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OpenSim::MocoTropterSolver::TropterProblemBase< T > Class Template Reference
+ 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
 

Constructor & Destructor Documentation

◆ TropterProblemBase()

template<typename T >
OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase ( const MocoTropterSolver &  solver,
bool  implicit = false 
)
inlineprotected

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::addControlVariables(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::addCosts(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::addGenericPathConstraints(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::addKinematicConstraints(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::addParameters(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::addStateVariables(), OpenSim::MocoProblemRep::createStateVariableNamesInSystemOrder(), OpenSim::getFormattedDateTime(), OpenSim::Model::getMatterSubsystem(), OpenSim::MocoProblemRep::getName(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_fileDeletionThrower, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_svNamesInSysOrder, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_yIndexMap.

Member Function Documentation

◆ addControlVariables()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addControlVariables ( )
inlineprotected

References OpenSim::convertBounds(), OpenSim::createControlNamesFromModel(), OpenSim::MocoProblemRep::getControlInfo(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelControlIndices.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ addCosts()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addCosts ( )
inlineprotected

References OpenSim::MocoProblemRep::createCostNames(), OpenSim::MocoDirectCollocationSolver::get_minimize_lagrange_multipliers(), OpenSim::MocoProblemRep::getCost(), OpenSim::MocoProblemRep::getNumEndpointConstraints(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoTropterSolver, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_multiplierCostIndex.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ addGenericPathConstraints()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addGenericPathConstraints ( )
inlineprotected

Add any generic path constraints included in the problem.

References OpenSim::convertBounds(), OpenSim::MocoProblemRep::createPathConstraintNames(), OpenSim::MocoPathConstraint::getConstraintInfo(), OpenSim::MocoConstraintInfo::getConstraintLabels(), OpenSim::MocoProblemRep::getNumPathConstraintEquations(), OpenSim::MocoProblemRep::getPathConstraint(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numPathConstraintEquations.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ addKinematicConstraints()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addKinematicConstraints ( )
inlineprotected

References OpenSim::Acceleration, OpenSim::convertBounds(), OpenSim::MocoProblemRep::createKinematicConstraintNames(), OpenSim::MocoDirectCollocationSolver::get_enforce_constraint_derivatives(), OpenSim::MocoDirectCollocationSolver::get_minimize_lagrange_multipliers(), OpenSim::MocoDirectCollocationSolver::get_velocity_correction_bounds(), OpenSim::MocoProblemRep::getKinematicConstraint(), OpenSim::MocoProblemRep::getMultiplierInfos(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoTropterSolver, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numMultipliers, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_ma, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_mp, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_mv, OpenSim::Position, and OpenSim::Velocity.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ addParameters()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addParameters ( )
inlineprotected

References OpenSim::convertBounds(), OpenSim::MocoProblemRep::createParameterNames(), OpenSim::MocoParameter::getBounds(), OpenSim::MocoProblemRep::getParameter(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ addStateVariables()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::addStateVariables ( )
inlineprotected

References OpenSim::convertBounds(), OpenSim::MocoProblemRep::getStateInfo(), OpenSim::MocoProblemRep::getTimeFinalBounds(), OpenSim::MocoProblemRep::getTimeInitialBounds(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_svNamesInSysOrder.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::TropterProblemBase().

◆ applyParametersToModelProperties()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::applyParametersToModelProperties ( const tropter::VectorX< T > &  parameters) const
inlineprotected

Apply parameters to properties in m_modelBase and m_modelDisabledConstraints.

References OpenSim::MocoProblemRep::applyParametersToModelProperties(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::initialize_on_iterate().

◆ calc_cost()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost ( int  cost_index,
const tropter::CostInput< T > &  in,
T &  cost_value 
) const
inlineoverrideprotected

References OpenSim::MocoGoal::calcGoal(), OpenSim::MocoProblemRep::getCostByIndex(), OpenSim::MocoProblemRep::getDiscreteControllerDisabledConstraints(), OpenSim::DiscreteController::getDiscreteControls(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_multiplierCostIndex, OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostFinal(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostInitial(), and OpenSim::MocoProblemRep::updStateDisabledConstraints().

