Goal that minimizes a custom model output. More...

#include <MocoCustomOutputGoal.h>

Inheritance diagram for MocoCustomOutputGoal:

Public Member Functions
void	setOutputPath (std::string path)
	Set the absolute path to the output to minimize.

const std::string &	getOutputPath () const
	Get the output path.

void	setExponent (int exponent)
	Set the exponent for the output value.

int	getExponent () const
	Get the current exponent value.

void	setOutputIndex (int index)
	Set the index for vector outputs.

int	getOutputIndex () const
	Get the output index.

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

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

void	setDivideByMass (bool mass)
	Set whether to divide by model mass.

bool	getDivideByMass () const
	Get whether the goal is divided by mass.

Constructors
	MocoCustomOutputGoal ()
	Default constructor.

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

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

Protected Member Functions
Required implementations of virtual methods
void	initializeOnModelBase () const
	Initialize the goal on the base model.

double	calcOutputValue (const SimTK::State &) const
	Calculate the output value for the current state.

double	setValueToExponent (double value) const
	Apply the exponent to a value.

const SimTK::Stage &	getDependsOnStage () const
	Get the stage that this goal depends on.

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

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

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

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

Mode	getDefaultModeImpl () const override
	Get the default mode for this goal.

Private Types
Data type enumeration
enum	DataType { Type_double , Type_Vec3 , Type_SpatialVec }
	Enumeration of possible output data types. More...

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoCustomOutputGoal, MocoGoal)

void	constructProperties ()
	Initialize the goal's properties.

Properties
	OpenSim_DECLARE_PROPERTY (output_path, std::string, "The absolute path to the output in the model to use as the " "integrand for this goal.")

	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 (output_index, int, "The index to the value to be minimized when a vector type " "Output is specified. For SpatialVec Outputs, indices 0, 1, " "and 2 refer to the rotational components and indices 3, 4, " "and 5 refer to the translational components. A value of -1 " "indicates to minimize the vector norm (default: -1).")

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

	OpenSim_DECLARE_PROPERTY (divide_by_mass, bool, "Divide by the model's total mass (default: false)")

Private Attributes
Internal working variables
DataType	m_data_type

SimTK::ReferencePtr< const AbstractOutput >	m_output
	Reference to the output being minimized.

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

int	m_index1
	First index for vector components.

int	m_index2
	Second index for vector components.

bool	m_minimizeVectorNorm
	Whether to minimize vector norm.

SimTK::Stage	m_dependsOnStage = SimTK::Stage::Acceleration
	Stage at which the goal depends on the model.

Detailed Description

Goal that minimizes a custom model output.

This goal minimizes any model output that can be specified by its absolute path, integrated over the phase. The output can be a scalar value, a component of a vector output, or the norm of a vector output.

For vector outputs (including SpatialVec), you can either:

Minimize a specific component by setting the output_index
Minimize the vector norm by setting output_index to -1 (default)

For SpatialVec outputs:

Indices 0-2 refer to rotational components
Indices 3-5 refer to translational components

This goal can be useful for:

Minimizing any custom quantity computed by the model
Creating complex objective functions
Targeting specific aspects of the motion

The goal value can optionally be:

Divided by the model's displacement over the phase
Divided by the model's total mass
Raised to a specified power using the exponent property

Member Enumeration Documentation

◆ DataType

enum DataType

private

Enumeration of possible output data types.

Enumerator
Type_double	Scalar double value.
Type_Vec3	3D vector
Type_SpatialVec	6D spatial vector

Constructor & Destructor Documentation

◆ MocoCustomOutputGoal() [1/3]

MocoCustomOutputGoal ( )

inline

Default constructor.

◆ MocoCustomOutputGoal() [2/3]

MocoCustomOutputGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoCustomOutputGoal() [3/3]

MocoCustomOutputGoal	(	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 &	values ) const

overrideprotected

Calculate the goal value.

Parameters

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

◆ calcIntegrandImpl()

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

overrideprotected

Calculate the integrand value for the cost function.

Parameters

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

Here is the call graph for this function:

◆ calcOutputValue()

double calcOutputValue ( const SimTK::State & state ) const

protected

Calculate the output value for the current state.

Parameters

state The current state

Returns: The calculated output value

Here is the caller graph for this function:

◆ constructProperties()

void constructProperties ( )

private

Initialize the goal's properties.

◆ getDefaultModeImpl()

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

Get the default mode for this goal.

◆ getDependsOnStage()

const SimTK::Stage & getDependsOnStage ( ) const

protected

Get the stage that this goal depends on.

Returns: The dependency stage

Here is the caller graph for this function:

◆ getDivideByDisplacement()

bool getDivideByDisplacement ( ) const

inline

Get whether the goal is divided by displacement.

Returns: True if divided by displacement, false otherwise

◆ getDivideByMass()

bool getDivideByMass ( ) const

inline

Get whether the goal is divided by mass.

