added bindings for dx and du

machines-in-motion · Aug 7, 2024 · ca179ab · ca179ab
1 parent 0fd1e75
commit ca179ab
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Showing 4 changed files with 15 additions and 5 deletions.
diff --git a/bindings/csqp.cpp b/bindings/csqp.cpp
@@ -93,9 +93,10 @@ void exposeSolverCSQP() {
                     "Additional iteration if SQP max. iter reached (default: False)")
       .add_property("xs", make_function(&SolverCSQP::get_xs, bp::return_value_policy<bp::copy_const_reference>()), bp::make_function(&SolverCSQP::set_xs), "xs")
       .add_property("us", make_function(&SolverCSQP::get_us, bp::return_value_policy<bp::copy_const_reference>()), bp::make_function(&SolverCSQP::set_us), "us")
-      .add_property("dx_tilde", make_function(&SolverCSQP::get_xs_tilde, bp::return_value_policy<bp::copy_const_reference>()), "dx_tilde")
-      .add_property("du_tilde", make_function(&SolverCSQP::get_us_tilde, bp::return_value_policy<bp::copy_const_reference>()), "du_tilde")
-
+      .add_property("dx_tilde", make_function(&SolverCSQP::get_dx_tilde, bp::return_value_policy<bp::copy_const_reference>()), "dx_tilde")
+      .add_property("du_tilde", make_function(&SolverCSQP::get_du_tilde, bp::return_value_policy<bp::copy_const_reference>()), "du_tilde")
+      .add_property("dx", make_function(&SolverCSQP::get_dx, bp::return_value_policy<bp::copy_const_reference>()), "dx")
+      .add_property("du", make_function(&SolverCSQP::get_du, bp::return_value_policy<bp::copy_const_reference>()), "du")
 
 
       .add_property("constraint_norm", bp::make_function(&SolverCSQP::get_constraint_norm),

diff --git a/bindings/sqp.cpp b/bindings/sqp.cpp
@@ -53,6 +53,9 @@ void exposeSolverSQP() {
       .def_readwrite("fs_try", &SolverSQP::fs_try_, "fs_try")
       .def_readwrite("lag_mul", &SolverSQP::lag_mul_, "lagrange multipliers")
 
+      .add_property("dx", make_function(&SolverSQP::get_dx, bp::return_value_policy<bp::copy_const_reference>()), "dx")
+      .add_property("du", make_function(&SolverSQP::get_du, bp::return_value_policy<bp::copy_const_reference>()), "du")
+
       .add_property("KKT", bp::make_function(&SolverSQP::get_KKT),
                     "KKT residual norm")
 

diff --git a/include/mim_solvers/csqp.hpp b/include/mim_solvers/csqp.hpp
@@ -118,8 +118,11 @@ class SolverCSQP : public SolverDDP {
   const std::vector<Eigen::VectorXd>& get_xs() const { return xs_; };
   const std::vector<Eigen::VectorXd>& get_us() const { return us_; };
 
-  const std::vector<Eigen::VectorXd>& get_xs_tilde() const { return dxtilde_; };
-  const std::vector<Eigen::VectorXd>& get_us_tilde() const { return dutilde_; };
+  const std::vector<Eigen::VectorXd>& get_dx_tilde() const { return dxtilde_; };
+  const std::vector<Eigen::VectorXd>& get_du_tilde() const { return dutilde_; };
+
+  const std::vector<Eigen::VectorXd>& get_dx() const { return dx_; };
+  const std::vector<Eigen::VectorXd>& get_du() const { return du_; };
 
   const std::vector<Eigen::VectorXd>& get_y() const { return y_; };
   const std::vector<Eigen::VectorXd>& get_z() const { return z_; };

diff --git a/include/mim_solvers/sqp.hpp b/include/mim_solvers/sqp.hpp
@@ -101,6 +101,9 @@ class SolverSQP : public SolverDDP {
   const std::vector<Eigen::VectorXd>& get_xs_try() const { return xs_try_; };
   const std::vector<Eigen::VectorXd>& get_us_try() const { return us_try_; };
 
+  const std::vector<Eigen::VectorXd>& get_dx() const { return dx_; };
+  const std::vector<Eigen::VectorXd>& get_du() const { return du_; };
+
   double get_KKT() const { return KKT_; };
   double get_gap_norm() const { return gap_norm_; };
   double get_xgrad_norm() const { return x_grad_norm_; };