Fixes for upcoming aligator 0.14

Author: ManifoldFR

include/simple-mpc/ocp-handler.hpp

@@ -11,11 +11,12 @@
 #include "simple-mpc/robot-handler.hpp"
 
 #include <aligator/core/traj-opt-problem.hpp>
+#include <aligator/modelling/constraints/box-constraint.hpp>
+#include <aligator/modelling/constraints/equality-constraint.hpp>
+#include <aligator/modelling/constraints/negative-orthant.hpp>
 #include <aligator/modelling/costs/quad-state-cost.hpp>
 #include <aligator/modelling/costs/sum-of-costs.hpp>
 #include <aligator/modelling/function-xpr-slice.hpp>
-#include <proxsuite-nlp/modelling/constraints/box-constraint.hpp>
-#include <proxsuite-nlp/modelling/constraints/negative-orthant.hpp>
 
 namespace simple_mpc
 {
@@ -26,9 +27,9 @@ namespace simple_mpc
   using QuadraticStateCost = QuadraticStateCostTpl<double>;
   using QuadraticResidualCost = QuadraticResidualCostTpl<double>;
   using StateErrorResidual = StateErrorResidualTpl<double>;
-  using BoxConstraint = proxsuite::nlp::BoxConstraintTpl<double>;
-  using NegativeOrthant = proxsuite::nlp::NegativeOrthantTpl<double>;
-  using EqualityConstraint = proxsuite::nlp::EqualityConstraintTpl<double>;
+  using BoxConstraint = BoxConstraintTpl<double>;
+  using NegativeOrthant = NegativeOrthantTpl<double>;
+  using EqualityConstraint = EqualityConstraintTpl<double>;
   using FunctionSliceXpr = FunctionSliceXprTpl<double>;
 
 #define SIMPLE_MPC_DEFINE_DEFAULT_MOVE_CTORS(Type)                                                                     \

src/centroidal-dynamics.cpp

@@ -13,7 +13,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using VectorSpace = proxsuite::nlp::VectorSpaceTpl<double>;
+  using VectorSpace = aligator::VectorSpaceTpl<double>;
   using CentroidalFwdDynamics = dynamics::CentroidalFwdDynamicsTpl<double>;
   using CentroidalAccelerationResidual = CentroidalAccelerationResidualTpl<double>;
   using AngularAccelerationResidual = AngularAccelerationResidualTpl<double>;

src/fulldynamics.cpp

@@ -18,8 +18,8 @@ namespace simple_mpc
   using namespace aligator;
   using ContactForceResidual = ContactForceResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
-  using MultibodyWrenchConeResidual = aligator::MultibodyWrenchConeResidualTpl<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
+  using MultibodyWrenchConeResidual = MultibodyWrenchConeResidualTpl<double>;
   using MultibodyFrictionConeResidual = MultibodyFrictionConeResidualTpl<double>;
   using MultibodyConstraintFwdDynamics = dynamics::MultibodyConstraintFwdDynamicsTpl<double>;
   using FramePlacementResidual = FramePlacementResidualTpl<double>;

src/kinodynamics.cpp

@@ -14,7 +14,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
   using KinodynamicsFwdDynamics = dynamics::KinodynamicsFwdDynamicsTpl<double>;
   using CentroidalMomentumDerivativeResidual = CentroidalMomentumDerivativeResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;

tests/qpsolvers.cpp

@@ -1,6 +1,6 @@
 
+#include <aligator/core/manifold-base.hpp>
 #include <boost/test/unit_test.hpp>
-#include <proxsuite-nlp/manifold-base.hpp>
 
 #include "simple-mpc/qp-solvers.hpp"
 #include "simple-mpc/robot-handler.hpp"