From 264ca6b27bcd17f2c1e83a46e7ef70c80a502e8b Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 11:48:45 +0100
Subject: [PATCH] [unicycle] Reverted back g and L inside unicyle AM
---
crocoddyl/unicycle.py | 9 ++-------
1 file changed, 2 insertions(+), 7 deletions(-)
diff --git a/crocoddyl/unicycle.py b/crocoddyl/unicycle.py
index e9131ea2..a2dcc201 100644
--- a/crocoddyl/unicycle.py
+++ b/crocoddyl/unicycle.py
@@ -221,13 +221,8 @@ class ActionModelUnicycleVar:
### Cost derivatives
data.R[:ndx,:ndx] = model.costWeights[0] * model.State.Jdiff(model.xref,x,'second')
data.R[ndx:,ndx:] = np.diag([ model.costWeights[1] ]*nu )
- g = np.dot(data.R.T,data.costResiduals)
- L = np.dot(data.R.T,data.R)
- data.Lx[:] = g[:ndx]
- data.Lu[:] = g[ndx:]
- data.Lxx[:] = L[:ndx,:ndx]
- data.Lxu[:] = L[:ndx,ndx:]
- data.Luu[:] = L[ndx:,ndx:]
+ data.g[:] = np.dot(data.R.T,data.costResiduals)
+ data.L[:,:] = np.dot(data.R.T,data.R)
### Dynamic derivatives
dx = np.array([u[0],0,u[1]])*model.dt
--
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