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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Python: ShootingProblemTpl -> no set_x0() function #1095

Closed ThorbenPultke closed 2 years ago

ThorbenPultke commented 2 years ago

Hi there! I really hope that I don't open an issue that has already been adressed.

As I am proceeding with getting to know crocoddyl for my MPC project, I tried to implement a rudimentary MPC for a manipulator. I checked the docs for the ShootingProblemTpl class template reference and found the built-in function .set_x0(), but it seems like it is not implemented in the python bindings? Since python is what i am currently prototyping with, is there something I am missing? If so, could you point me in the right direction?

Thank you in advance!

cmastalli commented 2 years ago

Hi @ThorbenPultke!

You can also get or set the value of 'x0' in Python. This is how you do:

problem.x0 = #numpy array

I will close the issue as this answer your question.

I hope you find our software useful and helps to improve it.