Used another method to obtain the jacobian

ami-iit · Apr 19, 2024 · 71caa29 · 71caa29
1 parent 6eb0ae1
commit 71caa29
Showing 1 changed file with 11 additions and 14 deletions.
diff --git a/src/hippopt/turnkey_planners/humanoid_kinodynamic/main_periodic_step_sensitivity.py b/src/hippopt/turnkey_planners/humanoid_kinodynamic/main_periodic_step_sensitivity.py
@@ -647,23 +647,20 @@ def get_full_output_function(
         [(yz - average_com_yz) ** 2 for yz in com_yz_positions]
     ) / len(com_yz_positions)
 
-    com_yz_variability_function = cs.Function(
-        "com_yz_variability",
-        [link_length_multipliers_symbolic, link_densities_symbolic],
-        [com_yz_variability],
-        ["link_length_multipliers", "link_densities"],
-        ["com_yz_variability_length_sensitivity"],
+    com_yz_variability_jacobian = cs.jacobian(
+        com_yz_variability,
+        cs.vertcat(link_length_multipliers_symbolic, link_densities_symbolic),
     )
 
-    jac = com_yz_variability_function.jacobian()
+    com_yz_variability_jacobian_function = cs.Function(
+        "com_yz_variability_jacobian",
+        [link_length_multipliers_symbolic, link_densities_symbolic],
+        [com_yz_variability_jacobian],
+        {"error_on_fail": False},
+    )
 
-    test = jac(
-        parametric_link_length_multipliers,
-        parametric_link_densities,
-        com_yz_variability_function(
-            parametric_link_length_multipliers,
-            parametric_link_densities,
-        ),
+    test = com_yz_variability_jacobian_function(
+        parametric_link_length_multipliers, parametric_link_densities
     )
 
     print(test)