OpenSim::MocoTropterSolver::ImplicitTropterProblem< T > Class Template Reference

Inheritance diagram for OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >:

Public Member Functions
	ImplicitTropterProblem (const MocoTropterSolver &solver)
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

ImplicitTropterProblem()

template<typename T >

OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::ImplicitTropterProblem ( const MocoTropterSolver &  solver )

inline

References OpenSim::convertBounds(), OpenSim::MocoDirectCollocationSolver::get_implicit_multibody_acceleration_bounds(), OpenSim::MocoProblemRep::getAccelerationMotion(), OpenSim::MocoProblemRep::isPrescribedKinematics(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_mocoProbRep, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateDisabledConstraints, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_svNamesInSysOrder, and OpenSim::AccelerationMotion::setEnabled().

Member Function Documentation

calc_differential_algebraic_equations()

template<typename T >

void OpenSim::MocoTropterSolver::ImplicitTropterProblem< T >::calc_differential_algebraic_equations ( const tropter::Input< T > &  in, tropter::Output< T >  out  ) const

inlineoverride

References OpenSim::MocoTropterSolver::TropterProblemBase< T >::calcPathConstraintErrors(), OpenSim::Model::getMatterSubsystem(), OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_modelDisabledConstraints, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numKinematicConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_numPathConstraintEquations, OpenSim::MocoTropterSolver::TropterProblemBase< T >::m_stateDisabledConstraints, and OpenSim::MocoTropterSolver::TropterProblemBase< T >::setSimTKState().

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

• OpenSim/Moco/MocoTropterSolver.h
• OpenSim/Moco/tropter/TropterProblem.h