Cost Term Tool Compatibility

This table specifies which cost terms are supported by each of the Treatment Optimization tools.

Cost Term	Component Type	Tracking Optimization	Verification Optimization	Design Optimization
generalized_coordinate_tracking	coordinate	✓	✓	✓
generalized_speed_tracking	coordinate	✓	✓	✓
generalized_speed_minimization	coordinate	✓	✓	✓
generalized_acceleration_tracking	coordinate	✓	✓	✓
generalized_acceleration_minimization	coordinate	✓	✓	✓
marker_position_tracking	marker	✓	✓	✓
marker_velocity_tracking	marker	✓	✓	✓
body_orientation_tracking	body	✓	✓	✓
body_orientation_minimization	body	✓		✓
inverse_dynamics_load_tracking	load	✓		✓
inverse_dynamics_load_minimization	load	✓		✓
inverse_dynamics_slope_tracking	load	✓		✓
external_force_tracking	force	✓		✓
external_moment_tracking	moment	✓		✓
center_of_presssure_tracking	hindfoot_body	✓		✓
muscle_activation_tracking	muscle	✓		✓
muscle_activation_minimization	muscle	✓		✓
synergy_vector_tracking	synergy	✓		✓
synergy_vector_symmetry	synergies	✓		✓
controller_tracking	controller	✓	✓	✓
controller_minimization	controller	✓		✓
controller_slope_minimization	controller	✓		✓
controller_shape_tracking	controller			✓
joint_energy_generation_goal	coordinate			✓
joint_energy_absorption_goal	coordinate			✓
inverse_dynamics_shape_tracking	load			✓
angular_momentum_minimization	none			✓
relative_walking_speed_goal	none			✓
absolute_metabolic_cost_per_time	none			✓
absolute_metabolic_cost_per_distance	none			✓
relative_metabolic_cost_per_time	none			✓
relative_metabolic_cost_per_distance	none			✓
propulsive_impulse_goal	hindfoot_body			✓
braking_impulse_goal	hindfoot_body			✓
user_defined	any			✓