diff --git a/crocoddyl/integrated_action.py b/crocoddyl/integrated_action.py index d92ec62ba3074e402c757914d7cbba4f8de215f4..7a77743ba9f064afbc30aa7fa717925e4a9c247a 100644 --- a/crocoddyl/integrated_action.py +++ b/crocoddyl/integrated_action.py @@ -54,22 +54,24 @@ class IntegratedActionDataEuler: def __init__(self,model): nx,ndx,nu,ncost = model.nx,model.ndx,model.nu,model.ncost self.differential = model.differential.createData() - - self.g = np.zeros([ ndx+nu ]) - self.R = np.zeros([ ncost ,ndx+nu ]) - self.L = np.zeros([ ndx+nu,ndx+nu ]) - self.F = np.zeros([ ndx ,ndx+nu ]) self.xnext = np.zeros([ nx ]) self.cost = np.nan - self.costResiduals = np.zeros([ ncost ]) - self.Lx = np.zeros(ndx) - self.Lu = np.zeros(nu) - self.Lxx = np.zeros([ndx,ndx]) - self.Lxu = np.zeros([ndx,nu]) - self.Luu = np.zeros([nu,nu]) + # Dynamics data + self.F = np.zeros([ ndx,ndx+nu ]) self.Fx = self.F[:,:ndx] self.Fu = self.F[:,ndx:] + + # Cost data + self.costResiduals = np.zeros([ ncost ]) + self.g = np.zeros([ ndx+nu ]) + self.L = np.zeros([ ndx+nu,ndx+nu ]) + self.R = np.zeros([ ncost,ndx+nu ]) + self.Lx = self.g[:ndx] + self.Lu = self.g[ndx:] + self.Lxx = self.L[:ndx,:ndx] + self.Lxu = self.L[:ndx,ndx:] + self.Luu = self.L[ndx:,ndx:] self.Rx = self.R[:,:ndx] self.Ru = self.R[:,ndx:]