[RTM] Mayer on first node with acados

[aceglia]

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This change is 

[codecov]

Codecov Report

Merging #501 (8d41519) into master (b360f0b) will increase coverage by 0.10%.
The diff coverage is 97.67%.

@@            Coverage Diff             @@
##           master     #501      +/-   ##
==========================================
+ Coverage   80.39%   80.49%   +0.10%     
==========================================
  Files          86       86              
  Lines        9482     9537      +55     
==========================================
+ Hits         7623     7677      +54     
- Misses       1859     1860       +1     

Impacted Files	Coverage Δ
bioptim/interfaces/acados_interface.py	94.08% <97.67%> (+0.64%)	⬆️

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[pariterre]

Reviewed 2 of 2 files at r1, all commit messages.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @aceglia)

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bioptim/interfaces/acados_interface.py line 399 at r1 (raw file):

                )

        def add_linear_ls_mayer(acados, objectives, node=None):

I don't understand why (and how) you need node as it is

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bioptim/interfaces/acados_interface.py line 402 at r1 (raw file):

            def add_objective(n_variables, is_state):
                v_var = np.zeros(n_variables)
                var_type = acados.ocp.nlp[0].states if is_state else acados.ocp.nlp[0].controls

Put this in a embedded function

Code quote:

                v_var = np.zeros(n_variables)
                var_type = acados.ocp.nlp[0].states if is_state else acados.ocp.nlp[0].controls
                rows = objectives.rows + var_type[objectives.params["key"]].index[0]
                v_var[rows] = 1.0

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bioptim/interfaces/acados_interface.py line 406 at r1 (raw file):

                v_var[rows] = 1.0

                if objectives.node[0] == Node.START or node == "start":

Move the call down here as such
if objectives.node[0] == Node.START or objectives.node[0] == Node.ALL:

Code quote:

node == "start"

[aceglia]

Reviewable status: 1 of 2 files reviewed, 3 unresolved discussions (waiting on @pariterre)

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bioptim/interfaces/acados_interface.py line 399 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

I don't understand why (and how) you need node as it is

Done.

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bioptim/interfaces/acados_interface.py line 402 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

Put this in a embedded function

Done.

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bioptim/interfaces/acados_interface.py line 406 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

Move the call down here as such
if objectives.node[0] == Node.START or objectives.node[0] == Node.ALL:

Done.

[pariterre]

I much prefer this :)

Reviewed 1 of 1 files at r2, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @aceglia)