MocoCOPGoal Class Reference

Goal that minimizes the deviation of the center of pressure (COP) from a target. More...

#include <MocoCOPGoal.h>

Inheritance diagram for MocoCOPGoal:

Public Member Functions
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.
Constructors
	MocoCOPGoal ()
	Default constructor.
	MocoCOPGoal (std::string name)
	Constructor with name.
	MocoCOPGoal (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.
SimTK::Matrix	FlattenSpatialVec (const SimTK::SpatialVec &S) const
	Convert a spatial vector to a matrix representation.

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoCOPGoal, 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.")

Private Attributes
std::vector< std::string >	m_force_names
std::function< double(const double &)>	m_power_function

Detailed Description

Goal that minimizes the deviation of the center of pressure (COP) from a target.

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

This goal can be useful for:

• Controlling weight transfer during stance
• Improving balance and stability
• Generating more natural gait patterns
• Reducing excessive pressure points

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

MocoCOPGoal() [1/3]

MocoCOPGoal ( )

inline

Default constructor.

MocoCOPGoal() [2/3]

MocoCOPGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

MocoCOPGoal() [3/3]

MocoCOPGoal ( 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()

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()

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

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constructProperties()

void constructProperties ( )

private

Initialize the goal's properties.

FlattenSpatialVec()

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

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getDefaultModeImpl()

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()

bool getExponent ( ) const

inline

Get the current exponent value.

Returns

The exponent value

getSupportsEndpointConstraintImpl()

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

initializeOnModelImpl()

void initializeOnModelImpl ( const Model & model ) const

overrideprotected

Initialize the goal with the model.

OpenSim_DECLARE_CONCRETE_OBJECT()

OpenSim_DECLARE_CONCRETE_OBJECT ( MocoCOPGoal , MocoGoal  )

private

OpenSim_DECLARE_PROPERTY() [1/2]

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

private

OpenSim_DECLARE_PROPERTY() [2/2]

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 by displacement.

Parameters

tf	True to divide by displacement, false otherwise

setExponent()

void setExponent ( int ex )

inline

Set the exponent for the deviation term.

Parameters

ex	The exponent value

Member Data Documentation

m_force_names

std::vector<std::string> m_force_names

mutableprivate

m_power_function

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

mutableprivate

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

• F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoCOPGoal/MocoCOPGoal.h
• F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoCOPGoal/MocoCOPGoal.cpp