Treatment Optimization Cost Terms XML Reference

This page contains an exhaustive list of all Treatment Optimization cost terms.

tip

Not all cost terms are available for all 3 tools. Refer to here for information on which cost terms are available for which tools.

<RCNLCostTermSet>
    <RCNLCostTerm name="generalized_coordinate_tracking">
        <is_enabled>true</is_enabled>
        <type>generalized_coordinate_tracking</type>
        <coordinate_list>coordinate_1 coordinate_2 coordinate_3</coordinate_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="generalized_speed_tracking">
        <is_enabled>true</is_enabled>
        <type>generalized_speed_tracking</type>
        <coordinate_list>coordinate_1 coordinate_2 coordinate_3</coordinate_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="generalized_acceleration_tracking">
        <is_enabled>true</is_enabled>
        <type>generalized_acceleration_tracking</type>
        <coordinate_list>coordinate_1 coordinate_2 coordinate_3</coordinate_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="generalized_acceleration_minimization">
        <is_enabled>true</is_enabled>
        <type>generalized_acceleration_minimization</type>
        <coordinate_list>coordinate_1 coordinate_2 coordinate_3</coordinate_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="marker_position_tracking">
        <is_enabled>true</is_enabled>
        <type>marker_position_tracking</type>
        <marker_list>marker_1 marker_2 marker_3</marker_list>
        <axes>x y z</axes>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="marker_velocity_tracking">
        <is_enabled>true</is_enabled>
        <type>marker_velocity_tracking</type>
        <marker_list>marker_1 marker_2 marker_3</marker_list>
        <axes>x y z</axes>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="body_orientation_tracking">
        <is_enabled>true</is_enabled>
        <type>body_orientation_tracking</type>
        <body_list>body_1 body_2 body_3</body_list>
        <axes>x y z</axes>
        <sequence>xyz</sequence>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="body_orientation_minimization">
        <is_enabled>true</is_enabled>
        <type>body_orientation_minimization</type>
        <body_list>body_1 body_2 body_3</body_list>
        <axes>x y z</axes>
        <sequence>xyz</sequence>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="inverse_dynamics_load_tracking">
        <is_enabled>true</is_enabled>
        <type>inverse_dynamics_load_tracking</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="inverse_dynamics_load_minimization">
        <is_enabled>true</is_enabled>
        <type>inverse_dynamics_load_minimization</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="inverse_dynamics_slope_tracking">
        <is_enabled>true</is_enabled>
        <type>inverse_dynamics_slope_tracking</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="external_force_tracking">
        <is_enabled>true</is_enabled>
        <type>external_force_tracking</type>
        <force_list>external_force_1 external_force_2 external_force_3</force_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="external_moment_tracking">
        <is_enabled>true</is_enabled>
        <type>external_moment_tracking</type>
        <moment_list>external_moment_1 external_moment_2 external_moment_3</moment_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="center_of_pressure_tracking">
        <is_enabled>true</is_enabled>
        <type>center_of_pressure_tracking</type>
        <hindfoot_body_list>body_1 body_2 body_3</hindfoot_body_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="muscle_activation_tracking">
        <is_enabled>true</is_enabled>
        <type>muscle_activation_tracking</type>
        <muscle_list>muscle_1 muscle_2 muscle_3</muscle_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="muscle_activation_minimization">
        <is_enabled>true</is_enabled>
        <type>muscle_activation_minimization</type>
        <muscle_list>muscle_1 muscle_2 muscle_3</muscle_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="controller_tracking">
        <is_enabled>true</is_enabled>
        <type>controller_tracking</type>
        <controller_list>controller_1 controller_2 controller_3</controller_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="controller_minimization">
        <is_enabled>true</is_enabled>
        <type>controller_minimization</type>
        <controller_list>controller_1 controller_2 controller_3</controller_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="controller_slope_minimization">
        <is_enabled>true</is_enabled>
        <type>controller_slope_minimization</type>
        <controller_list>controller_1 controller_2 controller_3</controller_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="controller_shape_tracking">
        <is_enabled>true</is_enabled>
        <type>controller_shape_tracking</type>
        <controller_list>controller_1 controller_2 controller_3</controller_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="joint_energy_absorption_goal">
        <is_enabled>true</is_enabled>
        <type>joint_energy_absorption_goal</type>
        <coordinate_list>coordinate_1 coordinate_2 coordinate_3</coordinate_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="joint_energy_generation_goal">
        <is_enabled>true</is_enabled>
        <type>inverse_dynamics_shape_tracking</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="inverse_dynamics_shape_tracking">
        <is_enabled>true</is_enabled>
        <type>joint_energy_generation_goal</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="angular_momentum_minimization">
        <is_enabled>true</is_enabled>
        <type>angular_momentum_minimization</type>
        <load_list>load_1 load_2 load_3</load_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="synergy_vector_tracking">
        <is_enabled>true</is_enabled>
        <type>synergy_vector_tracking</type>
        <!--The name of the synergy group is synergy_group, and the numbers denote individual synergies in the group-->
        <synergy_list>synergy_group_1 synergy_group_2 synergy_group_3</synergy_list>
        <max_allowable_error></max_allowable_error>
    </RCNLCostTerm>
    <RCNLCostTerm name="relative_walking_speed_goal">
        <is_enabled>true</is_enabled>
        <type>relative_walking_speed_goal</type>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="absolute_metabolic_cost_per_time">
        <is_enabled>true</is_enabled>
        <type>absolute_metabolic_cost_per_time</type>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="absolute_metabolic_cost_per_distance">
        <is_enabled>true</is_enabled>
        <type>absolute_metabolic_cost_per_distance</type>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="relative_metabolic_cost_per_time">
        <is_enabled>true</is_enabled>
        <type>relative_metabolic_cost_per_time</type>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="relative_metabolic_cost_per_distance">
        <is_enabled>true</is_enabled>
        <type>relative_metabolic_cost_per_distance</type>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="propulsive_impulse_goal">
        <is_enabled>true</is_enabled>
        <type>propulsive_impulse_goal</type>
        <hindfoot_body_list>body_1 body_2 body_3</hindfoot_body_list>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
    <RCNLCostTerm name="braking_impulse_goal">
        <is_enabled>true</is_enabled>
        <type>braking_impulse_goal</type>
        <hindfoot_body_list>body_1 body_2 body_3</hindfoot_body_list>
        <max_allowable_error></max_allowable_error>
        <error_center></error_center>
    </RCNLCostTerm>
</RCNLCostTermSet>