MPC : solver_ is now a unique_ptr

Author: ManifoldFR

bindings/expose-mpc.cpp

@@ -11,6 +11,7 @@
 
 #include <eigenpy/deprecation-policy.hpp>
 #include <eigenpy/eigenpy.hpp>
+#include <eigenpy/std-unique-ptr.hpp>
 #include <eigenpy/std-vector.hpp>
 
 #include "simple-mpc/mpc.hpp"
@@ -72,7 +73,7 @@ namespace simple_mpc
 
       StdVectorPythonVisitor<std::vector<MapBool>, true>::expose("StdVec_MapBool");
 
-      bp::class_<MPC>("MPC", bp::no_init)
+      bp::class_<MPC, boost::noncopyable>("MPC", bp::no_init)
         .def("__init__", bp::make_constructor(&createMPC, bp::default_call_policies()))
         .def("getSettings", &getSettings)
         .def("generateCycleHorizon", &MPC::generateCycleHorizon, bp::args("self", "contact_states"))
@@ -102,11 +103,7 @@ namespace simple_mpc
         .def(
           "getCycleHorizon", &MPC::getCycleHorizon, "self"_a, bp::return_internal_reference<>(),
           "Get the cycle horizon.")
-        .def(
-          "getSolver", &MPC::getSolver, "self"_a,
-          eigenpy::deprecated_member<eigenpy::DeprecationType::DEPRECATION, bp::return_internal_reference<>>(),
-          "Get the SolverProxDDP object")
-        .def_readonly("solver", &MPC::solver_)
+        .add_property("solver", bp::make_getter(&MPC::solver_, eigenpy::ReturnInternalStdUniquePtr{}))
         .add_property("xs", &MPC::xs_)
         .add_property("us", &MPC::us_)
         .add_property("Ks", &MPC::Ks_);

include/simple-mpc/mpc.hpp

@@ -77,7 +77,7 @@ namespace simple_mpc
     LocomotionType now_;
 
   public:
-    std::shared_ptr<SolverProxDDP> solver_;
+    std::unique_ptr<SolverProxDDP> solver_;
     Vector6d velocity_base_;
     Vector7d pose_base_;
     Eigen::Vector3d next_pose_;
@@ -127,11 +127,6 @@ namespace simple_mpc
     // getters and setters
     TrajOptProblem & getTrajOptProblem();
 
-    SIMPLE_MPC_DEPRECATED_MESSAGE("The MPC::solver_ member is now public.")
-    SolverProxDDP & getSolver()
-    {
-      return *solver_;
-    }
     const RobotDataHandler & getDataHandler() const
     {
       return ocp_handler_->getDataHandler();
@@ -182,15 +177,14 @@ namespace simple_mpc
     std::map<std::string, std::vector<int>> foot_takeoff_times_, foot_land_times_;
 
     // Solution vectors for state and control
-    std::vector<Eigen::VectorXd> xs_;
-    std::vector<Eigen::VectorXd> us_;
-
+    std::vector<VectorXd> xs_;
+    std::vector<VectorXd> us_;
     // Riccati gains
-    std::vector<Eigen::MatrixXd> Ks_;
+    std::vector<MatrixXd> Ks_;
 
     // Initial quantities
-    Eigen::VectorXd x0_;
-    Eigen::VectorXd u0_;
+    VectorXd x0_;
+    VectorXd u0_;
   };
 
 } // namespace simple_mpc

src/mpc.cpp

@@ -36,7 +36,7 @@ namespace simple_mpc
     foot_trajectories_.updateApex(settings.swing_apex);
     x0_ = ocp_handler_->getProblemState();
 
-    solver_ = std::make_shared<SolverProxDDP>(settings_.TOL, settings_.mu_init, maxiters, aligator::QUIET);
+    solver_ = std::make_unique<SolverProxDDP>(settings_.TOL, settings_.mu_init, maxiters, aligator::QUIET);
     solver_->rollout_type_ = aligator::RolloutType::LINEAR;
 
     if (settings_.num_threads > 1)