I'm working on using direct collocation and nonlinear programming for system/parameter identification. This requires evaluating a vector of constraint equations and it's sparse Jacobian. When there are thousands of collocation nodes and a fair number of model states the equations need to be evaluated on the order of a …

I've been working on implementing a walking simulation model that is based on and compatible with a model developed by my PI, Ton van den Bogert, in http://dx.doi.org/10.1016/j.jbiomech.2009.12.012. Ton provided me with source code that that derives the equations of …