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[RTR] catching when reading #861

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Mar 15, 2024
Merged

[RTR] catching when reading #861

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6 changes: 3 additions & 3 deletions bioptim/dynamics/integrator.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
from casadi import Function, vertcat, horzcat, collocation_points, tangent, rootfinder, DM, MX, SX, linspace
import numpy as np
from casadi import Function, vertcat, horzcat, collocation_points, tangent, rootfinder, DM, MX, SX, linspace

from ..misc.enums import ControlType, DefectType
from ..models.protocols.biomodel import BioModel
Expand Down Expand Up @@ -170,7 +170,7 @@ def get_u(self, u: np.ndarray, t: float) -> np.ndarray:
The control at a given time
"""

if self.control_type == ControlType.CONSTANT or self.control_type == ControlType.CONSTANT_WITH_LAST_NODE:
if self.control_type in (ControlType.CONSTANT, ControlType.CONSTANT_WITH_LAST_NODE):
return u
elif self.control_type == ControlType.LINEAR_CONTINUOUS:
dt_norm = (t - self.t_span_sym[0]) / self.t_span_sym[1]
Expand Down Expand Up @@ -595,7 +595,7 @@ def get_u(self, u: np.ndarray, t: float | MX | SX) -> np.ndarray:
The control at a given time
"""

if self.control_type == ControlType.CONSTANT or self.control_type == ControlType.CONSTANT_WITH_LAST_NODE:
if self.control_type in (ControlType.CONSTANT, ControlType.CONSTANT_WITH_LAST_NODE):
return super(COLLOCATION, self).get_u(u, t)
else:
raise NotImplementedError(f"{self.control_type} ControlType not implemented yet with COLLOCATION")
Expand Down
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