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::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::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::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::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::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::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, 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::MocoTropterSolver::TropterProblemBase< T >::m_mocoTropterSolver, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, 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 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::DiscreteController::updDiscreteControls(), and OpenSim::MocoProblemRep::updStateDisabledConstraints().

setSimTKState() [2/2]

template<typename T >

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

inlineprotected

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

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 >::setSimTKState(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostFinal(), and OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKStateForCostInitial().

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 file:

• OpenSim/Moco/tropter/TropterProblem.h