From 16ac42719664fd0681c0a1de52862ffb60e05ace Mon Sep 17 00:00:00 2001 From: Carlos Mastalli <carlos.mastalli@laas.fr> Date: Sat, 7 Sep 2019 12:27:50 +0200 Subject: [PATCH] [bindings] Exposed gaps in DDP solver --- bindings/python/crocoddyl/core/solver-base.hpp | 4 ++-- bindings/python/crocoddyl/core/solvers/ddp.hpp | 4 +++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/bindings/python/crocoddyl/core/solver-base.hpp b/bindings/python/crocoddyl/core/solver-base.hpp index 9c27a937..0b4f3239 100644 --- a/bindings/python/crocoddyl/core/solver-base.hpp +++ b/bindings/python/crocoddyl/core/solver-base.hpp @@ -21,14 +21,14 @@ namespace bp = boost::python; class SolverAbstract_wrap : public SolverAbstract, public bp::wrapper<SolverAbstract> { public: - using SolverAbstract::is_feasible_; using SolverAbstract::cost_; + using SolverAbstract::is_feasible_; using SolverAbstract::iter_; using SolverAbstract::problem_; + using SolverAbstract::steplength_; using SolverAbstract::th_acceptstep_; using SolverAbstract::th_stop_; using SolverAbstract::ureg_; - using SolverAbstract::steplength_; using SolverAbstract::us_; using SolverAbstract::xreg_; using SolverAbstract::xs_; diff --git a/bindings/python/crocoddyl/core/solvers/ddp.hpp b/bindings/python/crocoddyl/core/solvers/ddp.hpp index 8e18ecd5..70778bc5 100644 --- a/bindings/python/crocoddyl/core/solvers/ddp.hpp +++ b/bindings/python/crocoddyl/core/solvers/ddp.hpp @@ -96,7 +96,9 @@ void exposeSolverDDP() { .add_property("Qx", make_function(&SolverDDP::get_Qx, bp::return_value_policy<bp::copy_const_reference>()), "Qx") .add_property("Qu", make_function(&SolverDDP::get_Qu, bp::return_value_policy<bp::copy_const_reference>()), "Qu") .add_property("K", make_function(&SolverDDP::get_K, bp::return_value_policy<bp::copy_const_reference>()), "K") - .add_property("k", make_function(&SolverDDP::get_k, bp::return_value_policy<bp::copy_const_reference>()), "k"); + .add_property("k", make_function(&SolverDDP::get_k, bp::return_value_policy<bp::copy_const_reference>()), "k") + .add_property("gaps", make_function(&SolverDDP::get_gaps, bp::return_value_policy<bp::copy_const_reference>()), + "gaps"); } } // namespace python -- GitLab