From 3554a1f7e4cc25dcf305ef5e17ea10e3467b5990 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 10:14:19 +0100
Subject: [PATCH] [action] Created costResidual is ncost > 1 in DAMDataAbstract
---
crocoddyl/differential_action.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/crocoddyl/differential_action.py b/crocoddyl/differential_action.py
index e723339c..d95fe56b 100644
--- a/crocoddyl/differential_action.py
+++ b/crocoddyl/differential_action.py
@@ -86,7 +86,8 @@ class DifferentialActionDataAbstract:
self.Luu = np.zeros([nu,nu])
else:
self.costs = costData
- self.costResiduals = self.costs.residuals
+ if model.ncost > 1:
+ self.costResiduals = self.costs.residuals
self.Lx = self.costs.Lx
self.Lu = self.costs.Lu
self.Lxx = self.costs.Lxx
--
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