Merge branch 'main' of https://github.com/thowell/ContactImplicitMPC.jl into main

Author: thowell

deps/build.jl

@@ -1,8 +1,35 @@
 append!(empty!(LOAD_PATH), Base.DEFAULT_LOAD_PATH)
 using Pkg
+
+################################################################################
+# Generate notebooks
+################################################################################
 exampledir = joinpath(@__DIR__, "..", "examples")
 Pkg.activate(exampledir)
 Pkg.add("Literate")
 include(joinpath(exampledir, "generate_notebooks.jl"))
 
+################################################################################
+# Code generation
+################################################################################
+# Add minimal set of packages
+Pkg.add(PackageSpec(name = "FileIO", version = "1.9"))
+Pkg.add(PackageSpec(name = "ForwardDiff", version = "0.10"))
+Pkg.add(PackageSpec(name = "IfElse", version = "0.1"))
+Pkg.add(PackageSpec(name = "JLD2", version = "0.4"))
+Pkg.add(PackageSpec(name = "Rotations", version = "1.0"))
+Pkg.add(PackageSpec(name = "StaticArrays", version = "1.2"))
+Pkg.add(PackageSpec(name = "Symbolics", version = "0.1.29"))
+Pkg.add(PackageSpec(name = "LinearAlgebra"))
+
+# Load minimal set of packages and scripts
+loaderdir = joinpath(@__DIR__, "..", "src", "loader.jl")
+include(loaderdir)
+
+# Generate dynamics expressions
+dynamicsdir = joinpath(@__DIR__, "..", "src", "dynamics")
+include(joinpath(dynamicsdir, "generate_dynamics.jl"))
 
+# Generate simulation expressions
+simulationdir = joinpath(@__DIR__, "..", "src", "simulation")
+include(joinpath(simulationdir, "generate_simulation2.jl"))

src/ContactImplicitMPC.jl

@@ -34,8 +34,8 @@ include("solver/linear_solver.jl")
 include("solver/lu.jl")
 include("solver/qr.jl")
 include("solver/schur.jl")
-include("solver/cones.jl") 
-include("solver/indices.jl") 
+include("solver/cones.jl")
+include("solver/indices.jl")
 
 # Environment
 include("simulator/environment.jl")
@@ -46,9 +46,6 @@ include("dynamics/model.jl")
 # Simulator
 include("simulation/index.jl")
 
-# Solver
-include("solver/interior_point.jl")
-
 # Simulator
 include("simulation/contact_methods.jl")
 include("simulation/simulation.jl")
@@ -62,6 +59,9 @@ include("dynamics/quaternions.jl")
 include("dynamics/mrp.jl")
 include("dynamics/euler.jl")
 
+# Solver
+include("solver/interior_point.jl")
+
 include("dynamics/particle_2D/model.jl")
 include("dynamics/particle/model.jl")
 include("dynamics/hopper_2D/model.jl")
@@ -176,7 +176,7 @@ export
     module_dir,
     open_loop_disturbances,
     disturbances,
-    Disturbances, 
+    Disturbances,
     NoDisturbances,
     OpenLoopDisturbance,
     impulse_disturbances,
@@ -241,12 +241,12 @@ export
     visualize_payload!,
     process!,
     contact_trajectory,
-    pack_z, 
+    pack_z,
     pack_θ,
     generate_pusher_traj,
     update_friction_coefficient,
     quadratic_objective,
-    particle, 
+    particle,
     particle_2D,
     hopper_2D,
     hopper_3D,
@@ -262,14 +262,14 @@ export
     flat_2D_nc,
     slope1_2D_lc,
     sine2_2D_lc,
-    piecewise_2D_lc, 
-    stairs3_2D_lc, 
-    flat_3D_lc, 
-    sine2_3D_lc, 
-    sine1_2D_lc, 
+    piecewise_2D_lc,
+    stairs3_2D_lc,
+    flat_3D_lc,
+    sine2_3D_lc,
+    sine1_2D_lc,
     piecewise1_2D_lc,
     sine3_2D_lc,
-    slope_smooth_2D_lc, 
+    slope_smooth_2D_lc,
     flat_2D_lc,
     flat_3D_lc,
     plot_surface!,