◆ calc_cost_integrand()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost_integrand ( int  cost_index,
const tropter::Input< T > &  in,
T &  integrand 
) const
inlineoverrideprotected

References OpenSim::MocoGoal::calcIntegrand(), OpenSim::MocoDirectCollocationSolver::get_lagrange_multiplier_weight(), OpenSim::MocoProblemRep::getCostByIndex(), OpenSim::MocoProblemRep::getDiscreteControllerDisabledConstraints(), OpenSim::DiscreteController::getDiscreteControls(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoTropterSolver, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_multiplierCostIndex, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numMultipliers, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateDisabledConstraints, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

◆ calcAndApplyKinematicConstraintForces()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcAndApplyKinematicConstraintForces ( const tropter::VectorX< T > &  adjuncts,
const SimTK::State &  stateBase,
SimTK::State &  stateDisabledConstraints 
) const
inlineprotected

References OpenSim::MocoProblemRep::getConstraintForces(), OpenSim::Model::getMatterSubsystem(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_constraintBodyForces, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_constraintMobilityForces, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numMultipliers, OpenSim::Model::realizeVelocity(), and OpenSim::DiscreteForces::setAllForces().

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

◆ calcKinematicConstraintErrors()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcKinematicConstraintErrors ( const SimTK::Vector &  udot,
tropter::Output< T > &  out 
) const
inlineprotected

References OpenSim::MocoDirectCollocationSolver::get_enforce_constraint_derivatives(), OpenSim::Model::getMatterSubsystem(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoTropterSolver, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_pvaerr, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_ma, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_mp, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_total_mv.

Referenced by OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::calc_differential_algebraic_equations().

◆ calcPathConstraintErrors()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcPathConstraintErrors ( const SimTK::State &  state,
tropter::Output< T > &  out 
) const
inlineprotected

References OpenSim::MocoProblemRep::calcPathConstraintErrors(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations.

Referenced by OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::calc_differential_algebraic_equations(), and OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::calc_differential_algebraic_equations().

◆ convertIterateTropterToMoco()

template<typename T >
template<typename MocoTrajectoryType , typename tropIterateType >
MocoTrajectoryType OpenSim::MocoTropterSolver::TropterProblemBase< T >::convertIterateTropterToMoco ( const tropIterateType &  tropSol) const

◆ convertToMocoSolution()

template<typename T >
MocoSolution OpenSim::MocoTropterSolver::TropterProblemBase< T >::convertToMocoSolution ( const tropter::Solution &  tropSol) const

◆ convertToMocoTrajectory()

template<typename T >
MocoTrajectory OpenSim::MocoTropterSolver::TropterProblemBase< T >::convertToMocoTrajectory ( const tropter::Iterate &  tropSol) const

◆ convertToTropterIterate()

template<typename T >
tropter::Iterate OpenSim::MocoTropterSolver::TropterProblemBase< T >::convertToTropterIterate ( const MocoTrajectory &  mocoIter) const

◆ initialize_on_iterate()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::initialize_on_iterate ( const Eigen::VectorXd &  parameters) const
inlinefinaloverrideprotected

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::applyParametersToModelProperties(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_fileDeletionThrower.

◆ setSimTKState() [1/2]

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState ( const tropter::Input< T > &  in) const
inlineprotected

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost_integrand(), OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::calc_differential_algebraic_equations(), OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::calc_differential_algebraic_equations(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostFinal(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostInitial().

◆ setSimTKState() [2/2]

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::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
inlineprotected

Use stateDisConIndex to specify which of the two stateDisabledConstraints from MocoProblemRep to update.

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcAndApplyKinematicConstraintForces(), OpenSim::MocoProblemRep::getAccelerationMotion(), OpenSim::MocoProblemRep::getDiscreteControllerDisabledConstraints(), OpenSim::MocoProblemRep::isPrescribedKinematics(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_implicit, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelControlIndices, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelDisabledConstraints, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKTimeAndStates(), OpenSim::AccelerationMotion::setUDot(), OpenSim::DiscreteController::updDiscreteControls(), and OpenSim::MocoProblemRep::updStateDisabledConstraints().

◆ setSimTKStateForCostFinal()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostFinal ( const tropter::CostInput< T > &  in) const
inlineprotected

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost().

◆ setSimTKStateForCostInitial()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostInitial ( const tropter::CostInput< T > &  in) const
inlineprotected

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::calc_cost().

◆ setSimTKTimeAndStates()

template<typename T >
void OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKTimeAndStates ( const T &  time,
Eigen::Ref< const tropter::VectorX< T >>  states,
SimTK::State &  simTKState 
) const
inlineprotected

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_yIndexMap.

Referenced by OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

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