export alphas

sl1m/planner_l1_generic_2.py

@@ -191,10 +191,14 @@ class PlannerL1:
         """
         Retrieve the com and feet positions from the problem and result
         :param: pb dictionnary with the format required by SL1M
-        :param: result result of the optimisation
+        :param: coms  CoM result of the optimisation
+        :param: moving_foot_pos Moving foot result of the optimisation
+        :param: all_feet_pos All feet result of the optimisation
+        :param: alphas alphas
         :return: com positions, moving foot positions and all feet positions
         """
         coms = []
+        alphas = []
         moving_foot_pos = []
         all_feet_pos = []
 
@@ -203,6 +207,7 @@ class PlannerL1:
             all_feet_pos.append([self.feet[i].dot(result[j:j + self.default_n_variables]) for i in range(self.n_effectors)])
             moving_foot_pos.append(self.feet[phase["Moving"]].dot(result[j:j + self.default_n_variables]))
             coms.append(self.com_2.dot(result[j:j + self.default_n_variables]))
+            alphas.append(result[j + self.default_n_variables:j+self.__phase_n_variables(phase)])
 
             j += self.__phase_n_variables(phase)
-        return coms, moving_foot_pos, all_feet_pos
+        return coms, moving_foot_pos, all_feet_pos, alphas