)
	Constructor with name and weight.

void	setEndPointGoal (double end_point_goal)
	Set the target value when using this goal as an endpoint constraint.

double	getEndPointGoal () const
	Get the endpoint constraint target value.

void	setExponent (int ex)
	Set the exponent applied to activation values.

bool	getExponent () const
	Get the current exponent value.

void	setCustomWeightNames (const std::vector< std::string > refCoordNames)
	Set the names of states to apply custom weights to.

void	setCustomWeightValues (const std::vector< double > refWeights)
	Set the custom weight values corresponding to the custom state names.

void	setDivideByDisplacement (bool tf)
	Set whether to divide the sum of activations by displacement.

bool	getDivideByDisplacement () const
	Get whether the sum is divided by displacement.

void	setEndPointGoal (double end_point_goal)
	Set the target value when using this goal as an endpoint constraint.

double	getEndPointGoal () const
	Get the endpoint constraint target value.

Constructors
	MocoActivationGoal ()
	Default constructor.

	MocoActivationGoal (std::string name)
	Constructor with name.

	MocoActivationGoal (std::string name, double weight)
	Constructor with name and weight.

Protected Member Functions
Mode	getDefaultModeImpl () const override

bool	getSupportsEndpointConstraintImpl () const override

void	initializeOnModelImpl (const Model &) const override

void	calcIntegrandImpl (const IntegrandInput &input, double &integrand) const override

void	calcGoalImpl (const GoalInput &input, SimTK::Vector &cost) const override

Required implementations of virtual methods
Mode	getDefaultModeImpl () const override
	Get the default mode for this goal.

bool	getSupportsEndpointConstraintImpl () const override
	Whether this goal supports endpoint constraint mode.

void	initializeOnModelImpl (const Model &) const override
	Initialize the goal with the model.

void	calcIntegrandImpl (const IntegrandInput &input, double &integrand) const override
	Calculate the integrand value for the cost function.

void	calcGoalImpl (const GoalInput &input, SimTK::Vector &cost) const override
	Calculate the goal value.

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoActivationGoal, MocoGoal)

	OpenSim_DECLARE_PROPERTY (exponent, int, "The exponent applied to the output value in the integrand. " "The output can take on negative values in the integrand when the " "exponent is set to 1 (the default value). When the exponent is " "set to a value greater than 1, the absolute value function is " "applied to the output (before the exponent is applied), meaning " "that odd numbered exponents (greater than 1) do not take on " "negative values.")

	OpenSim_DECLARE_PROPERTY (end_point_goal, double, "Target value for end-point goal (default: 0)")

void	constructProperties ()

	OpenSim_DECLARE_CONCRETE_OBJECT (MocoActivationGoal, MocoGoal)

void	constructProperties ()
	Initialize the goal's properties.

Properties
	OpenSim_DECLARE_PROPERTY (divide_by_displacement, bool, "Divide by the model's displacement over the phase (default: " "false)")

	OpenSim_DECLARE_PROPERTY (exponent, int, "The exponent applied to the output value in the integrand. " "The output can take on negative values in the integrand when the " "exponent is set to 1 (the default value). When the exponent is " "set to a value greater than 1, the absolute value function is " "applied to the output (before the exponent is applied), meaning " "that odd numbered exponents (greater than 1) do not take on " "negative values.")

	OpenSim_DECLARE_PROPERTY (end_point_goal, double, "Target value for end-point goal (default: 0)")

Private Attributes
std::vector< std::string >	m_state_names

std::vector< double >	m_custom_weights

std::vector< double >	m_custom_weights_input

std::vector< std::string >	m_custom_state_names

std::vector< int >	m_custom_act_indices

Internal working variables
std::vector< int >	m_act_indices
	Indices of activation states in the model.

std::function< double(const double &)>	m_power_function

Detailed Description

This goal minimizes the sum of muscle activations to a specified power, optionally allowing custom weights for specific muscles.

Goal that minimizes muscle activation effort in a Moco optimization problem.

The integrand is:

$\sum_i w_i |a_i|^p$

where are the activation values, are the weights (default: 1.0), and is the exponent (default: 2).

This goal minimizes the sum of muscle activation values raised to a power, integrated over the phase. The integrand is:

$\sum_i |a_i|^p$

where are the activation values and is the exponent (default: 2).

This goal can be useful for:

Minimizing overall muscle effort
Finding metabolically efficient motions
Reducing co-contraction

The goal can optionally be divided by the total displacement of the model during the phase to make the cost invariant to the distance traveled.

