From e5bbd3ce6567c4db21c36972be0e91e4db76ce3c Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Mon, 11 Feb 2019 15:47:24 +0100
Subject: [PATCH] [bugfix] Copying properly the data for DAMLQR
---
crocoddyl/differential_action.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/crocoddyl/differential_action.py b/crocoddyl/differential_action.py
index 93425aa2..a40d3527 100644
--- a/crocoddyl/differential_action.py
+++ b/crocoddyl/differential_action.py
@@ -216,10 +216,10 @@ class DifferentialActionDataLQR:
self.Lxu = self.L[:ndx,ndx:]
self.Luu = self.L[ndx:,ndx:]
- self.Lxx = model.Q+model.Q.T
- self.Lxu = np.zeros((nx, nu))
- self.Luu = model.U+model.U.T
-
+ np.copyto(self.Lxx, model.Q+model.Q.T)
+ np.copyto(self.Lxu, np.zeros((nx, nu)))
+ np.copyto(self.Luu, model.U+model.U.T)
+
class DifferentialActionModelNumDiff(DifferentialActionModelAbstract):
def __init__(self,model,withGaussApprox=False):
--
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