From f1d92b2fc5f90a60a56e955e66e29bf7d60ef5ba Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 06:48:10 +0100
Subject: [PATCH] [action] Removed g, L and F variables inside DAMData(NumDiff)
---
crocoddyl/differential_action.py | 26 ++++++++++++--------------
1 file changed, 12 insertions(+), 14 deletions(-)
diff --git a/crocoddyl/differential_action.py b/crocoddyl/differential_action.py
index 10beb076..416c01bf 100644
--- a/crocoddyl/differential_action.py
+++ b/crocoddyl/differential_action.py
@@ -74,9 +74,8 @@ class DifferentialActionDataAbstract:
self.xout = np.zeros(nout)
# Dynamics data
- self.F = np.zeros([ nout,ndx+nu ])
- self.Fx = self.F[:,:ndx]
- self.Fu = self.F[:,-nu:]
+ self.Fx = np.zeros([nout,ndx])
+ self.Fu = np.zeros([nout,nu])
# Cost data
if costData == None:
@@ -275,20 +274,19 @@ class DifferentialActionDataNumDiff:
self.datax = [ model.model0.createData() for i in range(model.ndx) ]
self.datau = [ model.model0.createData() for i in range(model.nu ) ]
- self.g = np.zeros([ ndx+nu ])
- self.F = np.zeros([ nout,ndx+nu ])
- self.Lx = self.g[:ndx]
- self.Lu = self.g[ndx:]
- self.Fx = self.F[:,:ndx]
- self.Fu = self.F[:,ndx:]
+ # Dynamics data
+ self.Fx = np.zeros([nout,ndx])
+ self.Fu = np.zeros([nout,nu])
+
+ # Cost data
+ self.Lx = np.zeros(ndx)
+ self.Lu = np.zeros(nu)
if model.ncost >1 :
self.costResiduals = self.data0.costResiduals
self.R = np.zeros([model.ncost,ndx+nu])
self.Rx = self.R[:,:ndx]
self.Ru = self.R[:,ndx:]
if model.withGaussApprox:
- self. L = np.zeros([ ndx+nu, ndx+nu ])
- self.Lxx = self.L[:ndx,:ndx]
- self.Lxu = self.L[:ndx,ndx:]
- self.Lux = self.L[ndx:,:ndx]
- self.Luu = self.L[ndx:,ndx:]
\ No newline at end of file
+ self.Lxx = np.zeros([ndx,ndx])
+ self.Lxu = np.zeros([ndx,nu])
+ self.Luu = np.zeros([nu,nu])
\ No newline at end of file
--
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