[RTM] Not compute the defects if not in implicit #742
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Hoping this would decrease the RAM consumption when we are in explicit. |
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## master #742 +/- ##
==========================================
- Coverage 81.63% 81.59% -0.04%
==========================================
Files 130 130
Lines 16050 16054 +4
==========================================
- Hits 13103 13100 -3
- Misses 2947 2954 +7
Flags with carried forward coverage won't be shown. Click here to find out more.
☔ View full report in Codecov by Sentry. |
EveCharbie
changed the title
|
@pariterre this one would also be a good candidate to being merge, it will not create merge conflicts I think :) |
pariterre
requested changes
Aug 7, 2023
There was a problem hiding this comment.
Change back to ODE default
Reviewed 4 of 4 files at r1, 2 of 2 files at r2, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @EveCharbie)
bioptim/dynamics/dynamics_functions.py line 151 at r2 (raw file):
defects = None # TODO: contacts and fatigue to be handled with implicit dynamics if rigidbody_dynamics is not None:
if rigid != RIGID.ODE:
pariterre
changed the title
|
@pariterre I don't think RigidBodyDynamics.ODE has the same meaning as None, I think it means compute defects = [qdot_from_states_dot - qdot, tau_from_inverse_dynamics - tau] Should I instead create another enum : RigidBodyDynamics.NO_DEFECTS ? |
EveCharbie
changed the title
pariterre
previously approved these changes
Aug 10, 2023
There was a problem hiding this comment.
Reviewed 3 of 3 files at r3, 2 of 2 files at r4, all commit messages.
Reviewable status:complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)
pariterre
changed the title
|
Test does not pass on Windows, I will remove it. But here is the Error message for the future: ================================== FAILURES =================================== with_cholesky = False, with_scaling = False
tests\shard3\test_global_stochastic.py:568: bioptim\optimization\optimal_control_program.py:1591: in solve args = ('solver', 'ipopt', {'f': MX(@1=0x1, mac(ones(1x15),vertcat(MINIMIZE_CONTROL(X_scaled_0_0, U_scaled_0_0, @1, S_scaled_...acceptable_constr_viol_tol': 0.01, 'ipopt.acceptable_dual_inf_tol': 10000000000.0, 'ipopt.acceptable_tol': 1e-06, ...})
E RuntimeError: D:\bld\casadi_1685976412967\work\casadi\core\function_internal.cpp:146: Error calling IpoptInterface::init for 'solver': C:\Miniconda3\envs\bioptim\Lib\site-packages\casadi\casadi.py:28956: RuntimeError tests\shard3\test_parameters.py:55 tests\shard3\test_parameters.py:60 tests/shard3/test_global_getting_started.py::test_parameter_optimization[RK4-True] tests/shard3/test_global_getting_started.py::test_parameter_optimization[RK8-True] tests/shard3/test_global_getting_started.py::test_parameter_optimization[COLLOCATION-True] tests/shard3/test_global_symmetrical_torque_driven_ocp.py: 15 warnings tests/shard3/test_global_symmetrical_torque_driven_ocp.py::test_symmetry_by_mapping[RK4-True] tests/shard3/test_graph.py: 16 warnings -- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html |
|
@pariterre can be merged :) |
EveCharbie
changed the title
pariterre
approved these changes
Aug 11, 2023
There was a problem hiding this comment.
Reviewed 3 of 3 files at r5, 1 of 1 files at r6, all commit messages.
Reviewable status:
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
All Submissions:
New Feature Submissions:
black . -l120 --exclude "external/*")?Changes to Core Features:
This change is