Merge pull request #53 from Simple-Robotics/topic/fix-state-constraints-aligator0.13

Fix box constraints for aligator 0.13

Author: edantec

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 REQUIRED)
+ADD_PROJECT_DEPENDENCY(aligator 0.13.0 REQUIRED)
 
 function(get_ndcurves)
   find_package(ndcurves QUIET)

dependencies.cmake

@@ -19,7 +19,7 @@ pkg-config = ">=0.29.2"
 libboost-python-devel = ">=1.80.0"
 python = "3.11"
 eigenpy = ">=3.10.1"
-aligator = ">=0.10"
+aligator = ">=0.13"
 benchmark = ">=1.8.0"
 pytest = ">=8.3.0"
 matplotlib = ">=3.9"
@@ -44,9 +44,9 @@ configure = { cmd = [
   "-DBUILD_TESTING=ON",
   "-DGENERATE_PYTHON_STUBS=ON",
 ] }
-build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
+build = { cmd = "cmake --build build --target all", depends-on = ["configure"] }
 clean = { cmd = "rm -rf build" }
-test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
+test = { cmd = "ctest --test-dir build --output-on-failure", depends-on = [
   "build",
 ] }
 

pixi.lock

@@ -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())

pixi.toml

@@ -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();