Fix limits on BoxConstraints for aligator 0.13

ManifoldFR · ManifoldFR · commit 215b44bb1765 · 2025-05-05T13:26:02.000+02:00
diff --git a/src/fulldynamics.cpp b/src/fulldynamics.cpp
@@ -156,7 +156,7 @@ namespace simple_mpc
         state_id.push_back(i);
       }
       FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);
-      stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));
+      stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));
     }
 
     for (auto const & name : model_handler_.getFeetNames())
diff --git a/src/kinodynamics.cpp b/src/kinodynamics.cpp
@@ -96,7 +96,7 @@ namespace simple_mpc
         state_id.push_back(i);
       }
       FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);
-      stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));
+      stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));
     }
 
     Motion v_ref = Motion::Zero();

Original file line number	Diff line number	Diff line change
`@@ -156,7 +156,7 @@ namespace simple_mpc`
`156`	`156`	`state_id.push_back(i);`
`157`	`157`	`}`
`158`	`158`	`FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);`
`159`		`- stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));`
	`159`	`+ stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));`
`160`	`160`	`}`
`161`	`161`
`162`	`162`	`for (auto const & name : model_handler_.getFeetNames())`
Original file line number	Diff line number	Diff line change
`@@ -96,7 +96,7 @@ namespace simple_mpc`
`96`	`96`	`state_id.push_back(i);`
`97`	`97`	`}`
`98`	`98`	`FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);`
`99`		`- stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));`
	`99`	`+ stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));`
`100`	`100`	`}`
`101`	`101`
`102`	`102`	`Motion v_ref = Motion::Zero();`