fix calls to aligator

inria-paris-robotics-lab · Feb 9, 2024 · 912e079 · 912e079
1 parent 2aafe57
commit 912e079
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Showing 2 changed files with 3 additions and 14 deletions.
diff --git a/examples/simple_ocp.py b/examples/simple_ocp.py
@@ -37,9 +37,7 @@
 
 print("============== PARALLEL ===================")
 
-ocp2 = AlgtrOCPProx(
-    params, footsteps, base_refs, aligator.LinearSolverChoice.LQ_SOLVER_PARALLEL
-)
+ocp2 = AlgtrOCPProx(params, footsteps, base_refs)
 
 ts = time.time()
 ocp2.solve(0)
@@ -53,9 +51,7 @@
 
 print("============== SERIAL ===================")
 
-ocp3 = AlgtrOCPProx(
-    params, footsteps, base_refs, aligator.LinearSolverChoice.LQ_SOLVER_SERIAL
-)
+ocp3 = AlgtrOCPProx(params, footsteps, base_refs, aligator)
 
 ts = time.time()
 ocp3.solve(0)

diff --git a/python/quadruped_reactive_walking/wb_mpc/ocp_proxddp.py b/python/quadruped_reactive_walking/wb_mpc/ocp_proxddp.py
@@ -126,18 +126,11 @@ def get_type_str():
 class AlgtrOCPProx(AlgtrOCPAbstract):
     """Solve the OCP using aligator."""
 
-    def __init__(
-        self,
-        params: Params,
-        footsteps,
-        base_refs,
-        lsc=aligator.LinearSolverChoice.LQ_SOLVER_PARALLEL,
-    ):
+    def __init__(self, params: Params, footsteps, base_refs):
         print(Fore.GREEN + "[using SolverProxDDP]" + Fore.RESET)
         mu_init = 1e-11
         self.solver = aligator.SolverProxDDP(params.ocp.tol, mu_init)
         self.solver.force_initial_condition = True
-        self.solver.linear_solver_choice = lsc
         self.solver.rollout_type = aligator.ROLLOUT_LINEAR
         super().__init__(params, footsteps, base_refs)