custom_dynamics/root_explicit_qddot_joint.py
def custom_configure_root_explicit(ocp: OptimalControlProgram, nlp: NonLinearProgram):
    """
    Tell the program which variables are states and controls.
    The user is expected to use the ConfigureProblem.configure_xxx functions.

    Parameters
    ----------
    ocp: OptimalControlProgram
        A reference to the ocp
    nlp: NonLinearProgram
        A reference to the phase
    """

    ConfigureProblem.configure_q(nlp, as_states=True, as_controls=False)
    ConfigureProblem.configure_qdot(nlp, as_states=True, as_controls=False)
    configure_qddot_joint(nlp, as_states=False, as_controls=True)
    ConfigureProblem.configure_dynamics_function(ocp, nlp, root_explicit_dynamic, expand=False)

    Tell the program which variables are states and controls.
    The user is expected to use the ConfigureProblem.configure_xxx functions.

    Parameters
    ----------
    ocp: OptimalControlProgram
        A reference to the ocp
    nlp: NonLinearProgram
        A reference to the phase
    
Tell the program which variables are states and controls.
The user is expected to use the ConfigureProblem.configure_xxx functions.

Parameters

OptimalControlProgram
A reference to the ocp
nlp: NonLinearProgram
A reference to the phase
Tell the program which variables are states and controls . The user is expected to use the ConfigureProblem . configure_xxx functions . Parameters OptimalControlProgram A reference to the ocp nlp : NonLinearProgram A reference to the phase
def custom_configure_root_explicit(ocp: OptimalControlProgram, nlp: NonLinearProgram):
    ConfigureProblem.configure_q(nlp, as_states=True, as_controls=False)
    ConfigureProblem.configure_qdot(nlp, as_states=True, as_controls=False)
    configure_qddot_joint(nlp, as_states=False, as_controls=True)
    ConfigureProblem.configure_dynamics_function(ocp, nlp, root_explicit_dynamic, expand=False)
def custom_configure_root_explicit ( ocp : OptimalControlProgram , nlp : NonLinearProgram ) : ConfigureProblem . configure_q ( nlp , as_states = True , as_controls = False ) ConfigureProblem . configure_qdot ( nlp , as_states = True , as_controls = False ) configure_qddot_joint ( nlp , as_states = False , as_controls = True ) ConfigureProblem . configure_dynamics_function ( ocp , nlp , root_explicit_dynamic , expand = False )
Tell the program which variables are states and controls.
Tell the program which variables are states and controls .
"""
    Tell the program which variables are states and controls.
    The user is expected to use the ConfigureProblem.configure_xxx functions.

    Parameters
    ----------
    ocp: OptimalControlProgram
        A reference to the ocp
    nlp: NonLinearProgram
        A reference to the phase
    """
ocp
OptimalControlProgram
nlp
NonLinearProgram