Add getters for contact vector and state derivative #31
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
ManifoldFR
reviewed
Dec 19, 2024
| mpc.solver | ||
| .workspace.problem_data.stage_data[1] | ||
| .dynamics_data.continuous_data.xdot[nv:] | ||
| ) |
ManifoldFR
reviewed
Dec 19, 2024
| { | ||
| ExplicitIntegratorData * int_data = | ||
| dynamic_cast<ExplicitIntegratorData *>(&*solver_->workspace_.problem_data.stage_data[t]->dynamics_data); | ||
| return int_data->continuous_data->xdot_; |
There was a problem hiding this comment.
Please return ConstVectorRef to get a numpy view array in Python (that you can explicitly copy). This avoids doing copies when not needed.
There was a problem hiding this comment.
Also add an assert() or other runtime check that int_data is not nullptr - which would be a cast error.
| { | ||
| std::vector<bool> contact_state; | ||
| CentroidalFwdDynamics * ode = | ||
| problem_->stages_[t]->getDynamics<IntegratorEuler>()->getDynamics<CentroidalFwdDynamics>(); |
There was a problem hiding this comment.
Here also add a runtime check that ode is not nullptr.
ManifoldFR
approved these changes
Dec 20, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.