Goal that minimizes the squared sum of muscle activations. More...

#include <MocoActivationSquaredGoal.h>

Inheritance diagram for MocoActivationSquaredGoal:

[legend]

Public Member Functions
void	setEndPointGoal (double end_point_goal)
	Set the target value for endpoint goal evaluation.

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

void	setDivideByDisplacement (bool tf)
	Set whether to divide the sum of squared 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
	MocoActivationSquaredGoal ()
	Default constructor.

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

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

	MocoActivationSquaredGoal ()
	Default constructor.

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

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

Protected Member Functions
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.

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 (MocoActivationSquaredGoal, MocoGoal)

void	constructProperties ()
	Initialize the goal's properties.

	OpenSim_DECLARE_CONCRETE_OBJECT (MocoActivationSquaredGoal, MocoGoal)

void	constructProperties ()
	Initialize the goal's properties.

Properties
	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)")

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

std::function< double(const double &)>	m_power_function
	Function to compute power of activation values.

Detailed Description

Goal that minimizes the squared sum of muscle activations.

This goal minimizes the sum of squared muscle activations, integrated over the phase. It is equivalent to using MocoActivationGoal with exponent=2. The squared activation cost is commonly used as a proxy for metabolic cost and effort minimization.

This goal can be useful for:

Minimizing muscle effort
Finding metabolically efficient motions
Generating coordinated movement patterns
Reducing co-contraction

The goal can optionally be configured as an endpoint goal, where the squared activations are evaluated only at the final time point instead of being integrated over the phase.

This goal minimizes the sum of squared muscle activation values, integrated over the phase. The integrand is:

$\sum_i a_i^2$

where are the activation values. This is equivalent to MocoActivationGoal with exponent=2, but may be more computationally efficient.

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

◆ MocoActivationSquaredGoal() [1/6]

MocoActivationSquaredGoal ( )

inline

Default constructor.

◆ MocoActivationSquaredGoal() [2/6]

MocoActivationSquaredGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoActivationSquaredGoal() [3/6]

MocoActivationSquaredGoal	(	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

◆ MocoActivationSquaredGoal() [4/6]

MocoActivationSquaredGoal ( )

inline

Default constructor.

◆ MocoActivationSquaredGoal() [5/6]

MocoActivationSquaredGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoActivationSquaredGoal() [6/6]

MocoActivationSquaredGoal	(	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

Calculate the goal value.

Parameters

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

◆ 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

Calculate the integrand value for the cost function.

Parameters

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

◆ 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

Initialize the goal's properties.

◆ constructProperties() [2/2]

void constructProperties ( )

private

Initialize the goal's properties.

◆ getDefaultModeImpl() [1/2]

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

Get the default mode for this goal.

◆ 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 goal target value.

Returns: The target value for endpoint goal evaluation

◆ getEndPointGoal() [2/2]

double getEndPointGoal ( ) const

inline

Get the endpoint constraint target value.

Returns: The target value for endpoint constraint mode

◆ getSupportsEndpointConstraintImpl() [1/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

◆ getSupportsEndpointConstraintImpl() [2/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

◆ initializeOnModelImpl() [1/2]

void initializeOnModelImpl ( const Model & model ) const

overrideprotected

Initialize the goal with the model.

◆ 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	(	MocoActivationSquaredGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoActivationSquaredGoal	,
		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

◆ setDivideByDisplacement()

void setDivideByDisplacement ( bool tf )

inline

Set whether to divide the sum of squared activations by displacement.

Parameters

tf	True to divide by displacement, false otherwise

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◆ setEndPointGoal() [1/2]

void setEndPointGoal ( double end_point_goal )

inline

Set the target value for endpoint goal evaluation.

Parameters

end_point_goal Target value when used as endpoint goal

◆ 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)

Member Data Documentation

◆ m_act_indices

std::vector< int > m_act_indices

mutableprivate

Indices of activation states in the model.

Indices of muscle activation states

◆ m_power_function

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

mutableprivate

Function to compute power of activation values.

Function to compute power of activation values

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

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MocoActivationSquaredGoal() [1/6]

◆ MocoActivationSquaredGoal() [2/6]

◆ MocoActivationSquaredGoal() [3/6]

◆ MocoActivationSquaredGoal() [4/6]

◆ MocoActivationSquaredGoal() [5/6]

◆ MocoActivationSquaredGoal() [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]

◆ 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]

◆ setDivideByDisplacement()

◆ setEndPointGoal() [1/2]

◆ setEndPointGoal() [2/2]

Member Data Documentation

◆ m_act_indices

◆ m_power_function