# Differentiable simulation (API)

User-friendly object-oriented API for differentiable simulation `unsim.api`.
A `DifferentiableWorld` is obtained by `World.compile(backend="jax")`.

## DifferentiableWorld

```{eval-rst}
.. autoclass:: unsim.api.DifferentiableWorld
   :members:
```

## SimResult

```{eval-rst}
.. autoclass:: unsim.api.SimResult
   :members:
```

## Metrics

```{eval-rst}
.. autoclass:: unsim.api.Metrics
   :members:
```

## LinkView

```{eval-rst}
.. autoclass:: unsim.api.LinkView
   :members:
```

## NodeView

```{eval-rst}
.. autoclass:: unsim.api.NodeView
   :members:
```

## PathView

```{eval-rst}
.. autoclass:: unsim.api.PathView
   :members:
```

## ODView

```{eval-rst}
.. autoclass:: unsim.api.ODView
   :members:
```

## Objective

```{eval-rst}
.. autoclass:: unsim.api.Objective
   :members:
```

## Gradients

```{eval-rst}
.. autoclass:: unsim.api.Gradients
   :members:
```

## ParameterRef

```{eval-rst}
.. autoclass:: unsim.api.ParameterRef
   :members:
```

## PathRef

```{eval-rst}
.. autoclass:: unsim.api.PathRef
   :members:
```

## TollVariable

```{eval-rst}
.. autoclass:: unsim.api.TollVariable
   :members:
```

## CustomVariable

```{eval-rst}
.. autoclass:: unsim.api.CustomVariable
   :members:
```

## Problem

```{eval-rst}
.. autoclass:: unsim.api.Problem
   :members:
```

## Solution

```{eval-rst}
.. autoclass:: unsim.api.Solution
   :members:
```

## PiecewiseConstant

```{eval-rst}
.. autoclass:: unsim.api.PiecewiseConstant
   :members:
```