text: #ifndef __OBJECTIVES_H
  #define __OBJECTIVES_H
  #include "BiorbdModel.h"
  #include "dynamics.h"
  
  void lagrangeResidualTorques( double *x, double *g, void *);
  void lagrangeResidualTorquesMultistage(double *u, double *g, void *);
  void lagrangeActivations( double *x, double *g, void *);
  void lagrangeAccelerations( double *x, double *g, void *user_data);
  void lagrangeTime( double *x, double *g, void *);
  void mayerVelocity( double *x, double *g, void *);
  void mayerRHS( double *x, double *g, void *user_data);
  
  extern biorbd::Model m;
  extern unsigned int nQ;
  extern unsigned int nQdot;
  extern unsigned int nTau;
  extern unsigned int nTags;
  extern unsigned int nMus;
  extern unsigned int nPhases;
  
  
  #endif
  