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[states] Fixes #256. Remove global mutable variables from statemultibody class

Merged [states] Fixes #256. Remove global mutable variables from statemultibody class
Merged Rohan Budhiraja requested to merge proyan/crocoddyl:devel into devel

As reported in #256 (closed), there was a race condition occuring with the ddp solve. It turns out that it was because we defined data inside the state variables, and it was being accessed by multiple threads.

THis PR corrects this bug.

Edit:

  1. WIP status: As discussed, I'll make functions of state and actuation const.
  2. CI integration: to be dealt with by @cmastall
Edited by Rohan Budhiraja

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Merged by Carlos MastalliCarlos Mastalli 5 years ago (Oct 18, 2019 9:57am UTC)

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Pipeline #6406 passed with warnings

Pipeline passed with warnings for fc5b6f41 on devel

Test coverage 74.00% from 0 jobs

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  • You have a problem with your CI. Please add @gsaurel to debug it.

    He's on holidays now, and probably you finish this PR before his return. If so, I will have to push your branch into my fork, and checks that everything work. It's everything is fine, I will merge this PR as it is, so no need to close and create another PR.

  • Rohan Budhiraja marked as a Work In Progress

    marked as a Work In Progress

  • Rohan Budhiraja changed the description

    changed the description

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  • added 1 commit

    • e9041802 - [states] make state functions const. and change numdiff/state such that it avoids class variables.

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  • Author Developer

    I'll remove the WIP status. (Let's keep this PR focussed only on the states)

  • Rohan Budhiraja unmarked as a Work In Progress

    unmarked as a Work In Progress

  • Author Developer

    @cmastall This should be ok to merge now.

  • Rohan Budhiraja resolved all threads

    resolved all threads

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