think I fixed it :)

pyomeca · Feb 23, 2024 · 7494252 · 7494252
1 parent ce5a784
commit 7494252
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Showing 2 changed files with 5 additions and 11 deletions.
diff --git a/bioptim/limits/penalty.py b/bioptim/limits/penalty.py
@@ -88,13 +88,6 @@ def minimize_controls(penalty: PenaltyOption, controller: PenaltyController, key
             """
 
             penalty.quadratic = True if penalty.quadratic is None else penalty.quadratic
-            if key in controller.get_nlp.variable_mappings:
-                target_mapping = controller.get_nlp.variable_mappings[key]
-            else:
-                target_mapping = BiMapping(
-                    to_first=list(range(controller.get_nlp.controls[key].cx_start.shape[0])),
-                    to_second=list(range(controller.get_nlp.controls[key].cx_start.shape[0])),
-                )  # TODO: why if condition, target_mapping not used (Pariterre?)
 
             if penalty.integration_rule == QuadratureRule.RECTANGLE_LEFT:
                 # TODO: for trapezoidal integration (This should not be done here but in _set_penalty_function)

diff --git a/bioptim/limits/penalty_option.py b/bioptim/limits/penalty_option.py
@@ -6,6 +6,7 @@
 from .penalty_controller import PenaltyController
 from ..misc.enums import Node, PlotType, ControlType, PenaltyType, QuadratureRule, PhaseDynamics
 from ..misc.options import OptionGeneric
+from ..misc.mapping import BiMapping
 from ..models.protocols.stochastic_biomodel import StochasticBioModel
 from ..limits.penalty_helpers import PenaltyHelpers
 
@@ -730,8 +731,8 @@ def vertcat_cx_end():
         return u
 
     @staticmethod
-    def define_target_mapping(controller: PenaltyController, key: str):
-        target_mapping = controller.get_nlp.variable_mappings[key]
+    def define_target_mapping(controller: PenaltyController, key: str, rows):
+        target_mapping = BiMapping(range(len(controller.get_nlp.variable_mappings[key].to_first.map_idx)), list(rows))
         return target_mapping
 
     def add_target_to_plot(self, controller: PenaltyController, combine_to: str):
@@ -777,15 +778,15 @@ def plot_function(t0, phases_dt, node_idx, x, u, p, a, penalty=None):
             else:
                 plot_type = PlotType.POINT
 
-            target_mapping = self.define_target_mapping(controller, self.params["key"])
+            target_mapping = self.define_target_mapping(controller, self.params["key"], self.rows)
             controller.ocp.add_plot(
                 self.target_plot_name,
                 plot_function,
                 penalty=self if plot_type == PlotType.POINT else None,
                 color="tab:red",
                 plot_type=plot_type,
                 phase=controller.get_nlp.phase_idx,
-                axes_idx=target_mapping,  # TODO verify if not all elements has target
+                axes_idx=target_mapping,
                 node_idx=controller.t,
             )