Actuator Constraints#
Constraints on actuator forces, torques, and dynamics.
- class biosym.constraints.actuators.Constraint(model, settings, args)#
Bases:
BaseConstraintBase class for dynamics constraints in the biosym package.
This class provides a template for implementing specific dynamics constraints. It includes methods for evaluating the constraint function, computing the Jacobian, and retrieving information about the constraint.
- get_confun()#
Evaluate the dynamics constraint function.
- Parameters:
states_list – Dictionary containing the current states.
- Returns:
The dynamics constraint function.
- get_jacobian()#
Get the Jacobian of the dynamics constraint function.
- Parameters:
states_list – Dictionary containing the current states.
- Returns:
The Jacobian of the dynamics constraint function.
- get_n_constraints()#
Get the number of constraints defined by this dynamics constraint.
- Returns:
The number of constraints.
- get_nnz()#
Get the number of non-zero entries in the Jacobian of the dynamics constraint.
- Returns:
The number of non-zero entries.
- biosym.constraints.actuators.confun(model, states_list, globals_dict, settings, info)#
Placeholder for the constraint function.
This function should be implemented in subclasses to evaluate the dynamics constraints.
- Parameters:
states_list – List containing the current states.
settings – Dictionary containing settings for the dynamics constraint.
info – Information about the constraint function.
- Returns:
The evaluated value of the constraint function.
Todo: there is some non-jax logic in here, which could be replaced with a static function
- biosym.constraints.actuators.jacobian(model, states_list, globals_dict, settings, info)#
Placeholder for the Jacobian of the constraint function.
This function should be implemented in subclasses to compute the Jacobian of the dynamics constraints.
param states_list: List containing the current states. :param settings: Dictionary containing settings for the dynamics constraint. :param info: Information about the constraint function. :return: The Jacobian of the constraint function.