Goal that finds the maximum value of a coordinate over the motion. More...

#include <MocoMaxCoordinateGoal.h>

Inheritance diagram for MocoMaxCoordinateGoal:

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Public Member Functions
void	setStateName (const std::string refCoordName)
	Set the name of the coordinate whose maximum value should be found.

	MocoMaxCoordinateGoal ()

	MocoMaxCoordinateGoal (std::string name)

	MocoMaxCoordinateGoal (std::string name, double weight)

void	setDivideByDisplacement (bool tf)

bool	getDivideByDisplacement () const

void	setStateName (const std::string refCoordName)

Constructors
	MocoMaxCoordinateGoal ()
	Default constructor.

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

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

Protected Member Functions
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

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.

Private Member Functions
	OpenSim_DECLARE_CONCRETE_OBJECT (MocoMaxCoordinateGoal, MocoGoal)

void	constructProperties ()
	Initialize the goal's properties.

	OpenSim_DECLARE_CONCRETE_OBJECT (MocoMaxCoordinateGoal, MocoGoal)

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

void	constructProperties ()

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.")

Private Attributes
Internal working variables
StatesTrajectory	st

std::vector< double >	inte
	Vector for storing intermediate values.

double	coord_max
	Maximum coordinate value found.

double	v
	Current coordinate value.

int	m_state_index
	Index of the coordinate state.

std::string	m_state_name
	Name of the coordinate state.

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

Detailed Description

Goal that finds the maximum value of a coordinate over the motion.

This goal computes the maximum value that a specified coordinate achieves during the motion. The goal value is:

$\max_{t \in [t_i, t_f]} |q(t)|^p$

where is the coordinate value at time t, and are the initial and final times, and is the exponent (default: 2).

This goal can be useful for:

Finding peak values of joint angles
Identifying maximum deviations from a neutral position
Constraining the range of motion

Note: The coordinate must exist in the model and its name must be specified using setStateName() before the goal can be used.

Constructor & Destructor Documentation

◆ MocoMaxCoordinateGoal() [1/6]

MocoMaxCoordinateGoal ( )

inline

Default constructor.

◆ MocoMaxCoordinateGoal() [2/6]

MocoMaxCoordinateGoal ( std::string name )

inline

Constructor with name.

Parameters

name	The name of the goal

◆ MocoMaxCoordinateGoal() [3/6]

MocoMaxCoordinateGoal	(	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

◆ MocoMaxCoordinateGoal() [4/6]

MocoMaxCoordinateGoal ( )

inline

◆ MocoMaxCoordinateGoal() [5/6]

MocoMaxCoordinateGoal ( std::string name )

inline

◆ MocoMaxCoordinateGoal() [6/6]

MocoMaxCoordinateGoal	(	std::string	name,
		double	weight )

inline

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

◆ 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

◆ constructProperties() [1/2]

void constructProperties ( )

private

Initialize the goal's properties.

◆ constructProperties() [2/2]

void constructProperties ( )

private

◆ getDefaultModeImpl() [1/2]

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

Get the default mode for this goal.

◆ getDefaultModeImpl() [2/2]

Mode getDefaultModeImpl ( ) const

inlineoverrideprotected

◆ getDivideByDisplacement()

bool getDivideByDisplacement ( ) const

inline

◆ getSupportsEndpointConstraintImpl() [1/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

Whether this goal supports endpoint constraint mode.

◆ getSupportsEndpointConstraintImpl() [2/2]

bool getSupportsEndpointConstraintImpl ( ) const

inlineoverrideprotected

◆ 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

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [1/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoMaxCoordinateGoal	,
		MocoGoal	)

private

◆ OpenSim_DECLARE_CONCRETE_OBJECT() [2/2]

OpenSim_DECLARE_CONCRETE_OBJECT	(	MocoMaxCoordinateGoal	,
		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

Here is the caller graph for this function:

◆ setStateName() [1/2]

void setStateName ( const std::string refCoordName )

inline

Set the name of the coordinate whose maximum value should be found.

Parameters

refCoordName Name of the coordinate in the model. Should be a state variable path (e.g., '/jointset/knee_r/knee_angle_r')

◆ setStateName() [2/2]

void setStateName ( const std::string refCoordName )

inline

Member Data Documentation

◆ coord_max

double coord_max

mutableprivate

Maximum coordinate value found.

◆ inte

std::vector< double > inte

mutableprivate

Vector for storing intermediate values.

◆ m_power_function

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

mutableprivate

Function to compute power of coordinate values.

◆ m_state_index

int m_state_index

mutableprivate

Index of the coordinate state.

◆ m_state_name

std::string m_state_name

mutableprivate

Name of the coordinate state.

◆ st

StatesTrajectory st

mutableprivate

States trajectory for computing maximum

◆ v

double v

mutableprivate

Current coordinate value.

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

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MocoMaxCoordinateGoal() [1/6]

◆ MocoMaxCoordinateGoal() [2/6]

◆ MocoMaxCoordinateGoal() [3/6]

◆ MocoMaxCoordinateGoal() [4/6]

◆ MocoMaxCoordinateGoal() [5/6]

◆ MocoMaxCoordinateGoal() [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()

◆ 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() [1/2]

◆ OpenSim_DECLARE_PROPERTY() [2/2]

◆ setDivideByDisplacement()

◆ setStateName() [1/2]

◆ setStateName() [2/2]

Member Data Documentation

◆ coord_max

◆ inte

◆ m_power_function

◆ m_state_index

◆ m_state_name

◆ st

◆ v