From bb592b618dd34ef1cbe9d7029fd0e45b8301ba0b Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Wed, 9 Jun 2021 09:46:48 +0200
Subject: [PATCH] Fix MPC Wrapper in parallel mode
---
scripts/MPC_Wrapper.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/scripts/MPC_Wrapper.py b/scripts/MPC_Wrapper.py
index 715c8be5..f0fd9174 100644
--- a/scripts/MPC_Wrapper.py
+++ b/scripts/MPC_Wrapper.py
@@ -199,7 +199,7 @@ class MPC_Wrapper:
if k == 0:
# loop_mpc = MPC.MPC(self.dt, self.n_steps, self.T_gait)
if self.mpc_type:
- loop_mpc = MPC.MPC(self.dt, self.n_steps, self.T_gait)
+ loop_mpc = MPC.MPC(self.dt, self.n_steps, self.T_gait, self.N_gait)
else:
loop_mpc = MPC_crocoddyl.MPC_crocoddyl(self.dt, self.T_gait, 1, True)
dummy_fstep_planner = Dummy()
--
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