MocoActivationGoal.h

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#ifndef OPENSIM_MOCOACTIVATIONGOAL_H
#define OPENSIM_MOCOACTIVATIONGOAL_H
/* -------------------------------------------------------------------------- *
 * OpenSim: MocoActivationGoal.h                                              *
 * -------------------------------------------------------------------------- */
 
#include <OpenSim/Moco/osimMoco.h>
#include "osimMocoActivationGoalDLL.h"
 
namespace OpenSim {
 
class OSIMMOCOACTIVATIONGOAL_API MocoActivationGoal : public MocoGoal {
    OpenSim_DECLARE_CONCRETE_OBJECT(MocoActivationGoal, MocoGoal);
 
public:
 
    MocoActivationGoal() { constructProperties(); }
 
    MocoActivationGoal(std::string name) : MocoGoal(std::move(name)) {
        constructProperties();
    }
 
    MocoActivationGoal(std::string name, double weight)
            : MocoGoal(std::move(name), weight) {
        constructProperties();
    }
 
    void setDivideByDisplacement(bool tf) { set_divide_by_displacement(tf); }
    
    bool getDivideByDisplacement() const { return get_divide_by_displacement(); }
 
    void setEndPointGoal(double end_point_goal) { set_end_point_goal(end_point_goal); }
    
    double getEndPointGoal() const { return get_end_point_goal(); }
 
protected:
 
    Mode getDefaultModeImpl() const override { return Mode::Cost; }
    
    bool getSupportsEndpointConstraintImpl() const override { return true; }
 
    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;
 
private:
    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(end_point_goal, double,
        "Target value for end-point goal (default: 0)");
 
    void constructProperties();
 
    mutable std::function<double(const double&)> m_power_function;
    mutable std::vector<int> m_act_indices;
};
 
} // namespace OpenSim
 
#endif // OPENSIM_MOCOACTIVATIONGOAL_H