Constructor & Destructor Documentation

◆ MocoActivationGoal() [1/6]

MocoActivationGoal ( )

inline

Default constructor.

◆ MocoActivationGoal() [2/6]

MocoActivationGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoActivationGoal() [3/6]

MocoActivationGoal	(	std::string	name,
		double	weight )

inline

Constructor with name and weight.

Parameters

name	The name of the goal
weight	Weight for this goal term in the optimization

◆ MocoActivationGoal() [4/6]

MocoActivationGoal ( )

inline

Default constructor.

◆ MocoActivationGoal() [5/6]

MocoActivationGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoActivationGoal() [6/6]

MocoActivationGoal	(	std::string	name,
		double	weight )

inline

Constructor with name and weight.

Parameters

name	The name of the goal
weight	Weight for this goal term in the optimization

Member Function Documentation

◆ calcGoalImpl() [1/2]

void calcGoalImpl	(	const GoalInput &	input,
		SimTK::Vector &	cost ) const

overrideprotected

◆ calcGoalImpl() [2/2]

void calcGoalImpl	(	const GoalInput &	input,
		SimTK::Vector &	cost ) const

overrideprotected

Calculate the goal value.

Parameters

input	Input data containing the integral
cost	Vector to store the calculated cost

◆ calcIntegrandImpl() [1/2]

void calcIntegrandImpl	(	const IntegrandInput &	input,
		double &	integrand ) const

overrideprotected

◆ calcIntegrandImpl() [2/2]

void calcIntegrandImpl	(	const IntegrandInput &	input,
		double &	integrand ) const

overrideprotected

Calculate the integrand value for the cost function.

Parameters

input	Input data for the current state
integrand	Reference to store the calculated integrand value

◆ constructProperties() [1/2]

void constructProperties ( )

private

◆ constructProperties() [2/2]

void constructProperties ( )

private

Initialize the goal's properties.

◆ getDefaultModeImpl() [1/2]

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

◆ getDefaultModeImpl() [2/2]

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

Get the default mode for this goal.

◆ getDivideByDisplacement()

bool getDivideByDisplacement ( ) const

inline

Get whether the sum is divided by displacement.

Returns: True if divided by displacement, false otherwise

◆ getEndPointGoal() [1/2]

double getEndPointGoal ( ) const

inline

Get the endpoint constraint target value.

Returns: The target value for endpoint constraint mode

◆ getEndPointGoal() [2/2]

double getEndPointGoal ( ) const

inline

Get the endpoint constraint target value.

Returns: The target value for endpoint constraint mode

◆ getExponent()

bool getExponent ( ) const

inline

Get the current exponent value.

Returns: The exponent applied to activation values

◆ getSupportsEndpointConstraintImpl() [1/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

◆ getSupportsEndpointConstraintImpl() [2/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

◆ initializeOnModelImpl() [1/2]

void initializeOnModelImpl ( const Model & model ) const

overrideprotected

◆ initializeOnModelImpl() [2/2]

void initializeOnModelImpl ( const Model & ) const

overrideprotected

Initialize the goal with the model.

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [1/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoActivationGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoActivationGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_PROPERTY() [1/5]

OpenSim_DECLARE_PROPERTY	(	divide_by_displacement	,
		bool	,
		"Divide by the model's displacement over the phase (default: " "false)"	)

private

◆ OpenSim_DECLARE_PROPERTY() [2/5]

OpenSim_DECLARE_PROPERTY	(	end_point_goal	,
		double	,
		"Target value for end-point goal (default: 0)"	)

private

◆ OpenSim_DECLARE_PROPERTY() [3/5]

OpenSim_DECLARE_PROPERTY	(	end_point_goal	,
		double	,
		"Target value for end-point goal (default: 0)"	)

private

◆ OpenSim_DECLARE_PROPERTY() [4/5]

OpenSim_DECLARE_PROPERTY	(	exponent	,
		int	,
		"The exponent applied to the output value in the integrand. " "The output can take on negative values in the integrand when the " "exponent is set to 1 (the default value). When the exponent is " "set to a value greater than	1,
		the absolute value function is " "applied to the	outputbefore the exponent is applied,
		meaning " "that odd numbered exponents(greater than 1) do not take on " "negative values."	)

private

◆ OpenSim_DECLARE_PROPERTY() [5/5]

OpenSim_DECLARE_PROPERTY	(	exponent	,
		int	,
		"The exponent applied to the output value in the integrand. " "The output can take on negative values in the integrand when the " "exponent is set to 1 (the default value). When the exponent is " "set to a value greater than	1,
		the absolute value function is " "applied to the	outputbefore the exponent is applied,
		meaning " "that odd numbered exponents(greater than 1) do not take on " "negative values."	)

private

◆ setCustomWeightNames()

void setCustomWeightNames ( const std::vector< std::string > refCoordNames )

inline

Set the names of states to apply custom weights to.

