miller_ocp.py
def _set_mapping(self):
        """
        Set the mapping between the states and controls of the model
        """
        if self.dynamics_type == MillerDynamics.EXPLICIT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_EXPLICIT:
            print("no bimapping")
        elif self.dynamics_type == MillerDynamics.IMPLICIT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT:
            pass
        elif self.dynamics_type == MillerDynamics.IMPLICIT_TAU_DRIVEN_QDDDOT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT_QDDDOT:
            pass
        else:
            raise ValueError("This dynamics has not been implemented")

        Set the mapping between the states and controls of the model
        
Set the mapping between the states and controls of the model
Set the mapping between the states and controls of the model
def _set_mapping(self):
        if self.dynamics_type == MillerDynamics.EXPLICIT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_EXPLICIT:
            print("no bimapping")
        elif self.dynamics_type == MillerDynamics.IMPLICIT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT:
            pass
        elif self.dynamics_type == MillerDynamics.IMPLICIT_TAU_DRIVEN_QDDDOT:
            self.mapping.add(
                "tau", [None, None, None, None, None, None, 0, 1, 2, 3, 4, 5, 6, 7, 8], [6, 7, 8, 9, 10, 11, 12, 13, 14]
            )
        elif self.dynamics_type == MillerDynamics.ROOT_IMPLICIT_QDDDOT:
            pass
        else:
            raise ValueError("This dynamics has not been implemented")
def _set_mapping ( self ) : if self . dynamics_type == MillerDynamics . EXPLICIT : self . mapping . add ( "tau" , [ None , None , None , None , None , None , 0 , 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ] , [ 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 ] ) elif self . dynamics_type == MillerDynamics . ROOT_EXPLICIT : print ( "no bimapping" ) elif self . dynamics_type == MillerDynamics . IMPLICIT : self . mapping . add ( "tau" , [ None , None , None , None , None , None , 0 , 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ] , [ 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 ] ) elif self . dynamics_type == MillerDynamics . ROOT_IMPLICIT : pass elif self . dynamics_type == MillerDynamics . IMPLICIT_TAU_DRIVEN_QDDDOT : self . mapping . add ( "tau" , [ None , None , None , None , None , None , 0 , 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ] , [ 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 ] ) elif self . dynamics_type == MillerDynamics . ROOT_IMPLICIT_QDDDOT : pass else : raise ValueError ( "This dynamics has not been implemented" )
Set the mapping between the states and controls of the model
Set the mapping between the states and controls of the model
"""
        Set the mapping between the states and controls of the model
        """
self