Refactor Casadi interface in order to accept also MX - not valid, see #89

ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

https://adam-docs.readthedocs.io/en/latest/

BSD 3-Clause "New" or "Revised" License

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Refactor Casadi interface in order to accept also MX - not valid, see #89 #84

Closed Giulero closed 3 months ago

Giulero commented 3 months ago

This PR is not valid anymore, see #89.

This PR comes after #81. A possible solution is to pass to the Kindyncomputation constructor also the desired Casadi data type (cs.MX or cs.SX). Internally this type is used in the Casadi factory to instantiate SX or MX entities.

Giulero commented 3 months ago

Thanks! :) Merging