Fixed structure for orientation traj generation, works with fatrop too

trajectory-invariants · Jan 7, 2025 · 658f5a0 · 658f5a0
1 parent 333ba2f
commit 658f5a0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...riants_py/generate_trajectory/opti_generate_orientation_traj_from_vector_invars_fatrop.py b/...riants_py/generate_trajectory/opti_generate_orientation_traj_from_vector_invars_fatrop.py
@@ -21,8 +21,8 @@ def __init__(self, boundary_constraints, window_len = 100, bool_unsigned_invaria
         X = []
         invars = []
         for k in range(window_len):
-            R_obj.append(opti.variable(3,3)) # object orientation
             R_r.append(opti.variable(3,3)) # rotational Frenet-Serret frame
+            R_obj.append(opti.variable(3,3)) # object orientation
             X.append(cas.vertcat(cas.vec(R_r[k]), cas.vec(R_obj[k])))
             if k < window_len-1:
                 invars.append(opti.variable(3,1)) # invariants