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[RTR] Fix target size with multi threads #574

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Merged
pariterre merged 5 commits into from
Nov 10, 2022
Merged

[RTR] Fix target size with multi threads #574

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b4565ea
test
AntoineLeroy Oct 24, 2022
8ce6c51
Revert "test"
AntoineLeroy Oct 24, 2022
12725d9
Merge remote-tracking branch 'pyomeca/master'
AntoineLeroy Nov 8, 2022
29a567a
fix target shape with multi threads
AntoineLeroy Nov 8, 2022
e3023eb
add test multi threads target
AntoineLeroy Nov 8, 2022
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4 changes: 4 additions & 0 deletions bioptim/examples/muscle_driven_ocp/muscle_activations_tracker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,7 @@ def prepare_ocp(
kin_data_to_track: str = "markers",
use_residual_torque: bool = True,
ode_solver: OdeSolver = OdeSolver.COLLOCATION(),
n_threads: int = 1,
) -> OptimalControlProgram:
"""
Prepare the ocp to solve
Expand All @@ -177,6 +178,8 @@ def prepare_ocp(
If residual torque are present or not in the dynamics
ode_solver: OdeSolver
The ode solver to use
n_threads: int
The number of threads

Returns
-------
Expand Down Expand Up @@ -240,6 +243,7 @@ def prepare_ocp(
u_bounds,
objective_functions,
ode_solver=ode_solver,
n_threads=n_threads,
)


Expand Down
2 changes: 1 addition & 1 deletion bioptim/interfaces/interface_utils.py
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Expand Up @@ -251,7 +251,7 @@ def get_x_and_u_at_idx(_penalty, _idx):
if penalty.multi_thread:
if penalty.target is not None and len(penalty.target[0].shape) != 2:
raise NotImplementedError("multi_thread penalty with target shape != [n x m] is not implemented yet")
target = penalty.target if penalty.target is not None else []
target = penalty.target[0] if penalty.target is not None else []

x = nlp.cx()
u = nlp.cx()
Expand Down
4 changes: 3 additions & 1 deletion tests/test_global_muscle_tracking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,8 @@


@pytest.mark.parametrize("ode_solver", [OdeSolver.RK4, OdeSolver.COLLOCATION, OdeSolver.IRK])
def test_muscle_activations_and_states_tracking(ode_solver):
@pytest.mark.parametrize("n_threads", [1, 2])
def test_muscle_activations_and_states_tracking(ode_solver, n_threads):
# Load muscle_activations_tracker
from bioptim.examples.muscle_driven_ocp import muscle_activations_tracker as ocp_module

Expand Down Expand Up @@ -42,6 +43,7 @@ def test_muscle_activations_and_states_tracking(ode_solver):
use_residual_torque=use_residual_torque,
kin_data_to_track="q",
ode_solver=ode_solver(),
n_threads=n_threads,
)
solver = Solver.IPOPT()
# solver.set_maximum_iterations(10)
Expand Down