This PR cleans up the external function. There is no need to have different external functions for optimization and post-processing, since non-used outputs of the external function do not influence the optimization. It is therefore cleaner to have only one function.
This PR also fixes #2. There is now a dict F_map with the indices ogf the outputs of F.
This PR also removes the need to provide input joints and coordinates. Indeed, with the map it is now easier to do the mapping when formulating the problem.
This PR cleans up the external function. There is no need to have different external functions for optimization and post-processing, since non-used outputs of the external function do not influence the optimization. It is therefore cleaner to have only one function.
This PR also fixes #2. There is now a dict F_map with the indices ogf the outputs of F.
This PR also removes the need to provide input joints and coordinates. Indeed, with the map it is now easier to do the mapping when formulating the problem.