|
OpenSim Moco
0.1.0-preprint
Solve optimal control problems with OpenSim models
|
Once you have built your CasOC::Problem, create a CasOC::Solver to configure how you want to solve the problem, then invoke solve() to solve your problem.
This class assumes that the problem is solved using direct collocation.
#include <Moco/Moco/MocoCasADiSolver/CasOCSolver.h>
Public Member Functions | |
| Solver (const Problem &problem) | |
| void | setNumMeshIntervals (int numMeshIntervals) |
| void | setMesh (std::vector< double > mesh) |
| const std::vector< double > & | getMesh () const |
| void | setTranscriptionScheme (std::string scheme) |
| const std::string & | getTranscriptionScheme () const |
| std::string | getDynamicsMode () const |
| void | setMinimizeLagrangeMultipliers (bool tf) |
| bool | getMinimizeLagrangeMultipliers () const |
| void | setLagrangeMultiplierWeight (double weight) |
| double | getLagrangeMultiplierWeight () const |
| void | setImplicitMultibodyAccelerationBounds (Bounds bounds) |
| Bounds | getImplicitMultibodyAccelerationBounds () const |
| bool | getMinimizeImplicitMultibodyAccelerations () const |
| void | setMinimizeImplicitMultibodyAccelerations (bool tf) |
| double | getImplicitMultibodyAccelerationsWeight () const |
| void | setImplicitMultibodyAccelerationsWeight (double weight) |
| void | setImplicitAuxiliaryDerivativeBounds (Bounds bounds) |
| Bounds | getImplicitAuxiliaryDerivativeBounds () const |
| bool | getMinimizeImplicitAuxiliaryDerivatives () const |
| void | setMinimizeImplicitAuxiliaryDerivatives (bool tf) |
| double | getImplicitAuxiliaryDerivativesWeight () const |
| void | setImplicitAuxiliaryDerivativesWeight (double weight) |
| void | setInterpolateControlMidpoints (bool tf) |
| Whether or not to constrain control values at mesh interval midpoints by linearly interpolating control values from mesh interval endpoints. More... | |
| bool | getInterpolateControlMidpoints () const |
| void | setOptimSolver (std::string optimSolver) |
| const std::string | getOptimSolver () const |
| void | setFiniteDifferenceScheme (const std::string &scheme) |
| The finite difference scheme to be set on all CasOC::Function objects. More... | |
| std::string | getFiniteDifferenceScheme () const |
| The finite difference scheme to be set on all CasOC::Function objects. More... | |
| void | setCallbackInterval (int callbackInterval) |
| int | getCallbackInterval () const |
| void | setSparsityDetection (const std::string &setting) |
| "none" to use block sparsity (treat all CasOC::Functions as dense; default), "initial-guess", or "random". | |
| void | setSparsityDetectionRandomCount (int count) |
| If sparsity detection is "random", use this number of random iterates to determine sparsity. | |
| void | setWriteSparsity (const std::string &setting) |
If this is set to a non-empty string, the sparsity patterns of the optimization problem derivatives are written to files whose names use setting as a prefix. | |
| std::string | getWriteSparsity () const |
| void | setParallelism (std::string parallelism, int numThreads) |
| Use this to tell CasADi to evaluate differential-algebraic equations, path constraints, integrands, etc. More... | |
| std::pair< std::string, int > | getParallelism () const |
| void | setPluginOptions (casadi::Dict opts) |
| const casadi::Dict & | getPluginOptions () const |
| void | setSolverOptions (casadi::Dict solverOptions) |
| const casadi::Dict | getSolverOptions () const |
| Iterate | createInitialGuessFromBounds () const |
| The contents of this iterate depends on the transcription scheme. | |
| Iterate | createRandomIterateWithinBounds () const |
| The contents of this iterate depends on the transcription scheme. | |
| Solution | solve (const Iterate &guess) const |
|
inline |
The finite difference scheme to be set on all CasOC::Function objects.
|
inline |
The finite difference scheme to be set on all CasOC::Function objects.
|
inline |
Whether or not to constrain control values at mesh interval midpoints by linearly interpolating control values from mesh interval endpoints.
| void CasOC::Solver::setParallelism | ( | std::string | parallelism, |
| int | numThreads | ||
| ) |
Use this to tell CasADi to evaluate differential-algebraic equations, path constraints, integrands, etc.
in parallel across grid points. "parallelism" is passed on directly to the "parallelism" argument of casadi::MX::map(). CasADi supports "serial", "openmp", "thread", and perhaps some other options.
1.8.16