OpenSim Moco  0.4.0
Public Member Functions | List of all members
CasOC::Trapezoidal Class Reference

Description

Enforce the differential equations in the problem using a trapezoidal (second-order) approximation.

The integral in the objective function is approximated by trapezoidal quadrature.

Inheritance diagram for CasOC::Trapezoidal:
CasOC::Transcription

#include <Moco/Moco/MocoCasADiSolver/CasOCTrapezoidal.h>

Public Member Functions

 Trapezoidal (const Solver &solver, const Problem &problem)
 
- Public Member Functions inherited from CasOC::Transcription
 Transcription (const Solver &solver, const Problem &problem)
 
Iterate createInitialGuessFromBounds () const
 
Iterate createRandomIterateWithinBounds (const SimTK::Random *=nullptr) const
 Use the provided random number generator to generate an iterate. More...
 
template<typename T >
createTimes (const T &initialTime, const T &finalTime) const
 
casadi::DM createQuadratureCoefficients () const
 
casadi::DM createMeshIndices () const
 
Solution solve (const Iterate &guessOrig)
 

Additional Inherited Members

- Protected Member Functions inherited from CasOC::Transcription
void createVariablesAndSetBounds (const casadi::DM &grid, int numDefectsPerMeshInterval, const casadi::DM &pointsForInterpControls=casadi::DM())
 This must be called in the constructor of derived classes so that overridden virtual methods are accessible to the base class. More...
 
casadi::MXVector evalOnTrajectory (const casadi::Function &pointFunction, const std::vector< Var > &inputs, const casadi::Matrix< casadi_int > &timeIndices) const
 We assume all functions depend on time and parameters. More...
 
template<typename TRow , typename TColumn >
void setVariableBounds (Var var, const TRow &rowIndices, const TColumn &columnIndices, const Bounds &bounds)
 
void printConstraintValues (const Iterate &it, const Constraints< casadi::DM > &constraints, std::ostream &stream=std::cout) const
 
void printObjectiveBreakdown (const Iterate &it, const casadi::DM &objectiveTerms, std::ostream &stream=std::cout) const
 
- Protected Attributes inherited from CasOC::Transcription
const Solverm_solver
 
const Problemm_problem
 
int m_numGridPoints = -1
 
int m_numMeshPoints = -1
 
int m_numMeshIntervals = -1
 
int m_numMeshInteriorPoints = -1
 
int m_numDefectsPerMeshInterval = -1
 
int m_numMultibodyResiduals = -1
 
int m_numAuxiliaryResiduals = -1
 
int m_numConstraints = -1
 
casadi::DM m_grid
 
casadi::DM m_pointsForInterpControls
 
casadi::MX m_times
 
casadi::MX m_duration
 

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