diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc index 8d0929af461da143f0ef7308efe0920b9b26ad5d..e5cf48bebe466616b0d01a66f826bdc8458dd3c3 100644 --- a/src/steering-method/cross-state-optimization.cc +++ b/src/steering-method/cross-state-optimization.cc @@ -253,7 +253,7 @@ namespace hpp { ComparisonTypes_t cts; Configuration_t* qrhs; if (i == 0) { - f = lj->function(); + f = lj->explicitFunction(); ic = _row(lj->inputConf() , 0); oc = _row(lj->outputConf() , 0); iv = _col(lj->inputVelocity() , 0); @@ -261,7 +261,7 @@ namespace hpp { cts = ComparisonTypes_t (lj->numberDof(), constraints::Equality); qrhs = &q1; } else if (i == N) { - f = lj->function(); + f = lj->explicitFunction(); ic = _row(lj->inputConf() , 0); oc = _row(lj->outputConf() , (N-1) * nq); iv = _col(lj->inputVelocity() , 0); @@ -394,7 +394,7 @@ namespace hpp { _lj != ljs.end(); ++_lj) { LockedJointPtr_t lj (*_lj); bool added = solver.explicitSolver().add ( - lj->function(), + lj->explicitFunction(), _row(lj->inputConf() , i * nq), _row(lj->outputConf() , i * nq), _col(lj->inputVelocity() , i * nv), @@ -406,10 +406,10 @@ namespace hpp { // This must be done later rhsSetters_.push_back (RightHandSideSetter( DifferentiableFunctionPtr_t(), - lj->function(), + lj->explicitFunction(), lj->rightHandSide())); // solver.rightHandSide (DifferentiableFunctionPtr_t(), - // lj->function(), + // lj->explicitFunction(), // lj->rightHandSide()); } }