Fixing build errors after merge

dart/neural/WithRespectToDamping.cpp

@@ -15,7 +15,10 @@ WithRespectToDamping::WithRespectToDamping()
 
 //==============================================================================
 WrtDampingJointEntry::WrtDampingJointEntry(
-    std::string jointName, WrtDampingJointEntryType type, int dofs, Eigen::VectorXi worldDofs)
+    std::string jointName,
+    WrtDampingJointEntryType type,
+    int dofs,
+    Eigen::VectorXi worldDofs)
   : jointName(jointName), type(type), mDofs(dofs), mWorldDofs(worldDofs)
 {
 }
@@ -31,21 +34,19 @@ void WrtDampingJointEntry::set(
     dynamics::Skeleton* skel, const Eigen::Ref<Eigen::VectorXs>& value)
 {
   dynamics::Joint* joint = skel->getJoint(jointName);
-  for(int i = 0; i < joint->getNumDofs(); i++)
+  for (int i = 0; i < joint->getNumDofs(); i++)
   {
     joint->setDampingCoefficient(i, value(i));
   }
   return;
-
-
 }
 
 //==============================================================================
 void WrtDampingJointEntry::get(
     dynamics::Skeleton* skel, Eigen::Ref<Eigen::VectorXs> out)
 {
   dynamics::Joint* joint = skel->getJoint(jointName);
-  for(int i = 0; i < joint->getNumDofs(); i++)
+  for (int i = 0; i < joint->getNumDofs(); i++)
   {
     out(i) = joint->getDampingCoefficient(i);
   }
@@ -69,7 +70,8 @@ WrtDampingJointEntry& WithRespectToDamping::registerJoint(
 {
   std::string skelName = joint->getSkeleton()->getName();
   std::vector<WrtDampingJointEntry>& skelEntries = mEntries[skelName];
-  skelEntries.emplace_back(joint->getName(), type, joint->getNumDofs(), dofs_index);
+  skelEntries.emplace_back(
+      joint->getName(), type, joint->getNumDofs(), dofs_index);
 
   WrtDampingJointEntry& entry = skelEntries[skelEntries.size() - 1];
 
@@ -121,6 +123,12 @@ WrtDampingJointEntry& WithRespectToDamping::getJoint(dynamics::Joint* joint)
   throw std::runtime_error{"Execution should never reach this point"};
 }
 
+//==============================================================================
+std::string WithRespectToDamping::name()
+{
+  return "DAMPING";
+}
+
 //==============================================================================
 /// This returns this WRT from the world as a vector
 Eigen::VectorXs WithRespectToDamping::get(simulation::World* world)

dart/neural/WithRespectToDamping.hpp

@@ -35,7 +35,11 @@ struct WrtDampingJointEntry
   int mDofs;
   Eigen::VectorXi mWorldDofs;
 
-  WrtDampingJointEntry(std::string jointName, WrtDampingJointEntryType type, int dofs, Eigen::VectorXi worldDofs);
+  WrtDampingJointEntry(
+      std::string jointName,
+      WrtDampingJointEntryType type,
+      int dofs,
+      Eigen::VectorXi worldDofs);
 
   int dim();
 
@@ -55,7 +59,7 @@ class WithRespectToDamping : public WithRespectTo
   /// way in this differentiation
   /// Need to set the dofs
   WrtDampingJointEntry& registerJoint(
-      dynamics::Joint* joint, 
+      dynamics::Joint* joint,
       WrtDampingJointEntryType type,
       Eigen::VectorXi dofs_index,
       Eigen::VectorXs upperBound,
@@ -69,6 +73,8 @@ class WithRespectToDamping : public WithRespectTo
   // Implement all the methods we need
   //////////////////////////////////////////////////////////////
 
+  std::string name() override;
+
   /// This returns this WRT from the world as a vector
   Eigen::VectorXs get(simulation::World* world) override;
 

dart/neural/WithRespectToSpring.cpp

@@ -15,7 +15,10 @@ WithRespectToSpring::WithRespectToSpring()
 
 //==============================================================================
 WrtSpringJointEntry::WrtSpringJointEntry(
-    std::string jointName, WrtSpringJointEntryType type, int dofs, Eigen::VectorXi worldDofs)
+    std::string jointName,
+    WrtSpringJointEntryType type,
+    int dofs,
+    Eigen::VectorXi worldDofs)
   : jointName(jointName), type(type), mDofs(dofs), mWorldDofs(worldDofs)
 {
 }
@@ -31,21 +34,19 @@ void WrtSpringJointEntry::set(
     dynamics::Skeleton* skel, const Eigen::Ref<Eigen::VectorXs>& value)
 {
   dynamics::Joint* joint = skel->getJoint(jointName);
-  for(int i = 0; i < joint->getNumDofs(); i++)
+  for (int i = 0; i < joint->getNumDofs(); i++)
   {
     joint->setSpringStiffness(i, value(i));
   }
   return;
-
-
 }
 
