Merge pull request #277 from fabinsch/fix-examples

Fix `HistoryCallback` initialization in examples

Author: ManifoldFR

CHANGELOG.md

@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Use Pinocchio instantiated functions ([#261](https://github.com/Simple-Robotics/aligator/pull/261))
 - Link to pinocchio collision
 - Some internal code now uses `TrajOptProblemTpl::initializeSolution()` to initialize state-control trajectories ([#274](https://github.com/Simple-Robotics/aligator/pull/274))
+- Fix `HistoryCallback` init in examples ([#277](https://github.com/Simple-Robotics/aligator/pull/277))
 
 ### Fixed
 

examples/pendulum.py

@@ -177,7 +177,7 @@ def create_pendulum(N, sincos=False):
 TOL = 1e-6
 MAX_ITER = 200
 solver = aligator.SolverProxDDP(TOL, mu_init, max_iters=MAX_ITER, verbose=verbose)
-callback = aligator.HistoryCallback()
+callback = aligator.HistoryCallback(solver)
 solver.registerCallback("his", callback)
 
 u0 = pin.rnea(model, data, x0[:1], x0[1:], np.zeros(nv))
@@ -239,7 +239,7 @@ def create_pendulum(N, sincos=False):
     if len(prim_errs) != 0:
         plt.figure(figsize=(6.4, 4.8))
         prim_tols = np.array(callback.prim_tols.tolist())
-        al_iters = np.array(callback.al_iters.tolist())
+        al_iters = np.array(callback.al_index.tolist())
 
         ax: plt.Axes = plt.subplot(111)
         plot_pd_errs(ax, prim_errs, dual_errs)

examples/ur5_table_halfspace.py

@@ -107,7 +107,7 @@ def make_ee_residual():
 solver = aligator.SolverProxDDP(tol, mu_init, max_iters=max_iters, verbose=verbose)
 solver.rollout_type = aligator.ROLLOUT_NONLINEAR
 solver.setNumThreads(4)
-cb = aligator.HistoryCallback()
+cb = aligator.HistoryCallback(solver)
 solver.registerCallback("his", cb)
 
 solver.setup(problem)