CasOC is a namespace containing classes for solving multibody optimal control problems with CasADi. More...

Classes
struct	Bounds

struct	ControlInfo

class	Cost
	This invokes CasOC::Problem::calcCost(). More...

struct	CostInfo

class	CostIntegrand

class	Endpoint
	This function takes initial states/controls, final states/controls, and an integral. More...

class	EndpointConstraint
	This invokes CasOC::Problem::calcEndpointConstraint(). More...

struct	EndpointConstraintInfo

class	EndpointConstraintIntegrand

struct	EndpointInfo

class	Function

class	HermiteSimpson
	Enforce the differential equations in the problem using a Hermite- Simpson (third-order) approximation. More...

class	Integrand

struct	Iterate
	This struct is used to obtain initial guesses. More...

class	MultibodySystemExplicit
	This function should compute forward dynamics (explicit multibody dynamics), auxiliary explicit dynamics, and the errors for the kinematic constraints. More...

class	MultibodySystemImplicit

struct	MultiplierInfo

struct	ParameterInfo

class	PathConstraint

struct	PathConstraintInfo
	The number outputs in the function must match the size of lowerBounds and upperBounds. More...

class	Problem

struct	SlackInfo

struct	Solution

class	Solver
	Once you have built your CasOC::Problem, create a CasOC::Solver to configure how you want to solve the problem, then invoke solve() to solve your problem. More...

struct	StateInfo

class	Transcription
	This is the base class for transcription schemes that convert a CasOC::Problem into a general nonlinear programming problem. More...

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

class	VelocityCorrection
	This function should compute a velocity correction term to make feasible problems that enforce kinematic constraints and their derivatives. More...

Typedefs
using	VectorDM = std::vector< casadi::DM >

template<typename T >
using	Variables = std::unordered_map< Var, T, std::hash< int > >

using	VariablesDM = Variables< casadi::DM >
	Numeric variables for initial guesses and solutions.

using	VariablesMX = Variables< casadi::MX >
	Symbolic variables, used to define the problem.

using	ObjectiveBreakdown = std::vector< std::pair< std::string, double > >
	This struct is used to return a solution to a problem. More...

Enumerations
enum	Var { initial_time, final_time, states, controls, multipliers, slacks, derivatives, parameters, multibody_states = 100 }
	This enum describes the different types of optimization variables, and are the keys for the Variables map. More...

enum	StateType { Coordinate, Speed, Auxiliary }
	This enum is used to categorize a state variable as a generalized coordinate, as a generalized speed, or as an auxiliary state variable (e.g., muscle activity). More...

enum	KinematicLevel { Position, Velocity, Acceleration }

Detailed Description

CasOC is a namespace containing classes for solving multibody optimal control problems with CasADi.

CasOC is not designed to solve generic optimal control problems. For example, CasOC does not require the user to provide a system of first-order differential equations.

CasOC does not conceptually depend on OpenSim or Moco, though CasOC may use OpenSim/Moco utilities (e.g., exception handling). CasADi Optimal Control.

Typedef Documentation

◆ ObjectiveBreakdown

using CasOC::ObjectiveBreakdown = typedef std::vector<std::pair<std::string, double> >

This struct is used to return a solution to a problem.

Use stats to check if the problem converged.

Enumeration Type Documentation

◆ StateType

enum CasOC::StateType

strong

This enum is used to categorize a state variable as a generalized coordinate, as a generalized speed, or as an auxiliary state variable (e.g., muscle activity).

◆ Var

enum CasOC::Var

This enum describes the different types of optimization variables, and are the keys for the Variables map.

Enumerator
states	Differential variables.
controls	Algebraic variables.
multipliers	Used for kinematic constraints.
slacks	Used for certain methods of solving kinematic constraints.
derivatives	Used in implicit dynamics mode.
parameters	Constant in time.
multibody_states	For internal use (never actually a key for Variables).

Classes