Added possibility to output opti problems to functions #16
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…o dict in optiSolver This should simplify a bit the code
to_list also uses to_dict
Released as iDynTree 12.3.0 : https://github.com/robotology/idyntree/releases/tag/v12.3.0 . |
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@diegoferigo @rob-mau let me know if you have any comment, otherwise I will proceed with the merge |
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In order to have the
to_functionfunctionality, I had to implement conversions to/from dictionaries. This in turned, allowed me to simplify a good portion of code from theOptiSolver.To showcase this change, I edited
main_periodic_step_parametric. A full output trajectory can be obtained by passing only the densities and link length multipliers as inputs.I also added
main_sensitivityto compute the jacobian of the output of the pose finder with respect the length multipliers, and densities. This file requires robotology/idyntree#1185, but since it is only a runtime dependency, I think we can proceed anyhow.