Add getters for contact vector and state derivative #31
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ManifoldFR
reviewed
Dec 19, 2024
| mpc.solver | ||
| .workspace.problem_data.stage_data[1] | ||
| .dynamics_data.continuous_data.xdot[nv:] | ||
| ) |
ManifoldFR
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Dec 19, 2024
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ManifoldFR
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I just have a few comments
| { | ||
| ExplicitIntegratorData * int_data = | ||
| dynamic_cast<ExplicitIntegratorData *>(&*solver_->workspace_.problem_data.stage_data[t]->dynamics_data); | ||
| return int_data->continuous_data->xdot_; |
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Please return ConstVectorRef to get a numpy view array in Python (that you can explicitly copy). This avoids doing copies when not needed.
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Also add an assert() or other runtime check that int_data is not nullptr - which would be a cast error.
| { | ||
| std::vector<bool> contact_state; | ||
| CentroidalFwdDynamics * ode = | ||
| problem_->stages_[t]->getDynamics<IntegratorEuler>()->getDynamics<CentroidalFwdDynamics>(); |
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Here also add a runtime check that ode is not nullptr.
ManifoldFR
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Dec 20, 2024
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