Overview

This documentation is for people who want to use the OpenSim application programming interface (API) with the MATLAB, Python, Java or C++ languages.Therefore, internal ("protected") methods are hidden from this documentation. If you want to extend the OpenSim libraries by writing your own C++ plugin or you want to contribute directly to the OpenSim library, see the developer API documentation.

The table below represents the hierarchical structure of OpenSim. Each box represents a class utilized by the OpenSim API, and is built on top of (i.e., requires) the components underneath. For example, you can click on the "Model Component" block to see a list of model components, such as body, constraint, or joint.

Click on any of the boxes to navigate to corresponding class description.

Other specific classes of interest in OpenSim:

• OpenSim::Actuator
• OpenSim::Body
• OpenSim::Force
• OpenSim::Function
• OpenSim::Joint
• OpenSim::Muscle
• OpenSim::StatesTrajectory

Classes of interest in Simbody:

• SimTK::Matrix_
• SimTK::Vector_
• SimTK::Vec
• SimTK::UnitVec
• SimTK::Rotation
• SimTK::MobilizedBody
• SimTK::SimbodyMatterSubsystem
• SimTK::State

For documentation on the OpenSim Moco optimal control library, visit Moco.