From d492837494d2f9b1013d7d780b1b12a77dddf35c Mon Sep 17 00:00:00 2001
From: cbusato <busatoclement@gmail.com>
Date: Mon, 27 Feb 2023 11:11:48 +0100
Subject: [PATCH] Revert "Change optimization variables from dxs to xs directly
(bis)"
This reverts commit f447cf9abe191fa427cfbfa89c84331d0e27ddc0.
---
python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
index 0d30c307..cb1ac42b 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
@@ -71,6 +71,7 @@ class OCP:
datas (list of NodeData): list of node data, one for each node of the OCP
opti (casadi.Opti): optimization problem wrapper
xs (vector): State trajectory (q + dq)
+ dxs (vector): Derivative of state trajectory
a (vector): Acceleration slack trajectory
us (vector): Control trajectory (tau)
fs (vector): Contact forces trajectories
@@ -203,6 +204,10 @@ class OCP:
self.opti = opti
# Optimization variables
+ self.dxs = [
+ opti.variable(self.pd.ndx)
+ for _ in self.runningModels + [self.terminalModel]
+ ]
self.acs = [opti.variable(self.pd.nv) for _ in self.runningModels]
self.us = [opti.variable(self.pd.nu) for _ in self.runningModels]
self.xs = [opti.variable(self.pd.nx) for _ in (self.runningModels + [self.terminalModel])]
--
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