 //==============================================================================
 void WrtSpringJointEntry::get(
     dynamics::Skeleton* skel, Eigen::Ref<Eigen::VectorXs> out)
 {
   dynamics::Joint* joint = skel->getJoint(jointName);
-  for(int i = 0; i < joint->getNumDofs(); i++)
+  for (int i = 0; i < joint->getNumDofs(); i++)
   {
     out(i) = joint->getSpringStiffness(i);
   }
@@ -69,7 +70,8 @@ WrtSpringJointEntry& WithRespectToSpring::registerJoint(
 {
   std::string skelName = joint->getSkeleton()->getName();
   std::vector<WrtSpringJointEntry>& skelEntries = mEntries[skelName];
-  skelEntries.emplace_back(joint->getName(), type, joint->getNumDofs(), dofs_index);
+  skelEntries.emplace_back(
+      joint->getName(), type, joint->getNumDofs(), dofs_index);
 
   WrtSpringJointEntry& entry = skelEntries[skelEntries.size() - 1];
 
@@ -121,6 +123,12 @@ WrtSpringJointEntry& WithRespectToSpring::getJoint(dynamics::Joint* joint)
   throw std::runtime_error{"Execution should never reach this point"};
 }
 
+//==============================================================================
+std::string WithRespectToSpring::name()
+{
+  return "SPRING";
+}
+
 //==============================================================================
 /// This returns this WRT from the world as a vector
 Eigen::VectorXs WithRespectToSpring::get(simulation::World* world)

dart/neural/WithRespectToSpring.hpp

@@ -35,7 +35,11 @@ struct WrtSpringJointEntry
   int mDofs;
   Eigen::VectorXi mWorldDofs;
 
-  WrtSpringJointEntry(std::string jointName, WrtSpringJointEntryType type, int dofs, Eigen::VectorXi worldDofs);
+  WrtSpringJointEntry(
+      std::string jointName,
+      WrtSpringJointEntryType type,
+      int dofs,
+      Eigen::VectorXi worldDofs);
 
   int dim();
 
@@ -55,7 +59,7 @@ class WithRespectToSpring : public WithRespectTo
   /// way in this differentiation
   /// Need to set the dofs
   WrtSpringJointEntry& registerJoint(
-      dynamics::Joint* joint, 
+      dynamics::Joint* joint,
       WrtSpringJointEntryType type,
       Eigen::VectorXi dofs_index,
       Eigen::VectorXs upperBound,
@@ -69,6 +73,8 @@ class WithRespectToSpring : public WithRespectTo
   // Implement all the methods we need
   //////////////////////////////////////////////////////////////
 
+  std::string name() override;
+
   /// This returns this WRT from the world as a vector
   Eigen::VectorXs get(simulation::World* world) override;
 

dart/realtime/SSID.cpp

@@ -214,8 +214,6 @@ void SSID::runInference(long startTime)
   registerLock();
   // Eigen::MatrixXs forceHistory = mControlLog.getValues(
   //     startTime - mPlanningHistoryMillis, steps, millisPerStep);
-  Eigen::MatrixXs forceHistory
-      = mControlLog.getRecentValuesBefore(startTime, steps + 1);
   Eigen::MatrixXs forceHistory
       = mControlLog.getRecentValuesBefore(startTime, steps + 1);
   for (int i = 0; i < steps; i++)
@@ -230,10 +228,6 @@ void SSID::runInference(long startTime)
   // Eigen::MatrixXs velHistory = mSensorLogs[1].getValues(
   //   startTime - mPlanningHistoryMillis, steps, millisPerStep
   //  );
-  Eigen::MatrixXs poseHistory
-      = mSensorLogs[0].getRecentValuesBefore(startTime, steps + 1);
-  Eigen::MatrixXs velHistory
-      = mSensorLogs[1].getRecentValuesBefore(startTime, steps + 1);
   Eigen::MatrixXs poseHistory
       = mSensorLogs[0].getRecentValuesBefore(startTime, steps + 1);
   Eigen::MatrixXs velHistory
@@ -278,12 +272,10 @@ void SSID::runInference(long startTime)
   }
 }
 
-Eigen::VectorXs SSID::runPlotting(
+// Run plotting function should be idenpotent
+// Here it only support 1 body node plotting, but that make sense
+std::pair<Eigen::VectorXs, Eigen::MatrixXs> SSID::runPlotting(
     long startTime, s_t upper, s_t lower, int samples)
-    // Run plotting function should be idenpotent
-    // Here it only support 1 body node plotting, but that make sense
-    std::pair<Eigen::VectorXs, Eigen::MatrixXs> SSID::runPlotting(
-        long startTime, s_t upper, s_t lower, int samples)
 {
   int millisPerStep
       = static_cast<int>(ceil(mScale * mWorld->getTimeStep() * 1000.0));
@@ -341,8 +333,6 @@ Eigen::VectorXs SSID::runPlotting(
     losses(0) = loss;
   }
 
-  return losses;
-
   std::pair<Eigen::VectorXs, Eigen::MatrixXs> result;
   result.first = losses;
   result.second = poseHistory;