MPC : remove default ctor

Author: ManifoldFR

bindings/expose-mpc.cpp

@@ -24,7 +24,7 @@ namespace simple_mpc
     namespace bp = boost::python;
     using eigenpy::StdVectorPythonVisitor;
 
-    void initialize(MPC & self, const bp::dict & settings, std::shared_ptr<OCPHandler> problem)
+    MPC * createMPC(const bp::dict & settings, std::shared_ptr<OCPHandler> problem)
     {
       MPCSettings conf;
 
@@ -42,7 +42,7 @@ namespace simple_mpc
       conf.T_contact = bp::extract<int>(settings["T_contact"]);
       conf.timestep = bp::extract<double>(settings["timestep"]);
 
-      self.initialize(conf, problem);
+      return new MPC{conf, problem};
     }
 
     bp::dict getSettings(MPC & self)
@@ -73,8 +73,7 @@ namespace simple_mpc
       StdVectorPythonVisitor<std::vector<MapBool>, true>::expose("StdVec_MapBool");
 
       bp::class_<MPC>("MPC", bp::no_init)
-        .def(bp::init<>(bp::args("self")))
-        .def("initialize", &initialize)
+        .def("__init__", bp::make_constructor(&createMPC, bp::default_call_policies()))
         .def("getSettings", &getSettings)
         .def("generateCycleHorizon", &MPC::generateCycleHorizon, bp::args("self", "contact_states"))
         .def("iterate", &MPC::iterate, bp::args("self", "x"))

include/simple-mpc/mpc.hpp

@@ -85,16 +85,14 @@ namespace simple_mpc
     MPCSettings settings_;
     std::shared_ptr<OCPHandler> ocp_handler_;
 
-    explicit MPC();
     explicit MPC(const MPCSettings & settings, std::shared_ptr<OCPHandler> problem);
-    void initialize(const MPCSettings & settings, std::shared_ptr<OCPHandler> problem);
 
     // Generate the cycle walking problem along which we will iterate
     // the receding horizon
     void generateCycleHorizon(const std::vector<std::map<std::string, bool>> & contact_states);
 
     // Perform one iteration of MPC
-    void iterate(const Eigen::VectorXd & x);
+    void iterate(const ConstVectorRef & x);
 
     void updateCycleTiming(const bool updateOnlyHorizon);
 

src/mpc.cpp

@@ -16,19 +16,11 @@ namespace simple_mpc
   using namespace aligator;
   constexpr std::size_t maxiters = 100;
 
-  MPC::MPC()
-  {
-  }
-
   MPC::MPC(const MPCSettings & settings, std::shared_ptr<OCPHandler> problem)
+  : settings_(settings)
+  , ocp_handler_(problem)
   {
-    initialize(settings, problem);
-  }
 
-  void MPC::initialize(const MPCSettings & settings, std::shared_ptr<OCPHandler> problem)
-  {
-    settings_ = settings;
-    ocp_handler_ = problem;
     std::map<std::string, Eigen::Vector3d> starting_poses;
     for (auto const & name : ocp_handler_->getModelHandler().getFeetNames())
     {
@@ -188,7 +180,7 @@ namespace simple_mpc
     }
   }
 
-  void MPC::iterate(const Eigen::VectorXd & x)
+  void MPC::iterate(const ConstVectorRef & x)
   {
 
     ocp_handler_->getDataHandler().updateInternalData(x, false);