miller_ocp.py
def _set_dynamics(self):
        """
        Set the dynamics of the optimal control problem
        """
        for phase in range(len(self.n_shooting)):
            if self.dynamics_type == MillerDynamics.EXPLICIT:
                self.dynamics.add(DynamicsFcn.TORQUE_DRIVEN, with_contact=False)
            elif self.dynamics_type == MillerDynamics.ROOT_EXPLICIT:
                self.dynamics.add(custom_configure_root_explicit, dynamic_function=root_explicit_dynamic)
            elif self.dynamics_type == MillerDynamics.IMPLICIT:
                self.dynamics.add(DynamicsFcn.TORQUE_DRIVEN, implicit_dynamics=True, with_contact=False)
            elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT:
                self.dynamics.add(custom_configure_root_implicit, dynamic_function=root_implicit_dynamic)
            elif self.dynamics_type == MillerDynamics.IMPLICIT_TAU_DRIVEN_QDDDOT:
                self.dynamics.add(custom_configure_tau_driven_implicit, dynamic_function=tau_implicit_qdddot_dynamic)
            elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT_QDDDOT:
                self.dynamics.add(custom_configure_root_implicit_qdddot, dynamic_function=root_implicit_qdddot_dynamic)
            else:
                raise ValueError("This dynamics has not been implemented")

        Set the dynamics of the optimal control problem
        
Set the dynamics of the optimal control problem
Set the dynamics of the optimal control problem
def _set_dynamics(self):
        for phase in range(len(self.n_shooting)):
            if self.dynamics_type == MillerDynamics.EXPLICIT:
                self.dynamics.add(DynamicsFcn.TORQUE_DRIVEN, with_contact=False)
            elif self.dynamics_type == MillerDynamics.ROOT_EXPLICIT:
                self.dynamics.add(custom_configure_root_explicit, dynamic_function=root_explicit_dynamic)
            elif self.dynamics_type == MillerDynamics.IMPLICIT:
                self.dynamics.add(DynamicsFcn.TORQUE_DRIVEN, implicit_dynamics=True, with_contact=False)
            elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT:
                self.dynamics.add(custom_configure_root_implicit, dynamic_function=root_implicit_dynamic)
            elif self.dynamics_type == MillerDynamics.IMPLICIT_TAU_DRIVEN_QDDDOT:
                self.dynamics.add(custom_configure_tau_driven_implicit, dynamic_function=tau_implicit_qdddot_dynamic)
            elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT_QDDDOT:
                self.dynamics.add(custom_configure_root_implicit_qdddot, dynamic_function=root_implicit_qdddot_dynamic)
            else:
                raise ValueError("This dynamics has not been implemented")
def _set_dynamics ( self ) : for phase in range ( len ( self . n_shooting ) ) : if self . dynamics_type == MillerDynamics . EXPLICIT : self . dynamics . add ( DynamicsFcn . TORQUE_DRIVEN , with_contact = False ) elif self . dynamics_type == MillerDynamics . ROOT_EXPLICIT : self . dynamics . add ( custom_configure_root_explicit , dynamic_function = root_explicit_dynamic ) elif self . dynamics_type == MillerDynamics . IMPLICIT : self . dynamics . add ( DynamicsFcn . TORQUE_DRIVEN , implicit_dynamics = True , with_contact = False ) elif self . dynamics_type == MillerDynamics . ROOT_IMPLICIT : self . dynamics . add ( custom_configure_root_implicit , dynamic_function = root_implicit_dynamic ) elif self . dynamics_type == MillerDynamics . IMPLICIT_TAU_DRIVEN_QDDDOT : self . dynamics . add ( custom_configure_tau_driven_implicit , dynamic_function = tau_implicit_qdddot_dynamic ) elif self . dynamics_type == MillerDynamics . ROOT_IMPLICIT_QDDDOT : self . dynamics . add ( custom_configure_root_implicit_qdddot , dynamic_function = root_implicit_qdddot_dynamic ) else : raise ValueError ( "This dynamics has not been implemented" )
Set the dynamics of the optimal control problem
Set the dynamics of the optimal control problem
"""
        Set the dynamics of the optimal control problem
        """
self