Simbody
3.7

This class performs local potential energy minimization of a MultibodySystem. More...
Static Public Member Functions  
static void  minimizeEnergy (const MultibodySystem &system, State &state, Real tolerance) 
Find the local potential energy minimum of a MultibodySystem. More...  
This class performs local potential energy minimization of a MultibodySystem.
Only positions (generalized coordinates q) are changed; velocities are ignored.

static 
Find the local potential energy minimum of a MultibodySystem.
system  the system whose energy should be minimized 
state  on entry, this should contain the starting state from which to begin the search. On exit, it contains a (usually nearby) state with revised generalized coordinate values q at which the energy is a local minimum. 
tolerance  a tolerance for the energy minimization. The search ends when no component of the energy gradient is larger than this. 