Description
template<bool CalcKCErrors>
class CasOC::MultibodySystemExplicit< CalcKCErrors >
This function should compute forward dynamics (explicit multibody dynamics), auxiliary explicit dynamics, and the errors for the kinematic constraints.
Inheritance diagram for CasOC::MultibodySystemExplicit< CalcKCErrors >:
#include <Moco/Moco/MocoCasADiSolver/CasOCFunction.h>
Public Member Functions | |
| casadi_int | get_n_out () override final |
| std::string | get_name_out (casadi_int i) override final |
| casadi::Sparsity | get_sparsity_out (casadi_int i) override final |
| VectorDM | eval (const VectorDM &args) const override |
 Public Member Functions inherited from CasOC::Function | |
| void | constructFunction (const Problem *casProblem, const std::string &name, const std::string &finiteDiffScheme, std::shared_ptr< const std::vector< VariablesDM >> pointsForSparsityDetection) |
| void | setCommonOptions (casadi::Dict &opts) |
| std::string | getFiniteDifferenceScheme () |
| casadi_int | get_n_in () override |
| std::string | get_name_in (casadi_int i) override |
| casadi::Sparsity | get_sparsity_in (casadi_int i) override |
| bool | has_jacobian_sparsity () const override |
| casadi::Sparsity | get_jacobian_sparsity () const override |
Additional Inherited Members | |
| Protected Attributes inherited from CasOC::Function | |
| const Problem * | m_casProblem |
The documentation for this class was generated from the following file: