Merge pull request #59 from Simple-Robotics/topic/aligator-0.14

Fixes for aligator 0.15

Author: EtienneAr

README.md

@@ -72,14 +72,13 @@ source install/setup.bash
 
 #### Dependencies
 
-* [proxsuite-nlp](https://github.com/Simple-Robotics/proxsuite-nlp.git)
 * [proxsuite](https://github.com/Simple-Robotics/proxsuite.git)
 * [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
 * [Boost](https://www.boost.org) >= 1.71.0
 * OpenMP
 * [hpp-fcl](https://github.com/humanoid-path-planner/hpp-fcl)
 * [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
-* [Aligator](https://github.com/Simple-Robotics/aligator.git) devel branch
+* [Aligator](https://github.com/edantec/aligator) temporary_fix branch
 * [example-robot-data](https://github.com/Gepetto/example-robot-data)
 * [ndcurves](https://github.com/loco-3d/ndcurves)
 * (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.9.0 (Python bindings)

dependencies.cmake

@@ -2,7 +2,7 @@ find_package(example-robot-data 4.0.9 REQUIRED)
 ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
 ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(aligator 0.13.0 REQUIRED)
+ADD_PROJECT_DEPENDENCY(aligator 0.15.0 REQUIRED)
 
 function(get_ndcurves)
   find_package(ndcurves QUIET)

devel-git-deps.yaml

@@ -2,7 +2,7 @@ repositories:
   aligator:
     type: git
     url: [email protected]:edantec/aligator.git
-    version: devel
+    version: temporary_fix
   eigenpy:
     type: git
     url: [email protected]:stack-of-tasks/eigenpy.git
@@ -23,7 +23,3 @@ repositories:
     type: git
     url: [email protected]:stack-of-tasks/pinocchio.git
     version: devel
-  proxsuite-nlp:
-    type: git
-    url: [email protected]:simple-robotics/proxsuite-nlp.git
-    version: main

include/simple-mpc/ocp-handler.hpp

@@ -11,11 +11,12 @@
 #include "simple-mpc/robot-handler.hpp"
 
 #include <aligator/core/traj-opt-problem.hpp>
+#include <aligator/modelling/constraints/box-constraint.hpp>
+#include <aligator/modelling/constraints/equality-constraint.hpp>
+#include <aligator/modelling/constraints/negative-orthant.hpp>
 #include <aligator/modelling/costs/quad-state-cost.hpp>
 #include <aligator/modelling/costs/sum-of-costs.hpp>
 #include <aligator/modelling/function-xpr-slice.hpp>
-#include <proxsuite-nlp/modelling/constraints/box-constraint.hpp>
-#include <proxsuite-nlp/modelling/constraints/negative-orthant.hpp>
 
 namespace simple_mpc
 {
@@ -26,9 +27,9 @@ namespace simple_mpc
   using QuadraticStateCost = QuadraticStateCostTpl<double>;
   using QuadraticResidualCost = QuadraticResidualCostTpl<double>;
   using StateErrorResidual = StateErrorResidualTpl<double>;
-  using BoxConstraint = proxsuite::nlp::BoxConstraintTpl<double>;
-  using NegativeOrthant = proxsuite::nlp::NegativeOrthantTpl<double>;
-  using EqualityConstraint = proxsuite::nlp::EqualityConstraintTpl<double>;
+  using BoxConstraint = BoxConstraintTpl<double>;
+  using NegativeOrthant = NegativeOrthantTpl<double>;
+  using EqualityConstraint = EqualityConstraintTpl<double>;
   using FunctionSliceXpr = FunctionSliceXprTpl<double>;
 
 #define SIMPLE_MPC_DEFINE_DEFAULT_MOVE_CTORS(Type)                                                                     \

package.xml

@@ -13,7 +13,6 @@
   <build_depend>doxygen</build_depend>
   <depend>boost</depend>
   <depend>pinocchio</depend>
-  <depend>proxsuite-nlp</depend>
   <depend>proxsuite</depend>
   <depend>aligator</depend>
   <depend>std_msgs</depend>

pixi.lock

@@ -19,7 +19,7 @@ pkg-config = ">=0.29.2"
 libboost-python-devel = ">=1.80.0"
 python = "3.11"
 eigenpy = ">=3.10.1"
-aligator = ">=0.13"
+aligator = ">=0.15"
 proxsuite = ">=0.7.2"
 benchmark = ">=1.8.0"
 pytest = ">=8.3.0"

pixi.toml

@@ -13,7 +13,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using VectorSpace = proxsuite::nlp::VectorSpaceTpl<double>;
+  using VectorSpace = aligator::VectorSpaceTpl<double>;
   using CentroidalFwdDynamics = dynamics::CentroidalFwdDynamicsTpl<double>;
   using CentroidalAccelerationResidual = CentroidalAccelerationResidualTpl<double>;
   using AngularAccelerationResidual = AngularAccelerationResidualTpl<double>;

src/centroidal-dynamics.cpp

@@ -17,8 +17,8 @@ namespace simple_mpc
   using namespace aligator;
   using ContactForceResidual = ContactForceResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
-  using MultibodyWrenchConeResidual = aligator::MultibodyWrenchConeResidualTpl<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
+  using MultibodyWrenchConeResidual = MultibodyWrenchConeResidualTpl<double>;
   using MultibodyFrictionConeResidual = MultibodyFrictionConeResidualTpl<double>;
   using MultibodyConstraintFwdDynamics = dynamics::MultibodyConstraintFwdDynamicsTpl<double>;
   using FramePlacementResidual = FramePlacementResidualTpl<double>;

src/fulldynamics.cpp

@@ -14,7 +14,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
   using KinodynamicsFwdDynamics = dynamics::KinodynamicsFwdDynamicsTpl<double>;
   using CentroidalMomentumDerivativeResidual = CentroidalMomentumDerivativeResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;