From f447cf9abe191fa427cfbfa89c84331d0e27ddc0 Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Mon, 23 Jan 2023 13:43:26 +0100
Subject: [PATCH] Change optimization variables from dxs to xs directly (bis)
---
python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py | 5 -----
1 file changed, 5 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
index cb1ac42b..0d30c307 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
@@ -71,7 +71,6 @@ 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
@@ -204,10 +203,6 @@ 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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