Inheritance diagram for OpenSim::MocoTropterSolver::TropterProblemBase< T >:

Public Member Functions
template<typename MocoTrajectoryType , typename tropIterateType >
MocoTrajectoryType	convertIterateTropterToMoco (const tropIterateType &tropSol) const

MocoTrajectory	convertToMocoTrajectory (const tropter::Iterate &tropSol) const

MocoSolution	convertToMocoSolution (const tropter::Solution &tropSol) const

tropter::Iterate	convertToTropterIterate (const MocoTrajectory &mocoIter) const

Protected Member Functions
	TropterProblemBase (const MocoTropterSolver &solver, bool implicit=false)

void	addStateVariables ()

void	addControlVariables ()

void	addCosts ()

void	addKinematicConstraints ()

void	addGenericPathConstraints ()
	Add any generic path constraints included in the problem.

void	addParameters ()

void	initialize_on_iterate (const Eigen::VectorXd &parameters) const override final

void	setSimTKTimeAndStates (const T &time, Eigen::Ref< const tropter::VectorX< T >> states, SimTK::State &simTKState) const

void	setSimTKState (const tropter::Input< T > &in) const

void	setSimTKStateForCostInitial (const tropter::CostInput< T > &in) const

void	setSimTKStateForCostFinal (const tropter::CostInput< T > &in) const

void	setSimTKState (const T &time, const Eigen::Ref< const tropter::VectorX< T >> &states, const Eigen::Ref< const tropter::VectorX< T >> &controls, const Eigen::Ref< const tropter::VectorX< T >> &adjuncts, int stateDisConIndex=0) const
	Use `stateDisConIndex` to specify which of the two stateDisabledConstraints from MocoProblemRep to update.

void	calc_cost_integrand (int cost_index, const tropter::Input< T > &in, T &integrand) const override

void	calc_cost (int cost_index, const tropter::CostInput< T > &in, T &cost_value) const override

void	applyParametersToModelProperties (const tropter::VectorX< T > &parameters) const
	Apply parameters to properties in `m_modelBase` and `m_modelDisabledConstraints`.

void	calcAndApplyKinematicConstraintForces (const tropter::VectorX< T > &adjuncts, const SimTK::State &stateBase, SimTK::State &stateDisabledConstraints) const

void	calcKinematicConstraintErrors (const SimTK::Vector &udot, tropter::Output< T > &out) const

void	calcPathConstraintErrors (const SimTK::State &state, tropter::Output< T > &out) const

Protected Attributes
const MocoTropterSolver &	m_mocoTropterSolver

const MocoProblemRep &	m_mocoProbRep

const Model &	m_modelBase

SimTK::State &	m_stateBase

const Model &	m_modelDisabledConstraints

SimTK::State &	m_stateDisabledConstraints

const bool	m_implicit

int	m_multiplierCostIndex = -1

std::unique_ptr< FileDeletionThrower >	m_fileDeletionThrower

std::vector< std::string >	m_svNamesInSysOrder

std::unordered_map< int, int >	m_yIndexMap

std::vector< int >	m_modelControlIndices

SimTK::Vector_< SimTK::SpatialVec >	m_constraintBodyForces

SimTK::Vector	m_constraintMobilityForces

SimTK::Vector	qdot

SimTK::Vector	qdotCorr

int	m_total_mp = 0

int	m_total_mv = 0

int	m_total_ma = 0

int	m_numMultipliers = 0

SimTK::Vector	m_pvaerr

int	m_numKinematicConstraintEquations = 0

int	m_numPathConstraintEquations = 0

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes