Using eigenpy's StdVectorPythonVisitor

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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Using eigenpy's StdVectorPythonVisitor #1127

Closed ManifoldFR closed 1 year ago

ManifoldFR commented 1 year ago

Following PR stack-of-tasks/eigenpy#325, we moved StdVectorPythonVisitor from Pinocchio upstream to Eigenpy, the reasoning being to centralize utilities upstream into Eigenpy.

Since the code in bindings/python/utils/vector-converter is derived from Pinocchio's own implementation, I'm thinking it could be worth it to move Crocoddyl's bindings codebase to use the new upstream implementation (the changes are rather minimal).

cmastalli commented 1 year ago

@ManifoldFR -- it seems we need to update the eigenpy version to 2.9.0 here: https://github.com/loco-3d/crocoddyl/blob/devel/CMakeLists.txt#L74

ManifoldFR commented 1 year ago

@ManifoldFR -- it seems we need to update the eigenpy version to 2.9.0 here: https://github.com/loco-3d/crocoddyl/blob/devel/CMakeLists.txt#L74

Okay, will do!

ManifoldFR commented 1 year ago

@cmastalli it seems we would just need 2.8.0 for this feature, according to the releases page