Fix memory allocation bug in CalcGradient

ToyotaResearchInstitute / idto

Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

MIT License

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Fix memory allocation bug in CalcGradient #11

Closed vincekurtz closed 1 year ago

vincekurtz commented 1 year ago

We were using workspace entries to store intermediate gradient calculations, but these were the wrong size. Surprisingly, that didn't seem to cause major problems.

This gets rid of those intermediate variables entirely.

This change is