computeVerificationOptimizationContinuousFunction.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% This function computes the dynamic constraints, path constraints (if any)
% and cost function terms (if any) for verification optimization.
% 
% (struct) -> (struct)
%


function modeledValues = computeVerificationOptimizationContinuousFunction(inputs)

values = getVerificationOptimizationValueStruct(inputs.phase, inputs.auxdata);
modeledValues = calcTorqueBasedModeledValues(values, inputs.auxdata);
modeledValues = calcSynergyBasedModeledValues(values, inputs.auxdata, modeledValues);
modeledValues.dynamics = calcVerificationOptimizationDynamicsConstraint(values, inputs.auxdata);
path = calcVerificationOptimizationPathConstraint(values, modeledValues, inputs.auxdata);
if ~isempty(path)
    modeledValues.path = path;
end
modeledValues.integrand = calcVerificationOptimizationIntegrand(values, ...
    modeledValues, inputs.auxdata);
end