[cleanup] Do not used deprecated RK4 integrator in benchmarks

loco-3d · Oct 8, 2021 · 99183f7 · 99183f7
1 parent f88080a
commit 99183f7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/benchmark/arm-manipulation-timings.cpp b/benchmark/arm-manipulation-timings.cpp
@@ -14,7 +14,7 @@
 #include "crocoddyl/multibody/states/multibody.hpp"
 #include "crocoddyl/multibody/actions/free-fwddyn.hpp"
 #include "crocoddyl/core/integrator/euler.hpp"
-#include "crocoddyl/core/integrator/rk4.hpp"
+#include "crocoddyl/core/integrator/rk.hpp"
 #include "crocoddyl/core/costs/cost-sum.hpp"
 #include "crocoddyl/core/costs/residual.hpp"
 #include "crocoddyl/multibody/residuals/frame-placement.hpp"
@@ -102,7 +102,7 @@ int main(int argc, char* argv[]) {
   boost::shared_ptr<crocoddyl::ActionModelAbstract> runningModelWithEuler =
       boost::make_shared<crocoddyl::IntegratedActionModelEuler>(runningDAM, 1e-3);
   boost::shared_ptr<crocoddyl::ActionModelAbstract> runningModelWithRK4 =
-      boost::make_shared<crocoddyl::IntegratedActionModelRK4>(runningDAM, 1e-3);
+      boost::make_shared<crocoddyl::IntegratedActionModelRK>(runningDAM, crocoddyl::RKType::four, 1e-3);
   boost::shared_ptr<crocoddyl::ActionModelAbstract> terminalModel =
       boost::make_shared<crocoddyl::IntegratedActionModelEuler>(terminalDAM, 1e-3);
 

diff --git a/benchmark/bipedal-timings.cpp b/benchmark/bipedal-timings.cpp
@@ -18,7 +18,7 @@
 #include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
 #include "crocoddyl/multibody/actions/contact-fwddyn.hpp"
 #include "crocoddyl/core/integrator/euler.hpp"
-#include "crocoddyl/core/integrator/rk4.hpp"
+#include "crocoddyl/core/integrator/rk.hpp"
 #include "crocoddyl/core/costs/cost-sum.hpp"
 #include "crocoddyl/core/costs/residual.hpp"
 #include "crocoddyl/multibody/residuals/frame-placement.hpp"
@@ -123,7 +123,7 @@ int main(int argc, char* argv[]) {
   boost::shared_ptr<crocoddyl::ActionModelAbstract> runningModelWithEuler =
       boost::make_shared<crocoddyl::IntegratedActionModelEuler>(runningDAM, 1e-3);
   boost::shared_ptr<crocoddyl::ActionModelAbstract> runningModelWithRK4 =
-      boost::make_shared<crocoddyl::IntegratedActionModelRK4>(runningDAM, 1e-3);
+      boost::make_shared<crocoddyl::IntegratedActionModelRK>(runningDAM, crocoddyl::RKType::four, 1e-3);
   boost::shared_ptr<crocoddyl::ActionModelAbstract> terminalModel =
       boost::make_shared<crocoddyl::IntegratedActionModelEuler>(terminalDAM, 1e-3);