fix matrix products

Author: nim65s

exercizes/ex_4_walking.py

@@ -4,7 +4,6 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import plot_utils as plut
-import scipy.sparse as spa
 from numpy import nan
 from numpy.linalg import norm as norm
 from tsid_biped import TsidBiped
@@ -175,16 +174,16 @@
 
         if tsid_biped.formulation.checkContact(tsid_biped.contactRF.name, sol):
             T_RF = tsid_biped.contactRF.getForceGeneratorMatrix
-            f_RF[:, i] = T_RF @ tsid_biped.formulation.getContactForce(
-                tsid_biped.contactRF.name, sol
+            f_RF[:, i] = T_RF.dot(
+                tsid_biped.formulation.getContactForce(tsid_biped.contactRF.name, sol)
             )
             if f_RF[2, i] > 1e-3:
                 cop_RF[0, i] = f_RF[4, i] / f_RF[2, i]
                 cop_RF[1, i] = -f_RF[3, i] / f_RF[2, i]
         if tsid_biped.formulation.checkContact(tsid_biped.contactLF.name, sol):
             T_LF = tsid_biped.contactRF.getForceGeneratorMatrix
-            f_LF[:, i] = T_LF @ tsid_biped.formulation.getContactForce(
-                tsid_biped.contactLF.name, sol
+            f_LF[:, i] = T_LF.dot(
+                tsid_biped.formulation.getContactForce(tsid_biped.contactLF.name, sol)
             )
             if f_LF[2, i] > 1e-3:
                 cop_LF[0, i] = f_LF[4, i] / f_LF[2, i]

exercizes/test_cop_task.py

@@ -152,16 +152,16 @@
 
         if tsid.formulation.checkContact(tsid.contactRF.name, sol):
             T_RF = tsid.contactRF.getForceGeneratorMatrix
-            f_RF[:, i] = T_RF @ tsid.formulation.getContactForce(
-                tsid.contactRF.name, sol
+            f_RF[:, i] = T_RF.dot(
+                tsid.formulation.getContactForce(tsid.contactRF.name, sol)
             )
             if f_RF[2, i] > 1e-3:
                 cop_RF[0, i] = f_RF[4, i] / f_RF[2, i]
                 cop_RF[1, i] = -f_RF[3, i] / f_RF[2, i]
         if tsid.formulation.checkContact(tsid.contactLF.name, sol):
             T_LF = tsid.contactRF.getForceGeneratorMatrix
-            f_LF[:, i] = T_LF @ tsid.formulation.getContactForce(
-                tsid.contactLF.name, sol
+            f_LF[:, i] = T_LF.dot(
+                tsid.formulation.getContactForce(tsid.contactLF.name, sol)
             )
             if f_LF[2, i] > 1e-3:
                 cop_LF[0, i] = f_LF[4, i] / f_LF[2, i]

tests/python/test_Solvers.py

@@ -60,11 +60,11 @@
 b1 = np.random.rand(n)
 cost = tsid.ConstraintEquality("c1", A1, b1)
 
-x = np.linalg.inv(A1) @ b1
+x = np.linalg.inv(A1).dot(b1)
 A_in = np.random.rand(nin, n)
 A_lb = np.random.rand(nin) * NORMAL_DISTR_VAR
 A_ub = np.random.rand(nin) * NORMAL_DISTR_VAR
-constrVal = A_in @ x
+constrVal = A_in.dot(x)
 
 for i in range(0, nin):
     if A_ub[i] <= A_lb[i]:
@@ -78,7 +78,7 @@
 
 in_const = tsid.ConstraintInequality("ini1", A_in, A_lb, A_ub)
 A_eq = np.random.rand(neq, n)
-b_eq = A_eq @ x
+b_eq = A_eq.dot(x)
 eq_const = tsid.ConstraintEquality("eq1", A_eq, b_eq)
 
 const1 = tsid.ConstraintLevel()
@@ -111,7 +111,7 @@
 
         HQPoutput = solver.solve(HQPData)
 
-        assert np.linalg.norm(A_eq @ HQPoutput.x - b_eq, 2) < EPS
-        assert (A_in @ HQPoutput.x <= A_ub + EPS).all()
-        assert (A_in @ HQPoutput.x > A_lb - EPS).all()
+        assert np.linalg.norm(A_eq.dot(HQPoutput.x) - b_eq, 2) < EPS
+        assert (A_in.dot(HQPoutput.x) <= A_ub + EPS).all()
+        assert (A_in.dot(HQPoutput.x) > A_lb - EPS).all()
     print("-> succesful")