From e646268b9cb0eda75e43bb4d94bb7dd5c44fb04a Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Thu, 28 Jul 2022 13:15:50 +0200
Subject: [PATCH] fix benchmark
---
.../quadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py b/python/quadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py
index 21ad0518..c2e041c5 100644
--- a/python/quadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py
@@ -23,7 +23,8 @@ def createProblem():
x0 = pd.x0_reduced
ocp = OCP(pd, target)
- ocp.make_ocp(x0)
+ ocp.make_ocp()
+ ocp.x0 = x0
xs = [x0] * (ocp.ddp.problem.T + 1)
us = ocp.ddp.problem.quasiStatic([x0] * ocp.ddp.problem.T)
--
GitLab