Potential bugs in the code(?)

[vkotaru]

Hi @ayonga ,

Great work with FROST :)

I came across a couple errors, just wasn't sure if I made a mistake in the code?

• ./ matlab/system/<@>HolonomicConstraint/imposeNLPConstraint.m

  Line 27

                 nlp = addNodeConstraint(nlp, obj.ddh_, {'x','dx','ddx'}, 'all',...
               0, 0, 'Nonlinear');
        elseif strcmp(obj.Type, 'FirstOrder') % the first order system
           % enforce \dot{h}(x,dx) = J(x)dx = 0 at the first node
           nlp = addNodeConstraint(nlp, obj.dh_, {'x'}, 'first',...
               0, 0, 'Nonlinear');

  could it be obj.Type or obj.Model.Type

• ./ matlab/system/<@>HolonomicConstraint/configure.m

  Line 41

           F = sum(horzcat(model.Fvec{:}),2);
           dX = M\F;
          dh = Jh * dX;
           obj.dh_ = SymFunction(['dh_' name '_' model.Name], dh, {x});

  faced a dimension mismatch error for dh = Jh * dX.

Thanks Prasanth

[ayonga]

Yes, it should be obj.Model.Type. Fixed in the code.