Terminology PR #465

Ipuch · 2022-05-09T16:13:32Z

Enhanced terminology for algebraic constraints.

This change is

codecov · 2022-05-09T18:21:05Z

Codecov Report

Merging #465 (186112d) into CrazyDynamics (7178305) will decrease coverage by 0.03%.
The diff coverage is 71.73%.

❗ Current head 186112d differs from pull request most recent head 933d6ac. Consider uploading reports for the commit 933d6ac to get more accurate results

@@                Coverage Diff                @@
##           CrazyDynamics     #465      +/-   ##
=================================================
- Coverage          80.96%   80.92%   -0.04%     
=================================================
  Files                 85       85              
  Lines               9240     9249       +9     
=================================================
+ Hits                7481     7485       +4     
- Misses              1759     1764       +5

Impacted Files	Coverage Δ
...examples/torque_driven_ocp/example_soft_contact.py	`80.88% <ø> (ø)`
bioptim/dynamics/dynamics_functions.py	`96.19% <37.50%> (-2.34%)`	⬇️
...mples/getting_started/example_implicit_dynamics.py	`89.47% <50.00%> (ø)`
bioptim/dynamics/configure_problem.py	`90.20% <77.27%> (ø)`
...torque_driven_ocp/maximize_predicted_height_CoM.py	`86.79% <100.00%> (ø)`
bioptim/limits/constraints.py	`88.97% <100.00%> (ø)`
bioptim/misc/enums.py	`100.00% <100.00%> (ø)`

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Ipuch · 2022-05-18T18:46:04Z

ready to be reviewed

pariterre

Reviewed 5 of 10 files at r5, 1 of 4 files at r6, 9 of 9 files at r7, all commit messages.
Reviewable status: all files reviewed, 8 unresolved discussions (waiting on @Ipuch)

bioptim/dynamics/configure_problem.py line 109 at r7 (raw file):

        with_contact: bool = False,
        rigidbody_dynamics: Transcription = Transcription.ODE,
        soft_contacts_dynamics: Transcription = Transcription.ODE,

rigidbody_dynamics: RigidBodyDynamics = RigidBodyDynamics .ODE
soft_contacts_dynamics: SoftContactDynamics = SoftContactDynamics .ODE

Code quote:

        rigidbody_dynamics: Transcription = Transcription.ODE,
        soft_contacts_dynamics: Transcription = Transcription.ODE,

bioptim/dynamics/configure_problem.py line 133 at r7 (raw file):

            soft_contacts_dynamics != Transcription.CONSTRAINT
            and soft_contacts_dynamics != Transcription.ODE
            and nlp.model.nbSoftContacts() != 0

Put nbSoftContacts first

bioptim/dynamics/configure_problem.py line 140 at r7 (raw file):

        if rigidbody_dynamics == Transcription.CONSTRAINT_ID:
            if soft_contacts_dynamics == Transcription.ODE and nlp.model.nbSoftContacts() != 0:

Put soft contact in a factored if

bioptim/dynamics/configure_problem.py line 151 at r7 (raw file):

        ConfigureProblem.configure_qdot(nlp, True, False)
        ConfigureProblem.configure_tau(nlp, False, True, fatigue)
        if rigidbody_dynamics == Transcription.CONSTRAINT_FD or rigidbody_dynamics == Transcription.CONSTRAINT_ID:

LONG name

bioptim/dynamics/configure_problem.py line 153 at r7 (raw file):

        if rigidbody_dynamics == Transcription.CONSTRAINT_FD or rigidbody_dynamics == Transcription.CONSTRAINT_ID:
            ConfigureProblem.configure_qddot(nlp, False, True)
        if (

elif?

bioptim/dynamics/configure_problem.py line 259 at r7 (raw file):

            soft_contacts_dynamics != Transcription.CONSTRAINT
            and soft_contacts_dynamics != Transcription.ODE
            and nlp.model.nbSoftContacts() != 0

same

bioptim/examples/getting_started/example_implicit_dynamics.py line 78 at r7 (raw file):

    # Be careful to let the accelerations not to much bounded to find the same solution in implicit dynamics
    if rigidbody_dynamics == Transcription.CONSTRAINT_ID or rigidbody_dynamics == Transcription.CONSTRAINT_FD:

CONTRAINT_INVERSE_DYNAMICS

bioptim/misc/enums.py line 145 at r7 (raw file):

    ODE = "ode"
    CONSTRAINT = "constraint"
    CONSTRAINT_ID = "constraint_id"

class RigidBodyDynamics(Enum):
    ODE = "ode"
    DAE_INVERSE_DYNAMICS = "dae_inverse_dynamics"
    DAE_FORWARD_DYNAMICS = "dae_forward_dynamics"
    DAE_INVERSE_DYNAMICS_JERK = "dae_inverse_dynamics_jerk"
    DAE_FORWARD_DYNAMICS_JERK = "dae_forward_dynamics_jerk"

Code quote:

class Transcription(Enum):
    ODE = "ode"
    CONSTRAINT = "constraint"
    CONSTRAINT_ID = "constraint_id"
    CONSTRAINT_FD = "constraint_fd"
    CONSTRAINT_ID_JERK = "constraint_id_jerk"
    CONSTRAINT_FD_JERK = "constraint_fd_jerk"

Ipuch

Reviewable status: 2 of 17 files reviewed, 8 unresolved discussions (waiting on @pariterre)

bioptim/dynamics/configure_problem.py line 109 at r7 (raw file):