From c050b6cb8110104da64baf19b8860bb3dc9210a2 Mon Sep 17 00:00:00 2001 From: giulero Date: Fri, 21 Jun 2024 16:02:31 +0200 Subject: [PATCH] Remove cs_type from parametric --- src/adam/parametric/casadi/computations_parametric.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/adam/parametric/casadi/computations_parametric.py b/src/adam/parametric/casadi/computations_parametric.py index 85f92dda..1247d2c9 100644 --- a/src/adam/parametric/casadi/computations_parametric.py +++ b/src/adam/parametric/casadi/computations_parametric.py @@ -24,7 +24,6 @@ def __init__( joints_name_list: list, links_name_list: list, root_link: str = "root_link", - cs_type: Union[cs.SX, cs.DM] = cs.SX, gravity: np.array = np.array([0.0, 0.0, -9.80665, 0.0, 0.0, 0.0]), f_opts: dict = dict(jit=False, jit_options=dict(flags="-Ofast")), ) -> None: @@ -35,7 +34,7 @@ def __init__( links_name_list (list): list of the parametrized links root_link (str, optional): the first link. Defaults to 'root_link'. """ - math = SpatialMath(cs_type) + math = SpatialMath() n_param_links = len(links_name_list) self.densities = cs.SX.sym("densities", n_param_links) self.length_multiplier = cs.SX.sym("length_multiplier", n_param_links)