Returns: True if divided by mass, false otherwise

◆ getExponent()

int getExponent ( ) const

inline

Get the current exponent value.

Returns: The exponent value

◆ getOutputIndex()

int getOutputIndex ( ) const

inline

Get the output index.

Returns: The output index

◆ getOutputPath()

const std::string & getOutputPath ( ) const

inline

Get the output path.

Returns: The output path

◆ getSupportsEndpointConstraintImpl()

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

◆ initializeOnModelBase()

void initializeOnModelBase ( ) const

protected

Initialize the goal on the base model.

Here is the caller graph for this function:

◆ initializeOnModelImpl()

void initializeOnModelImpl ( const Model & output ) const

overrideprotected

Initialize the goal with the model.

Here is the call graph for this function:

◆ OpenSim_DECLARE_CONCRETE_OBJECT()

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoCustomOutputGoal	,
		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	(	divide_by_mass	,
		bool	,
		"Divide by the model's total mass (default: false)"	)

private

◆ OpenSim_DECLARE_PROPERTY() [3/5]

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() [4/5]

OpenSim_DECLARE_PROPERTY	(	output_index	,
		int	,
		"The index to the value to be minimized when a vector type " "Output is specified. For SpatialVec	Outputs,
		indices	0,
		1	,
		" "and 2 refer to the rotational components and indices	3,
		4	,
		" "and 5 refer to the translational components. A value of -1 " "indicates to minimize the vector norm(default:-1)."	)

private

◆ OpenSim_DECLARE_PROPERTY() [5/5]

OpenSim_DECLARE_PROPERTY	(	output_path	,
		std::string	,
		"The absolute path to the output in the model to use as the " "integrand for this goal."	)

private

◆ setDivideByDisplacement()

void setDivideByDisplacement ( bool tf )

inline

Set whether to divide by displacement.

Parameters

tf	True to divide by displacement, false otherwise

◆ setDivideByMass()

void setDivideByMass ( bool mass )

inline

Set whether to divide by model mass.

Parameters

mass	True to divide by mass, false otherwise

◆ setExponent()

void setExponent ( int exponent )

inline

Set the exponent for the output value.

Parameters

exponent The exponent value

◆ setOutputIndex()

void setOutputIndex ( int index )

inline

Set the index for vector outputs.

Parameters

index The index to minimize (-1 for vector norm)

◆ setOutputPath()

void setOutputPath ( std::string path )

inline

Set the absolute path to the output to minimize.

Parameters

path	The output path in the model

◆ setValueToExponent()

double setValueToExponent ( double value ) const

protected

Apply the exponent to a value.

Parameters

value The value to modify

Returns: The value raised to the exponent

Here is the caller graph for this function:

Member Data Documentation

◆ m_data_type

DataType m_data_type

mutableprivate

Type of data being processed

◆ m_dependsOnStage

SimTK::Stage m_dependsOnStage = SimTK::Stage::Acceleration

mutableprivate

Stage at which the goal depends on the model.

◆ m_index1

int m_index1

mutableprivate

First index for vector components.

◆ m_index2

int m_index2

mutableprivate

Second index for vector components.

◆ m_minimizeVectorNorm

bool m_minimizeVectorNorm

mutableprivate

Whether to minimize vector norm.

◆ m_output

SimTK::ReferencePtr<const AbstractOutput> m_output

mutableprivate

Reference to the output being minimized.

◆ m_power_function

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

mutableprivate

Function to compute power of values.

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

F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoCustomOutputGoal/MocoCustomOutputGoal.h
F:/dev/projects/MocoExtendProblem/custom_goals_compat/MocoCustomOutputGoal/MocoCustomOutputGoal.cpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ DataType

Constructor & Destructor Documentation

◆ MocoCustomOutputGoal() [1/3]

◆ MocoCustomOutputGoal() [2/3]

◆ MocoCustomOutputGoal() [3/3]

Member Function Documentation

◆ calcGoalImpl()

◆ calcIntegrandImpl()

◆ calcOutputValue()

◆ constructProperties()

◆ getDefaultModeImpl()

◆ getDependsOnStage()

◆ getDivideByDisplacement()

◆ getDivideByMass()

◆ getExponent()

◆ getOutputIndex()

◆ getOutputPath()

◆ getSupportsEndpointConstraintImpl()

◆ initializeOnModelBase()

◆ initializeOnModelImpl()

◆ OpenSim_DECLARE_CONCRETE_OBJECT()

◆ 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()

◆ setDivideByMass()

◆ setExponent()

◆ setOutputIndex()

◆ setOutputPath()

◆ setValueToExponent()

Member Data Documentation

◆ m_data_type

◆ m_dependsOnStage

◆ m_index1

◆ m_index2

◆ m_minimizeVectorNorm

◆ m_output

◆ m_power_function