| ►NCasOC | CasOC is a namespace containing classes for solving multibody optimal control problems with CasADi |
| CBounds | |
| CControlInfo | |
| CCost | This invokes CasOC::Problem::calcCost() |
| CCostInfo | |
| CCostIntegrand | |
| CEndpoint | This function takes initial states/controls, final states/controls, and an integral |
| CEndpointConstraint | This invokes CasOC::Problem::calcEndpointConstraint() |
| CEndpointConstraintInfo | |
| CEndpointConstraintIntegrand | |
| CEndpointInfo | |
| CFunction | |
| CHermiteSimpson | Enforce the differential equations in the problem using a Hermite- Simpson (third-order) approximation |
| CIntegrand | |
| CIterate | This struct is used to obtain initial guesses |
| CMultibodySystemExplicit | This function should compute forward dynamics (explicit multibody dynamics), auxiliary explicit dynamics, and the errors for the kinematic constraints |
| CMultibodySystemImplicit | |
| CMultiplierInfo | |
| CParameterInfo | |
| CPathConstraint | |
| CPathConstraintInfo | The number outputs in the function must match the size of lowerBounds and upperBounds |
| ►CProblem | |
| CContinuousInput | |
| CCostInput | |
| CMultibodySystemExplicitOutput | |
| CMultibodySystemImplicitOutput | |
| CSlackInfo | |
| CSolution | This struct is used to return a solution to a problem |
| CSolver | 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 |
| CStateInfo | |
| ►CTranscription | This is the base class for transcription schemes that convert a CasOC::Problem into a general nonlinear programming problem |
| CConstraints | |
| CTrapezoidal | Enforce the differential equations in the problem using a trapezoidal (second-order) approximation |
| CVelocityCorrection | This function should compute a velocity correction term to make feasible problems that enforce kinematic constraints and their derivatives |
| ►NOpenSim | The utilities in this file are categorized as follows: |
| CAccelerationMotion | This class is a thin wrapper to Simbody's SimTK::Motion for prescribing the acceleration of all degrees of freedom (UDot), and is used when enforcing dynamics using implicit differential equations (UDot is supplied by the solver, not by Simbody) |
| CAckermannVanDenBogert2010Force | This class is still under development |
| CActivationCoordinateActuator | Similar to CoordinateActuator (simply produces a generalized force) but with first-order linear activation dynamics |
| CDeGrooteFregly2016Muscle | This muscle model was published in De Groote et al |
| CDiscreteForces | This class is a thin wrapper to Simbody's SimTK::Force::DiscreteForces class |
| CEspositoMiller2018Force | This contact model uses a continuous equation to transition between in and out of contact |
| CFileDeletionThrower | This class helps a user cause an exception within the code |
| CFileDeletionThrowerException | Thrown by FileDeletionThrower::throwIfDeleted() |
| Cmake_printable_return | Return type for make_printable() |
| Cmake_printable_return< std::string > | Specialization for std::string |
| CMeyerFregly2016Force | This contact model is from the following paper: Meyer A |
| CMocoAccelerationTrackingGoal | The squared difference between a model frame origin's linear acceleration and a reference acceleration value, summed over the frames for which a reference is provided, and integrated over the phase |
| CMocoAngularVelocityTrackingGoal | The squared difference between a model frame's angular velocity and a reference angular velocity value, summed over the frames for which a reference is provided, and integrated over the phase |
| CMocoAverageSpeedGoal | This goal requires the average speed of the system to match a desired average speed |
| CMocoBounds | Small struct to handle bounds |
| CMocoCasADiSolver | This solver uses the CasADi library (https://casadi.org) to convert the MocoProblem into a generic nonlinear programming problem |
| CMocoCasOCProblem | This class is the bridge between CasOC::Problem and MocoProblemRep |
| CMocoConstraintInfo | Information for a given constraint in the optimal control problem |
| CMocoControlBoundConstraint | This class constrains any number of control signals from ScalarActautors to be between two time-based functions |
