Speed Constraints#
Constraints on motion speed and velocity.
- class biosym.constraints.speed.Constraint(model, settings, args)#
Bases:
BaseConstraintBase class for speed constraints in the biosym package.
- get_confun()#
Evaluate the speed constraint function.
- Parameters:
states_list – Dictionary containing the current states.
- Returns:
The speed 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.speed.confun(states_list, globals_dict, settings, info)#
Evaluate the constraint function for adaptive step sizes. :param states_list: Dictionary containing the current states. :param globals_dict: Dictionary containing global variables (e.g., duration). :param settings: Dictionary containing settings for the dynamics constraint. :param info: Information about the constraint function. :return: The evaluated constraint function.
- biosym.constraints.speed.jacobian(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.
- Parameters:
states_list – List containing the current states.
settings – Dictionary containing settings for the dynamics constraint.
info – Information about the constraint function.
- Returns:
The Jacobian of the constraint function.