OpenSim Moco  0.4.0
Public Member Functions | List of all members
CasOC::MultibodySystemExplicit< CalcKCErrors > Class Template Reference

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 >:
CasOC::Function

#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 Problemm_casProblem
 

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