| CMocoControlGoal | Minimize the sum of the absolute value of the controls raised to a given exponent, integrated over the phase |
| CMocoControlTrackingGoal | The squared difference between a control variable value and a reference control variable value, summed over the control variables for which a reference is provided, and integrated over the phase |
| CMocoDirectCollocationSolver | This is a base class for solvers that use direct collocation to convert an optimal control problem into a generic nonlinear programming problem |
| CMocoFinalBounds | Used for specifying the bounds on a variable at the end of a phase |
| CMocoFinalTimeGoal | Endpoint cost for final time |
| CMocoFrameDistanceConstraint | This path constraint enforces that the distance between the origins of pairs of model frames is kept between minimum and maximum bounds |
| CMocoFrameDistanceConstraintPair | |
| ►CMocoGoal | A goal is term in the cost functional to be minimized, or a set of endpoint constraints that must lie within provided bounds |
| CGoalInput | |
| CMocoInitialActivationGoal | For all muscles with activation dynamics, the initial activation and initial excitation should be the same |
| CMocoInitialBounds | Used for specifying the bounds on a variable at the start of a phase |
| CMocoInitialForceEquilibriumGoal | For all Muscle components with explicit tendon compliance dynamics, constrain (or minimize) the error computed from the muscle-tendon force equilibrium equation |
| CMocoInitialVelocityEquilibriumDGFGoal | For DeGrooteFregly2016Muscle components with implicit tendon compliance dynamics, the initial tendon and fiber velocities are determined based the derivative of the linearized muscle-tendon equilibrium equation described in Millard et al |
| CMocoInverse | This tool solves problems in which the kinematics are prescribed and you seek the actuator (e.g., muscle) behavior that may have given rise to the provided kinematics |
| CMocoInverseSolution | This class holds the solution from MocoInverse |
| CMocoJointReactionGoal | Minimize the sum of squares of specified reaction moment and force measures for a given joint, integrated over the phase |
| CMocoKinematicConstraint | A model kinematic constraint to be enforced in the optimal control problem |
| CMocoMarkerFinalGoal | The squared distance between a single model point location and reference location in the final state |
| CMocoMarkerTrackingGoal | The squared difference between a model marker location and an experimental reference marker location, summed over the markers for which an experimental data location is provided, and integrated over the phase |
| CMocoOrientationTrackingGoal | The squared difference between a model frame's orientation and a reference orientation value, summed over the frames for which a reference is provided, and integrated over the phase |
| CMocoOutputGoal | This goal allows you to use any (double, or scalar) Output in the model as the integrand of a goal |
| CMocoParameter | A MocoParameter allows you to optimize property values in an OpenSim Model |
| CMocoPathConstraint | A path constraint to be enforced in the optimal control problem |
| CMocoPeriodicityGoal | This goal enforces equality between initial and final variable values in the optimal control problem |
| CMocoPeriodicityGoalPair | Create pair of variables for use with a MocoPeriodicityGoal |
| CMocoPhase | The states, controls, dynamics, parameters, goals, and constraints for a phase of the problem |
| CMocoProblem | A description of an optimal control problem, backed by OpenSim Models |
| CMocoProblemInfo | This class is mostly for internal use for MocoProblemRep to pass select information about a problem to the MocoGoals and MocoPathConstraints of the problem during initializeOnModel() |
| CMocoProblemRep | The primary intent of this class is for use by MocoSolvers, but users can also use this class to apply parameter values to the model and evaluate cost terms |
| CMocoSolution | Return type for MocoStudy::solve() |
| CMocoSolver | Once the solver is created, you should not make any edits to the MocoProblem |
| CMocoStateTrackingGoal | The squared difference between a state variable value and a reference state variable value, summed over the state variables for which a reference is provided, and integrated over the phase |
| CMocoStudy | The top-level class for solving a custom optimal control problem |
| CMocoSumSquaredStateGoal | Minimize the sum of squared states, integrated over the phase |
| ►CMocoTool | This is a base class for solving problems that depend on an observed motion using Moco's optimal control methods |
| CTimeInfo | |
| CMocoTrack | |
| CMocoTrajectory | The values of the variables in an optimal control problem |
| CMocoTrajectoryIsSealed | This exception is thrown if you try to invoke most methods on MocoTrajectory while the trajectory is sealed |
| CMocoTranslationTrackingGoal | The squared difference between a model frame's origin position and a reference position value, summed over the frames for which a reference is provided, and integrated over the phase |
| ►CMocoTropterSolver | Solve the MocoProblem using the tropter direct collocation library |
| CExplicitTropterProblem | |
| CImplicitTropterProblem | |
| COCProblem | Internal tropter optimal control problem |
| CTropterProblemBase | |
| CMocoTropterSolverNotAvailable | |
| CMocoVariableInfo | Bounds on continuous variables (states, controls, multipliers, etc) |
| CMocoWeight | This class contains a single property that holds a weighting factor to be used in a MocoGoal |
| CMocoWeightSet | A container for Moco weights |
| CModelFactory | This class provides utilities for creating OpenSim models |
| CModelOperator | This abstract base class describes any operation that modifies a Model as part of a ModelProcessor |
| CModelProcessor | This class describes a workflow for processing a Model using ModelOperators |
| CModOpAddExternalLoads | Add external loads (e.g., ground reaction forces) to the model from a XML file |
| CModOpAddReserves | Add reserve actuators to the model using ModelFactory::createReserveActuators |
| CModOpFiberDampingDGF | Set the fiber damping for all DeGrooteFregly2016Muscles in the model |
| CModOpIgnoreActivationDynamics | Turn off activation dynamics for all muscles in the model |
| CModOpIgnorePassiveFiberForcesDGF | Turn off passive fiber forces for all DeGrooteFregly2016Muscles in the model |
| CModOpIgnoreTendonCompliance | Turn off tendon compliance for all muscles in the model |
| CModOpRemoveMuscles | Remove all muscles contained in the model's ForceSet |
| CModOpReplaceJointsWithWelds | |
| CModOpReplaceMusclesWithDeGrooteFregly2016 | Invoke DeGrooteFregly2016Muscle::replaceMuscles() on the model |
| CModOpScaleActiveFiberForceCurveWidthDGF | Scale the active fiber force curve width for all DeGrooteFregly2016Muscles in the model |
| CModOpScaleMaxIsometricForce | Scale the max isometric force for all muscles in the model |
| CModOpTendonComplianceDynamicsModeDGF | For DeGrooteFregly2016Muscle muscles whose 'ignore_tendon_compliance' property is false, set the tendon compliance dynamics mode to either 'explicit' or 'implicit' |
| CModOpUseImplicitTendonComplianceDynamicsDGF | Set the tendon compliance dynamics mode to "implicit" for all DeGrooteFregly2016Muscles in the model |
| CMultivariatePolynomialFunction | |
| CPositionMotion | This class prescribes the value, speed, and acceleration of all coordinates in the model using SimTK::Motion |
| CSimTKMultivariatePolynomial | |
| CSmoothSphereHalfSpaceForce | |
| CStationPlaneContactForce | This class models compliant point contact with a ground plane y=0 |
| CStopwatch | Record and report elapsed real time ("clock" or "wall" time) in seconds |
| CStreamFormat | This class stores the formatting of a stream and restores that format when the StreamFormat is destructed |
| CTableOperator | This abstract class describes any operation that consumes a modifies a TimeSeriesTable as part of a TableProcessor |
| CTableProcessor | This class describes a workflow for processing a table using TableOperators |
| CTabOpLowPassFilter | Apply a low-pass filter to the trajectory |
| CTabOpUseAbsoluteStateNames | Update table column labels to use post-4.0 state paths instead of pre-4.0 state names |
| CThreadsafeJar | This class lets you store objects of a single type for reuse by multiple threads, ensuring threadsafe access to each of those objects |
| ►Ntropter | |
| CDirectCollocationSolver | |
| CProblem | |
| CosimMocoInstantiator | |