Improved patterns on variables

src/hippopt/robot_planning/variables/contacts.py

@@ -78,12 +78,8 @@ class ContactPointState(OptimizationObject):
     )
 
     def __post_init__(self, input_descriptor: ContactPointDescriptor) -> None:
-        if self.p is None:
-            self.p = np.zeros(3)
-
-        if self.f is None:
-            self.f = np.zeros(3)
-
+        self.p = np.zeros(3) if self.p is None else self.p
+        self.f = np.zeros(3) if self.f is None else self.f
         if input_descriptor is not None:
             self.descriptor = input_descriptor
 
@@ -94,11 +90,8 @@ class ContactPointStateDerivative(OptimizationObject):
     f_dot: StorageType = default_storage_field(OverridableVariable)
 
     def __post_init__(self) -> None:
-        if self.v is None:
-            self.v = np.zeros(3)
-
-        if self.f_dot is None:
-            self.f_dot = np.zeros(3)
+        self.v = np.zeros(3) if self.v is None else self.v
+        self.f_dot = np.zeros(3) if self.f_dot is None else self.f_dot
 
 
 TFootContactState = TypeVar("TFootContactState", bound="FootContactState")
@@ -154,10 +147,13 @@ class FootContactPhaseDescriptor:
     deactivation_time: float | None = dataclasses.field(default=None)
 
     def __post_init__(self) -> None:
-        if self.transform is None:
-            self.transform = liecasadi.SE3.from_translation_and_rotation(
+        self.transform = (
+            liecasadi.SE3.from_translation_and_rotation(
                 cs.DM.zeros(3), liecasadi.SO3.Identity()
             )
+            if self.transform is None
+            else self.transform
+        )
         if self.force is None:
             self.force = np.zeros(3)
             self.force[2] = 100

src/hippopt/robot_planning/variables/floating_base.py

@@ -19,8 +19,7 @@ class FreeFloatingObjectState(OptimizationObject):
     quaternion_xyzw: StorageType = default_storage_field(OverridableVariable)
 
     def __post_init__(self):
-        if self.position is None:
-            self.position = np.zeros(3)
+        self.position = np.zeros(3) if self.position is None else self.position
         if self.quaternion_xyzw is None:
             self.quaternion_xyzw = np.zeros(4)
             self.quaternion_xyzw[3] = 1.0
@@ -32,11 +31,15 @@ class FreeFloatingObjectStateDerivative(OptimizationObject):
     quaternion_velocity_xyzw: StorageType = default_storage_field(OverridableVariable)
 
     def __post_init__(self):
-        if self.linear_velocity is None:
-            self.linear_velocity = np.zeros(3)
+        self.linear_velocity = (
+            np.zeros(3) if self.linear_velocity is None else self.linear_velocity
+        )
 
-        if self.quaternion_velocity_xyzw is None:
-            self.quaternion_velocity_xyzw = np.zeros(4)
+        self.quaternion_velocity_xyzw = (
+            np.zeros(4)
+            if self.quaternion_velocity_xyzw is None
+            else self.quaternion_velocity_xyzw
+        )
 
 
 @dataclasses.dataclass
@@ -53,7 +56,7 @@ class KinematicTreeState(OptimizationObject):
     number_of_joints_state: dataclasses.InitVar[int] = dataclasses.field(default=0)
 
     def __post_init__(self, number_of_joints_state: int):
-        if number_of_joints_state is not None:
+        if number_of_joints_state is not None and self.positions is None:
             self.positions = np.zeros(number_of_joints_state)
 
 

src/hippopt/robot_planning/variables/humanoid.py

@@ -53,5 +53,4 @@ def __post_init__(
             self.kinematics = FloatingBaseSystemState(
                 number_of_joints_state=number_of_joints
             )
-        if self.com is None:
-            self.com = np.zeros(3)
+        self.com = np.zeros(3) if self.com is None else self.com