custom_dynamics/root_explicit_qddot_joint.py
def configure_qddot_joint(nlp, as_states: bool, as_controls: bool):
    """
    Configure the generalized accelerations

    Parameters
    ----------
    nlp: NonLinearProgram
        A reference to the phase
    as_states: bool
        If the generalized velocities should be a state
    as_controls: bool
        If the generalized velocities should be a control
    """
    nb_root = nlp.model.nbRoot()
    name_qddot_joint = [str(i + nb_root) for i in range(nlp.model.nbQddot() - nb_root)]
    ConfigureProblem.configure_new_variable("qddot_joint", name_qddot_joint, nlp, as_states, as_controls)

    Configure the generalized accelerations

    Parameters
    ----------
    nlp: NonLinearProgram
        A reference to the phase
    as_states: bool
        If the generalized velocities should be a state
    as_controls: bool
        If the generalized velocities should be a control
    
Configure the generalized accelerations
Parameters

NonLinearProgram
A reference to the phase
as_states: bool
If the generalized velocities should be a state
as_controls: bool
If the generalized velocities should be a control
Configure the generalized accelerations Parameters NonLinearProgram A reference to the phase as_states : bool If the generalized velocities should be a state as_controls : bool If the generalized velocities should be a control
def configure_qddot_joint(nlp, as_states: bool, as_controls: bool):
    nb_root = nlp.model.nbRoot()
    name_qddot_joint = [str(i + nb_root) for i in range(nlp.model.nbQddot() - nb_root)]
    ConfigureProblem.configure_new_variable("qddot_joint", name_qddot_joint, nlp, as_states, as_controls)
def configure_qddot_joint ( nlp , as_states : bool , as_controls : bool ) : nb_root = nlp . model . nbRoot ( ) name_qddot_joint = [ str ( i + nb_root ) for i in range ( nlp . model . nbQddot ( ) - nb_root ) ] ConfigureProblem . configure_new_variable ( "qddot_joint" , name_qddot_joint , nlp , as_states , as_controls )
Configure the generalized accelerations
Parameters
Configure the generalized accelerations Parameters
"""
    Configure the generalized accelerations

    Parameters
    ----------
    nlp: NonLinearProgram
        A reference to the phase
    as_states: bool
        If the generalized velocities should be a state
    as_controls: bool
        If the generalized velocities should be a control
    """
nlp
as_states
bool
as_controls
bool