Added to_function methods in planners

ami-iit · Apr 12, 2024 · 298ee7f · 298ee7f
1 parent 97d921c
commit 298ee7f
Show file tree

Hide file tree

Showing 2 changed files with 16 additions and 4 deletions.
diff --git a/src/hippopt/turnkey_planners/humanoid_kinodynamic/planner.py b/src/hippopt/turnkey_planners/humanoid_kinodynamic/planner.py
@@ -61,14 +61,16 @@ def __init__(self, settings: Settings) -> None:
                 )
             )
 
-        optimization_solver = hp.OptiSolver(
+        self.optimization_solver = hp.OptiSolver(
             inner_solver=self.settings.opti_solver,
             problem_type=self.settings.problem_type,
             options_solver=self.settings.casadi_solver_options,
             options_plugin=self.settings.casadi_opti_options,
             callback_criterion=opti_callback,
         )
-        ocp_solver = hp.MultipleShootingSolver(optimization_solver=optimization_solver)
+        ocp_solver = hp.MultipleShootingSolver(
+            optimization_solver=self.optimization_solver
+        )
 
         self.ocp = hp.OptimalControlProblem.create(
             input_structure=self.variables,
@@ -1063,6 +1065,11 @@ def solve(self) -> hp.Output[Variables]:
         output.values = self._undo_mass_regularization(output.values)
         return output
 
+    def to_function(
+        self, name: str = "opti_function", options: dict = None
+    ) -> cs.Function:
+        return self.optimization_solver.to_function(name=name, options=options)
+
     def get_adam_model(self) -> adam.model.Model:
         if self.parametric_model:
             guess = self.ocp.problem.get_initial_guess()

diff --git a/src/hippopt/turnkey_planners/humanoid_pose_finder/planner.py b/src/hippopt/turnkey_planners/humanoid_pose_finder/planner.py
@@ -253,15 +253,15 @@ def __init__(self, settings: Settings):
             settings=self.settings, kin_dyn_object=self.kin_dyn_object
         )
 
-        optimization_solver = hp.OptiSolver(
+        self.optimization_solver = hp.OptiSolver(
             inner_solver=self.settings.opti_solver,
             problem_type=self.settings.problem_type,
             options_solver=self.settings.casadi_solver_options,
             options_plugin=self.settings.casadi_opti_options,
         )
 
         self.op = hp.OptimizationProblem.create(
-            input_structure=structure, optimization_solver=optimization_solver
+            input_structure=structure, optimization_solver=self.optimization_solver
         )
 
         variables = self.op.variables  # type: Variables
@@ -650,6 +650,11 @@ def set_references(self, references: References) -> None:
     def solve(self) -> hp.Output[Variables]:
         return self.op.problem.solve()
 
+    def to_function(
+        self, name: str = "opti_function", options: dict = None
+    ) -> cs.Function:
+        return self.optimization_solver.to_function(name=name, options=options)
+
     def get_adam_model(self) -> adam.model.Model:
         if self.parametric_model:
             guess = self.get_initial_guess()