[RTM] Free floating dynamics

[Sciancisco]

All Submissions:

• Have you followed the guidelines in our Contributing document [docs/contribution.md]?
• Have you checked to ensure there aren't other open [Pull Requests] for the same update/change?
• Have you opened/linked the issue related to your pull request?
• Have you used the tag [WIP] for on-going changes, and removed it when the pull request was ready?
• When ready to merge, have you sent a comment pinging @pariterre in it?

New Feature Submissions:

1. Does your submission pass the tests (if not please explain why this is intended)?
2. Did you write a proper documentation (docstrings and ReadMe)
3. Have you linted your code locally prior to submission (using the command: black . -l120 --exclude "external/*")?

Changes to Core Features:

• Have you added an explanation of what your changes do and why you'd like us to include them?
• Have you written new examples for your core changes, as applicable?
• Have you written new tests for your core changes, as applicable?

Related to #487

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This change is 

[pariterre]

Reviewed 3 of 3 files at r2, all commit messages.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @Sciancisco)

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.gitignore line 97 at r2 (raw file):

# Remove other development artifacts
examples/sandbox

weird...

Code quote:

examples/sandbox

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bioptim/dynamics/dynamics_functions.py line 476 at r2 (raw file):

        """
        DynamicsFunctions.apply_parameters(parameters, nlp)
        q = DynamicsFunctions.get(nlp.states["q"], states)

Add a raise is implicit

Code quote:

        DynamicsFunctions.apply_parameters(parameters, nlp)
        q = DynamicsFunctions.get(nlp.states["q"], states)
        qdot = DynamicsFunctions.get(nlp.states["qdot"], states)
        qddot_joints = DynamicsFunctions.get(nlp.states["qddot_joints"], controls)

[codecov]

Codecov Report

Merging #488 (6b33006) into master (964399f) will decrease coverage by 0.12%.
The diff coverage is 23.80%.

❗ Current head 6b33006 differs from pull request most recent head 7698902. Consider uploading reports for the commit 7698902 to get more accurate results

@@            Coverage Diff             @@
##           master     #488      +/-   ##
==========================================
- Coverage   80.25%   80.12%   -0.13%     
==========================================
  Files          85       85              
  Lines        9268     9289      +21     
==========================================
+ Hits         7438     7443       +5     
- Misses       1830     1846      +16     

Impacted Files	Coverage Δ
bioptim/dynamics/dynamics_functions.py	94.95% <20.00%> (-3.61%)	⬇️
bioptim/dynamics/configure_problem.py	89.28% <27.27%> (-2.10%)	⬇️

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[Sciancisco]

Reviewable status: 1 of 7 files reviewed, 2 unresolved discussions (waiting on @pariterre and @Sciancisco)

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bioptim/dynamics/dynamics_functions.py line 476 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

Add a raise is implicit

Done.

[pariterre]

Reviewed 2 of 3 files at r3, 4 of 6 files at r4, 2 of 3 files at r5, all commit messages.
Reviewable status: 7 of 8 files reviewed, 2 unresolved discussions (waiting on @pariterre and @Sciancisco)

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tests/test_dynamics.py line 1132 at r5 (raw file):

    NonLinearProgram.add(ocp, "dynamics_type", Dynamics(DynamicsFcn.JOINTS_ACCELERATION_DRIVEN), False)

    np.random.seed(42)

love it!

[pariterre]

Reviewed 1 of 3 files at r5, 1 of 1 files at r6, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @Sciancisco)

---

.gitignore line 97 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

weird...

I still don't understand why you need it twice...

[Sciancisco]

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @pariterre)

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tests/test_dynamics.py line 1132 at r5 (raw file):

Previously, pariterre (Pariterre) wrote…

love it!

the answer

[pariterre]

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Sciancisco)