target_mapping not used

[EveCharbie]

this was introduced to make sure the targets were showing on the right plots, but is seems this part of the code is not used. It should be either removed or repaired)

        @staticmethod
        def minimize_controls(penalty: PenaltyOption, controller: PenaltyController, key: str):
            """
            Minimize the joint torque part of the control variables.
            By default this function is quadratic, meaning that it minimizes towards the target.
            Targets (default=np.zeros()) and indices (default=all_idx) can be specified.

            Parameters
            ----------
            penalty: PenaltyOption
                The actual penalty to declare
            controller: PenaltyController
                The penalty node elements
            key: str
                The name of the controls to minimize
            """

            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)
                penalty.add_target_to_plot(controller=controller, combine_to=f"{key}_controls")
            penalty.multi_thread = True if penalty.multi_thread is None else penalty.multi_thread

            # TODO: We should scale the target here!
            return controller.controls[key].cx_start

[EveCharbie]

Fixed in PR #851