OpenSim::MocoGoal::IntegrandInput Struct Reference

Public Attributes
const SimTK::Real &	time
	Time is available regardless of the stage dependency. More...
const SimTK::State &	state
	The time in the state is only updated if the stage requirement is SimTK::Stage::Time or greater. More...
const SimTK::Vector &	controls
	Controls are available with a stage requirement of SimTK::Stage::Model. More...

Member Data Documentation

controls

const SimTK::Vector& OpenSim::MocoGoal::IntegrandInput::controls

Controls are available with a stage requirement of SimTK::Stage::Model.

If you only need to access the controls, use this field. This vector has length Model::getNumControls(), and has slots for disabled actuators. The function createControlNamesForModel() provides data structures that can be indexed in the same way as this field. Use this field rather than Model::getControls().

state

const SimTK::State& OpenSim::MocoGoal::IntegrandInput::state

The time in the state is only updated if the stage requirement is SimTK::Stage::Time or greater.

If you need access to the state variables, you must set a stage requirement of SimTK::Stage::Time.

Referenced by OpenSim::MocoGoal::calcIntegrand().

time

const SimTK::Real& OpenSim::MocoGoal::IntegrandInput::time

Time is available regardless of the stage dependency.

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

• OpenSim/Moco/MocoGoal/MocoGoal.h