API  4.5
For C++ developers
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.

◆ time

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

Time is available regardless of the stage dependency.


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