OpenSim Moco
0.4.0
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This function should compute forward dynamics (explicit multibody dynamics), auxiliary explicit dynamics, and the errors for the kinematic constraints.
#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 |