This goal minimizes the distance between the body's center of mass projection and the center of the base of support defined by the foot frames. More...

#include <MocoBOSGoal.h>

Inheritance diagram for MocoBOSGoal:

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Public Member Functions
	MocoBOSGoal ()
	Default constructor.

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

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

void	setExponent (int ex)
	Set the exponent applied to the distance measure.

bool	getExponent () const
	Get the current exponent value.

void	setLeftFootFrame (std::string left_foot)
	Set the frame associated with the left foot.

std::string	getLeftFootFrame () const
	Get the name of the left foot frame.

void	setRightFootFrame (std::string right_foot)
	Set the frame associated with the right foot.

std::string	getRightFootFrame () const
	Get the name of the right foot frame.

void	setExponent (int ex)
	Set the exponent for the deviation term.

bool	getExponent () const
	Get the current exponent value.

void	setDivideByDisplacement (bool tf)
	Set whether to divide by displacement.

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

void	setLeftFootFrame (std::string left_foot)
	Set the body frame for the left foot.

std::string	getLeftFootFrame () const
	Get the name of the left foot frame.

void	setRightFootFrame (std::string right_foot)
	Set the body frame for the right foot.

std::string	getRightFootFrame () const
	Get the name of the right foot frame.

Constructors
	MocoBOSGoal ()
	Default constructor.

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

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

Protected Member Functions
SimTK::Vec3	avg (const SimTK::Vec3 &a, const SimTK::Vec3 &b) const
	Calculate the average of two 3D vectors.

SimTK::Matrix	FlattenSpatialVec (const SimTK::SpatialVec &S) const
	Convert a spatial vector to a matrix representation.

Required implementations of virtual methods
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

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.

SimTK::Vec3	avg (const SimTK::Vec3 &a, const SimTK::Vec3 &b) const
	Calculate the average of two 3D vectors.

SimTK::Matrix	FlattenSpatialVec (const SimTK::SpatialVec &S) const
	Convert a spatial vector to a matrix representation.

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoBOSGoal, 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 (left_foot_frame, std::string, "The model frame associated with the left foot.")

	OpenSim_DECLARE_PROPERTY (right_foot_frame, std::string, "The model frame associated with the right foot.")

void	constructProperties ()

	OpenSim_DECLARE_CONCRETE_OBJECT (MocoBOSGoal, 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 (left_foot_frame, std::string, "The model frame associated with the left foot.")

	OpenSim_DECLARE_PROPERTY (right_foot_frame, std::string, "The model frame associated with the right foot.")

Private Attributes
Internal working variables
std::vector< std::string >	m_force_names

SimTK::ReferencePtr< const Body >	m_left_foot_frame
	Reference to the left foot frame.

SimTK::ReferencePtr< const Body >	m_right_foot_frame
	Reference to the right foot frame.

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

Detailed Description

This goal minimizes the distance between the body's center of mass projection and the center of the base of support defined by the foot frames.

Goal that minimizes the deviation of the base of support (BOS) from a target.

The goal helps maintain balance during movement optimization.

The base of support is calculated using the specified left and right foot frames. The goal can be weighted and the distance measure can be modified using an exponent parameter.

This goal minimizes the deviation of the model's base of support from a desired target location, integrated over the phase. The base of support is calculated using the contact forces and center of pressure between the feet and the ground.

This goal can be useful for:

Improving balance and stability in walking simulations
Controlling foot placement and weight transfer
Minimizing risk of falls

The goal requires specification of frames for both feet to properly calculate the base of support. The deviation 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

◆ MocoBOSGoal() [1/6]

MocoBOSGoal ( )

inline

Default constructor.

◆ MocoBOSGoal() [2/6]

MocoBOSGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoBOSGoal() [3/6]

MocoBOSGoal	(	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

◆ MocoBOSGoal() [4/6]

MocoBOSGoal ( )

inline

Default constructor.

◆ MocoBOSGoal() [5/6]

MocoBOSGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoBOSGoal() [6/6]

MocoBOSGoal	(	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

◆ avg() [1/2]

SimTK::Vec3 avg	(	const SimTK::Vec3 &	a,
		const SimTK::Vec3 &	b ) const

protected

Calculate the average of two 3D vectors.

Parameters

a	First vector
b	Second vector

Returns: Average vector

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◆ avg() [2/2]

SimTK::Vec3 avg	(	const SimTK::Vec3 &	a,
		const SimTK::Vec3 &	b ) const

protected

Calculate the average of two 3D vectors.

Parameters

a	First vector
b	Second vector

Returns: Average vector

◆ 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

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◆ 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.

◆ FlattenSpatialVec() [1/2]

SimTK::Matrix FlattenSpatialVec ( const SimTK::SpatialVec & S ) const

protected

Convert a spatial vector to a matrix representation.

Parameters

S	Spatial vector to flatten

Returns: Matrix representation

◆ FlattenSpatialVec() [2/2]

SimTK::Matrix FlattenSpatialVec ( const SimTK::SpatialVec & S ) const

protected

Convert a spatial vector to a matrix representation.

Parameters

S	Spatial vector to flatten

Returns: Matrix representation

◆ 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 goal is divided by displacement.

Returns: True if divided by displacement, false otherwise

◆ getExponent() [1/2]

bool getExponent ( ) const

inline

Get the current exponent value.

Returns: The exponent applied to the distance measure

◆ getExponent() [2/2]

bool getExponent ( ) const

inline

Get the current exponent value.

