simtk.org

Hello,

I would like to know how state variables are modified in the assemble () function.
As far as I can see from the Documentation and Assembler.h (https://simtk.org/api_docs/simbody/3.5/ ... mbler.html), the specific mathematical method other than the cost function is not described. Could users access more detailed information on assmbling method in SimTK? I am a user of OpenSim 4.0 and trying a sort of forward kinematic analysis using a system with dependent coordinates.

Kind regards,
Yusuke

The coordinates are projected onto the constraint manifold, akin to casting a shadow onto the constraint surface. There's some information here:
- Simbody doxygen documentation for Assembler class: https://simbody.github.io/simbody-3.6-d ... ml#details
- Simbody theory manual: https://github.com/simbody/simbody/tree ... imbody/doc (SimbodyTheoryManual.pdf)

Thank you for your explanation and providing me with the latest documentation.
After scanning the Simbody theory manual, I found some useful information in the section 10.

--
I found more detailed information on the optimizer defined in Assembler.cpp at https://github.com/simbody