Remove TODO comment from OCPSolver tests (#615)

SleipnirGroup · Jul 27, 2024 · 5e67d8e · 5e67d8e
1 parent 8817f89
commit 5e67d8e
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Showing 4 changed files with 10 additions and 14 deletions.
diff --git a/include/sleipnir/control/OCPSolver.hpp b/include/sleipnir/control/OCPSolver.hpp
@@ -308,21 +308,21 @@ class SLEIPNIR_DLLEXPORT OCPSolver : public OptimizationProblem {
   }
 
   /**
-   * Convenience function to set an upper bound on the timestep.
+   * Convenience function to set a lower bound on the timestep.
    *
-   * @param maxTimestep The maximum timestep.
+   * @param minTimestep The minimum timestep.
    */
-  void SetMaxTimestep(std::chrono::duration<double> maxTimestep) {
-    SubjectTo(DT() <= maxTimestep.count());
+  void SetMinTimestep(std::chrono::duration<double> minTimestep) {
+    SubjectTo(DT() >= minTimestep.count());
   }
 
   /**
-   * Convenience function to set a lower bound on the timestep.
+   * Convenience function to set an upper bound on the timestep.
    *
-   * @param minTimestep The minimum timestep.
+   * @param maxTimestep The maximum timestep.
    */
-  void SetMinTimestep(std::chrono::duration<double> minTimestep) {
-    SubjectTo(DT() >= minTimestep.count());
+  void SetMaxTimestep(std::chrono::duration<double> maxTimestep) {
+    SubjectTo(DT() <= maxTimestep.count());
   }
 
   /**

diff --git a/jormungandr/cpp/control/BindOCPSolver.cpp b/jormungandr/cpp/control/BindOCPSolver.cpp
@@ -125,10 +125,10 @@ void BindOCPSolver(nb::enum_<TranscriptionMethod>& transcription_method,
           &OCPSolver::SetUpperInputBound<VariableMatrix>, "upper_bound"_a,
           DOC(sleipnir, OCPSolver, SetUpperInputBound));
 
-  cls.def("set_max_timestep", &OCPSolver::SetMaxTimestep, "max_timestep"_a,
-          DOC(sleipnir, OCPSolver, SetMaxTimestep));
   cls.def("set_min_timestep", &OCPSolver::SetMinTimestep, "min_timestep"_a,
           DOC(sleipnir, OCPSolver, SetMinTimestep));
+  cls.def("set_max_timestep", &OCPSolver::SetMaxTimestep, "max_timestep"_a,
+          DOC(sleipnir, OCPSolver, SetMaxTimestep));
 
   cls.def("X", &OCPSolver::X, DOC(sleipnir, OCPSolver, X));
   cls.def("U", &OCPSolver::U, DOC(sleipnir, OCPSolver, U));

diff --git a/jormungandr/test/control/ocp_solver_differential_drive_test.py b/jormungandr/test/control/ocp_solver_differential_drive_test.py
@@ -42,8 +42,6 @@ def test_ocp_solver_differential_drive():
     problem.set_lower_input_bound(u_min)
     problem.set_upper_input_bound(u_max)
 
-    # TODO: Solver is unhappy when more than one minimum timestep is constrained.
-    # Detect this in either OptimizationProblem or OCPSolver.
     problem.set_min_timestep(min_timestep)
     problem.set_max_timestep(3.0)
 

diff --git a/test/src/control/OCPSolverTest_DifferentialDrive.cpp b/test/src/control/OCPSolverTest_DifferentialDrive.cpp
@@ -46,8 +46,6 @@ TEST_CASE("OCPSolver - Differential drive", "[OCPSolver]") {
   problem.SetLowerInputBound(u_min);
   problem.SetUpperInputBound(u_max);
 
-  // TODO: Solver is unhappy when more than one minimum timestep is constrained.
-  // Detect this in either OptimizationProblem or OCPSolver.
   problem.SetMinTimestep(minTimestep);
   problem.SetMaxTimestep(3s);