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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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Armature usage #936

Closed andreadelprete closed 3 years ago

andreadelprete commented 3 years ago

I may be wrong, but at a first sight there seems to be a bug here: https://github.com/loco-3d/crocoddyl/blob/cbf81a329e3abaf4ce1b4a8fab1431f93cd9a5c8/include/crocoddyl/multibody/actions/free-fwddyn.hxx#L65

When the variable with_armature_ is false, then the armature is used, otherwise it's not used. Shouldn't it be the other way around?

cmastalli commented 3 years ago

Nice catched ;)

The code is correct is just the name of this internal variable is wrong. Could you create a PR that renames it to 'without_armature'?