Parameters

refCoordNames Vector of state names

◆ setCustomWeightValues()

void setCustomWeightValues ( const std::vector< double > refWeights )

inline

Set the custom weight values corresponding to the custom state names.

Parameters

refWeights Vector of weights matching the order of custom state names

◆ setDivideByDisplacement()

void setDivideByDisplacement ( bool tf )

inline

Set whether to divide the sum of activations by displacement.

Parameters

tf	True to divide by displacement, false otherwise

Here is the caller graph for this function:

◆ setEndPointGoal() [1/2]

void setEndPointGoal ( double end_point_goal )

inline

Set the target value when using this goal as an endpoint constraint.

Parameters

end_point_goal The target value (default: 0)

◆ setEndPointGoal() [2/2]

void setEndPointGoal ( double end_point_goal )

inline

Set the target value when using this goal as an endpoint constraint.

Parameters

end_point_goal The target value (default: 0)

◆ setExponent()

void setExponent ( int ex )

inline

Set the exponent applied to activation values.

Parameters

ex	The exponent value. For ex > 1, absolute value is applied first

Member Data Documentation

◆ m_act_indices

std::vector< int > m_act_indices

mutableprivate

Indices of activation states in the model.

◆ m_custom_act_indices

std::vector<int> m_custom_act_indices

mutableprivate

◆ m_custom_state_names

std::vector<std::string> m_custom_state_names

mutableprivate

◆ m_custom_weights

std::vector<double> m_custom_weights

mutableprivate

◆ m_custom_weights_input

std::vector<double> m_custom_weights_input

mutableprivate

◆ m_power_function

std::function< double(const double &)> m_power_function

mutableprivate

Function to compute power of activation values

◆ m_state_names

std::vector<std::string> m_state_names

mutableprivate

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

F:/dev/projects/MocoExtendProblem/custom_goals/MocoActivationGoal/MocoActivationGoal.h
F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoActivationGoal/MocoActivationGoal.h
F:/dev/projects/MocoExtendProblem/custom_goals/MocoActivationGoal/MocoActivationGoal.cpp
F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoActivationGoal/MocoActivationGoal.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MocoActivationGoal() [1/6]

◆ MocoActivationGoal() [2/6]

◆ MocoActivationGoal() [3/6]

◆ MocoActivationGoal() [4/6]

◆ MocoActivationGoal() [5/6]

◆ MocoActivationGoal() [6/6]

Member Function Documentation

◆ calcGoalImpl() [1/2]

◆ calcGoalImpl() [2/2]

◆ calcIntegrandImpl() [1/2]

◆ calcIntegrandImpl() [2/2]

◆ constructProperties() [1/2]

◆ constructProperties() [2/2]

◆ getDefaultModeImpl() [1/2]

◆ getDefaultModeImpl() [2/2]

◆ getDivideByDisplacement()

◆ getEndPointGoal() [1/2]

◆ getEndPointGoal() [2/2]

◆ getExponent()

◆ getSupportsEndpointConstraintImpl() [1/2]

◆ getSupportsEndpointConstraintImpl() [2/2]

◆ initializeOnModelImpl() [1/2]

◆ initializeOnModelImpl() [2/2]

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [1/2]

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

◆ OpenSim_DECLARE_PROPERTY() [1/5]

◆ OpenSim_DECLARE_PROPERTY() [2/5]

◆ OpenSim_DECLARE_PROPERTY() [3/5]

◆ OpenSim_DECLARE_PROPERTY() [4/5]

◆ OpenSim_DECLARE_PROPERTY() [5/5]

◆ setCustomWeightNames()

◆ setCustomWeightValues()

◆ setDivideByDisplacement()

◆ setEndPointGoal() [1/2]

◆ setEndPointGoal() [2/2]

◆ setExponent()

Member Data Documentation

◆ m_act_indices

◆ m_custom_act_indices

◆ m_custom_state_names

◆ m_custom_weights

◆ m_custom_weights_input

◆ m_power_function

◆ m_state_names