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stack-of-tasks / sot-core

Hierarchical task solver plug-in for dynamic-graph
BSD 2-Clause "Simplified" License
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Switch to numpy array #127

Closed jmirabel closed 4 years ago

jmirabel commented 4 years ago

I believe all the Python code is not compatible with numpy arrays. In particular, the file matrix_utils.py.

nim65s commented 4 years ago

Ok so we have an implementation of RPYToMatrix in C++ and another in python. ref #128

I implemented a few dumb tests in matrix_utils.py, and saw no issue between np.array and np.matrix. In this file, we mostly work with python lists / tuples, instead of np.array / np.matrix.

Did I miss anything ?

jmirabel commented 4 years ago

I don't remember where I had issues then. I let you move on if everything works from your side.

Just, before merging and releasing, check that no-one needs the binaries on the robot. There is the IROS deadline in a few days so it may be better to wait until it is passed.

nim65s commented 4 years ago

Merging and releasing what ?

Eigenpy v2 is already in robotpkg binaries, and my patch for sot-talos too. Plus @olivier-stasse just pushed a release of sot-core on robotpkg.

olivier-stasse commented 4 years ago

private discussion with @jmirabel seems to show that IROS submission will not be directly impacted. Unless somebody else is complaining.

nim65s commented 4 years ago

Then I think we can close this.