Returns: The exponent value

◆ getLeftFootFrame() [1/2]

std::string getLeftFootFrame ( ) const

inline

Get the name of the left foot frame.

Returns: Name of the left foot frame

◆ getLeftFootFrame() [2/2]

std::string getLeftFootFrame ( ) const

inline

Get the name of the left foot frame.

Returns: Name of the left foot frame

◆ getRightFootFrame() [1/2]

std::string getRightFootFrame ( ) const

inline

Get the name of the right foot frame.

Returns: Name of the right foot frame

◆ getRightFootFrame() [2/2]

std::string getRightFootFrame ( ) const

inline

Get the name of the right foot frame.

Returns: Name of the right foot frame

◆ 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	(	MocoBOSGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoBOSGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_PROPERTY() [1/7]

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

private

◆ OpenSim_DECLARE_PROPERTY() [2/7]

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() [3/7]

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() [4/7]

OpenSim_DECLARE_PROPERTY	(	left_foot_frame	,
		std::string	,
		"The model frame associated with the left foot."	)

private

◆ OpenSim_DECLARE_PROPERTY() [5/7]

OpenSim_DECLARE_PROPERTY	(	left_foot_frame	,
		std::string	,
		"The model frame associated with the left foot."	)

private

◆ OpenSim_DECLARE_PROPERTY() [6/7]

OpenSim_DECLARE_PROPERTY	(	right_foot_frame	,
		std::string	,
		"The model frame associated with the right foot."	)

private

◆ OpenSim_DECLARE_PROPERTY() [7/7]

OpenSim_DECLARE_PROPERTY	(	right_foot_frame	,
		std::string	,
		"The model frame associated with the right foot."	)

private

◆ setDivideByDisplacement()

void setDivideByDisplacement ( bool tf )

inline

Set whether to divide by displacement.

Parameters

tf	True to divide by displacement, false otherwise

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◆ setExponent() [1/2]

void setExponent ( int ex )

inline

Set the exponent applied to the distance measure.

Parameters

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

◆ setExponent() [2/2]

void setExponent ( int ex )

inline

Set the exponent for the deviation term.

Parameters

ex	The exponent value

◆ setLeftFootFrame() [1/2]

void setLeftFootFrame ( std::string left_foot )

inline

Set the frame associated with the left foot.

Parameters

left_foot Name of the left foot frame in the model

◆ setLeftFootFrame() [2/2]

void setLeftFootFrame ( std::string left_foot )

inline

Set the body frame for the left foot.

Parameters

left_foot Name of the left foot frame

◆ setRightFootFrame() [1/2]

void setRightFootFrame ( std::string right_foot )

inline

Set the frame associated with the right foot.

Parameters

right_foot Name of the right foot frame in the model

◆ setRightFootFrame() [2/2]

void setRightFootFrame ( std::string right_foot )

inline

Set the body frame for the right foot.

Parameters

right_foot Name of the right foot frame

Member Data Documentation

◆ m_force_names

std::vector< std::string > m_force_names

mutableprivate

Names of forces used in calculations

◆ m_left_foot_frame

SimTK::ReferencePtr< const Body > m_left_foot_frame

mutableprivate

Reference to the left foot frame.

◆ m_power_function

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

mutableprivate

Function to compute power of values.

◆ m_right_foot_frame

SimTK::ReferencePtr< const Body > m_right_foot_frame

mutableprivate

Reference to the right foot frame.

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

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MocoBOSGoal() [1/6]

◆ MocoBOSGoal() [2/6]

◆ MocoBOSGoal() [3/6]

◆ MocoBOSGoal() [4/6]

◆ MocoBOSGoal() [5/6]

◆ MocoBOSGoal() [6/6]

Member Function Documentation

◆ avg() [1/2]

◆ avg() [2/2]

◆ calcGoalImpl() [1/2]

◆ calcGoalImpl() [2/2]

◆ calcIntegrandImpl() [1/2]

◆ calcIntegrandImpl() [2/2]

◆ constructProperties() [1/2]

◆ constructProperties() [2/2]

◆ FlattenSpatialVec() [1/2]

◆ FlattenSpatialVec() [2/2]

◆ getDefaultModeImpl() [1/2]

◆ getDefaultModeImpl() [2/2]

◆ getDivideByDisplacement()

◆ getExponent() [1/2]

◆ getExponent() [2/2]

◆ getLeftFootFrame() [1/2]

◆ getLeftFootFrame() [2/2]

◆ getRightFootFrame() [1/2]

◆ getRightFootFrame() [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() [1/7]

◆ OpenSim_DECLARE_PROPERTY() [2/7]

◆ OpenSim_DECLARE_PROPERTY() [3/7]

◆ OpenSim_DECLARE_PROPERTY() [4/7]

◆ OpenSim_DECLARE_PROPERTY() [5/7]

◆ OpenSim_DECLARE_PROPERTY() [6/7]

◆ OpenSim_DECLARE_PROPERTY() [7/7]

◆ setDivideByDisplacement()

◆ setExponent() [1/2]

◆ setExponent() [2/2]

◆ setLeftFootFrame() [1/2]

◆ setLeftFootFrame() [2/2]

◆ setRightFootFrame() [1/2]

◆ setRightFootFrame() [2/2]

Member Data Documentation

◆ m_force_names

◆ m_left_foot_frame

◆ m_power_function

◆ m_right_foot_frame