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OpenSim::MocoTropterSolver::ExplicitTropterProblem< T > Class Template Reference
+ Inheritance diagram for OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >:

Public Member Functions

 ExplicitTropterProblem (const MocoTropterSolver &solver)
 
void initialize_on_mesh (const Eigen::VectorXd &) const override
 
void calc_differential_algebraic_equations (const tropter::Input< T > &in, tropter::Output< T > out) const override
 
- Public Member Functions inherited from OpenSim::MocoTropterSolver::TropterProblemBase< T >
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
 

Additional Inherited Members

- Protected Member Functions inherited from OpenSim::MocoTropterSolver::TropterProblemBase< T >
 TropterProblemBase (const MocoTropterSolver &solver, bool implicit=false)
 
void addStateVariables ()
 
void addControlVariables ()
 
void addCosts ()
 
void addKinematicConstraints ()
 
void addGenericPathConstraints ()
 Add any generic path constraints included in the problem. More...
 
void addParameters ()
 
void initialize_on_iterate (const Eigen::VectorXd &parameters) const override final
 
void setSimTKTimeAndStates (const T &time, Eigen::Ref< const tropter::VectorX< T >> states, SimTK::State &simTKState) const
 
void setSimTKState (const tropter::Input< T > &in) const
 
void setSimTKStateForCostInitial (const tropter::CostInput< T > &in) const
 
void setSimTKStateForCostFinal (const tropter::CostInput< T > &in) const
 
void 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
 Use stateDisConIndex to specify which of the two stateDisabledConstraints from MocoProblemRep to update. More...
 
void calc_cost_integrand (int cost_index, const tropter::Input< T > &in, T &integrand) const override
 
void calc_cost (int cost_index, const tropter::CostInput< T > &in, T &cost_value) const override
 
void applyParametersToModelProperties (const tropter::VectorX< T > &parameters) const
 Apply parameters to properties in m_modelBase and m_modelDisabledConstraints. More...
 
void calcAndApplyKinematicConstraintForces (const tropter::VectorX< T > &adjuncts, const SimTK::State &stateBase, SimTK::State &stateDisabledConstraints) const
 
void calcKinematicConstraintErrors (const SimTK::Vector &udot, tropter::Output< T > &out) const
 
void calcPathConstraintErrors (const SimTK::State &state, tropter::Output< T > &out) const
 
- Protected Attributes inherited from OpenSim::MocoTropterSolver::TropterProblemBase< T >
const MocoTropterSolver & m_mocoTropterSolver
 
const MocoProblemRep & m_mocoProbRep
 
const Model & m_modelBase
 
SimTK::State & m_stateBase
 
const Model & m_modelDisabledConstraints
 
SimTK::State & m_stateDisabledConstraints
 
const bool m_implicit
 
int m_multiplierCostIndex = -1
 
std::unique_ptr< FileDeletionThrower > m_fileDeletionThrower
 
std::vector< std::string > m_svNamesInSysOrder
 
std::unordered_map< int, int > m_yIndexMap
 
std::vector< int > m_modelControlIndices
 
SimTK::Vector_< SimTK::SpatialVec > m_constraintBodyForces
 
SimTK::Vector m_constraintMobilityForces
 
SimTK::Vector qdot
 
SimTK::Vector qdotCorr
 
int m_total_mp = 0
 
int m_total_mv = 0
 
int m_total_ma = 0
 
int m_numMultipliers = 0
 
SimTK::Vector m_pvaerr
 
int m_numKinematicConstraintEquations = 0
 
int m_numPathConstraintEquations = 0
 

Constructor & Destructor Documentation

◆ ExplicitTropterProblem()

template<typename T >
OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::ExplicitTropterProblem ( const MocoTropterSolver &  solver)
inline

Member Function Documentation

◆ calc_differential_algebraic_equations()

template<typename T >
void OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::calc_differential_algebraic_equations ( const tropter::Input< T > &  in,
tropter::Output< T >  out 
) const
inlineoverride

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcKinematicConstraintErrors(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcPathConstraintErrors(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelDisabledConstraints, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateBase, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateDisabledConstraints, OpenSim::MocoTropterSolver::TropterProblemBase< T >::qdot, OpenSim::MocoTropterSolver::TropterProblemBase< T >::qdotCorr, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

◆ initialize_on_mesh()

template<typename T >
void OpenSim::MocoTropterSolver::ExplicitTropterProblem< T >::initialize_on_mesh ( const Eigen::VectorXd &  ) const
inlineoverride
The documentation for this class was generated from the following files: