This goal minimizes the acceleration of specified coordinates in the model. More...

#include <MocoCoordinateAccelerationGoal.h>

Inheritance diagram for MocoCoordinateAccelerationGoal:

[legend]

Public Member Functions
	MocoCoordinateAccelerationGoal ()
	Default constructor.

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

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

void	setStateNames (const std::vector< std::string > refCoordNames)
	Set the names of coordinates whose accelerations should be minimized.

void	setExponent (int ex)
	Set the exponent for the acceleration terms.

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	setStateNames (const std::vector< std::string > refCoordNames)
	Set the coordinates to track for acceleration minimization.

Constructors
	MocoCoordinateAccelerationGoal ()
	Default constructor.

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

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

Protected Member Functions
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.

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoCoordinateAccelerationGoal, 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.")

void	constructProperties ()

	OpenSim_DECLARE_CONCRETE_OBJECT (MocoCoordinateAccelerationGoal, 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
Internal working variables
std::function< double(const double &)>	m_power_function
	Function to compute power of acceleration values.

std::vector< int >	m_sysYIndices
	System Y indices for all states.

std::vector< int >	m_state_indices
	Indices of states we want to minimize acceleration for.

std::vector< std::string >	m_state_names
	Names of states for which we want to minimize acceleration.

Detailed Description

This goal minimizes the acceleration of specified coordinates in the model.

Goal that minimizes the acceleration of specified coordinates.

The integrand is:

$\sum_i |\ddot{q}_i|^p$

where $\ddot{q}_i$ are the coordinate accelerations and is the exponent (default: 2).

This goal can be useful for:

Reducing rapid changes in movement
Smoothing motion trajectories
Minimizing jerk in the solution

This goal minimizes the acceleration of selected model coordinates, integrated over the phase. This can help produce smoother, more natural motions by penalizing rapid changes in coordinate velocities.

The goal can be applied to any subset of model coordinates by specifying their names. For each coordinate, the squared acceleration is computed and can be raised to a specified power.

This goal can be useful for:

Generating smoother motions
Reducing joint jerk
Minimizing rapid changes in movement
Improving numerical conditioning of the optimization

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

◆ MocoCoordinateAccelerationGoal() [1/6]

MocoCoordinateAccelerationGoal ( )

inline

Default constructor.

◆ MocoCoordinateAccelerationGoal() [2/6]

MocoCoordinateAccelerationGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoCoordinateAccelerationGoal() [3/6]

MocoCoordinateAccelerationGoal	(	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

◆ MocoCoordinateAccelerationGoal() [4/6]

MocoCoordinateAccelerationGoal ( )

inline

Default constructor.

◆ MocoCoordinateAccelerationGoal() [5/6]

MocoCoordinateAccelerationGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoCoordinateAccelerationGoal() [6/6]

MocoCoordinateAccelerationGoal	(	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 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() [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	(	MocoCoordinateAccelerationGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoCoordinateAccelerationGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_PROPERTY() [1/3]

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

private

◆ OpenSim_DECLARE_PROPERTY() [2/3]

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() [3/3]

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

Here is the caller graph for this function:

◆ setExponent()

void setExponent ( int ex )

inline

Set the exponent for the acceleration terms.

Parameters

ex	The exponent value

◆ setStateNames() [1/2]

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

inline

Set the names of coordinates whose accelerations should be minimized.

Parameters

refCoordNames Vector of coordinate names. Each name should be a state variable path (e.g., '/jointset/knee_r/knee_angle_r')

◆ setStateNames() [2/2]

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

inline

Set the coordinates to track for acceleration minimization.

Parameters

refCoordNames Vector of coordinate names to track

The coordinate names should be state variable paths, e.g., '/jointset/knee_r/knee_angle_r'

Member Data Documentation

◆ m_power_function

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

mutableprivate

Function to compute power of acceleration values.

Function to compute power of acceleration values

◆ m_state_indices

std::vector< int > m_state_indices

mutableprivate

Indices of states we want to minimize acceleration for.

Indices of states in the state vector.

◆ m_state_names

std::vector< std::string > m_state_names

mutableprivate

Names of states for which we want to minimize acceleration.

Names of coordinates to track.

◆ m_sysYIndices

std::vector< int > m_sysYIndices

mutableprivate

System Y indices for all states.

System Y indices for state derivatives

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

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MocoCoordinateAccelerationGoal() [1/6]

◆ MocoCoordinateAccelerationGoal() [2/6]

◆ MocoCoordinateAccelerationGoal() [3/6]

◆ MocoCoordinateAccelerationGoal() [4/6]

◆ MocoCoordinateAccelerationGoal() [5/6]

◆ MocoCoordinateAccelerationGoal() [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()

◆ 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() [1/3]

◆ OpenSim_DECLARE_PROPERTY() [2/3]

◆ OpenSim_DECLARE_PROPERTY() [3/3]

◆ setDivideByDisplacement()

◆ setExponent()

◆ setStateNames() [1/2]

◆ setStateNames() [2/2]

Member Data Documentation

◆ m_power_function

◆ m_state_indices

◆ m_state_names

◆ m_sysYIndices