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opensim-org / opensim-moco

Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.
https://opensim.stanford.edu/moco
Apache License 2.0
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Support offset when negating a variable in MocoPeriodicityGoal #599

Open chrisdembia opened 4 years ago

chrisdembia commented 4 years ago

To support models that move in a direction other than "forward", MocoPeriodicityGoal should allow a "shift" in negated pairs. Consider a model walking an angle b from its forward direction. The pelvis rotation should look as follows:

Image

Right now, we only support b = 0. We should support a periodicity constraint of the form y_i - b = b - y_f.