Update dim_actions and dim_parameters in iLQS.

Fixes google-deepmind#264. PiperOrigin-RevId: 603912409 Change-Id: Ia1f4de579f2204b2bc1d7a7a8493607e70754fec
ltinphan · Feb 3, 2024 · 7017ba0 · 7017ba0
1 parent aff408d
commit 7017ba0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/mjpc/planners/ilqs/planner.cc b/mjpc/planners/ilqs/planner.cc
@@ -114,8 +114,8 @@ void iLQSPlanner::OptimizePolicy(int horizon, ThreadPool& pool) {
     if (dim_actions != sampling.model->nu * (horizon - 1) ||
         dim_parameters != sampling.model->nu * num_spline_points) {
       // dimension
-      int dim_parameters = sampling.model->nu * num_spline_points;
-      int dim_actions = sampling.model->nu * (horizon - 1);
+      dim_parameters = sampling.model->nu * num_spline_points;
+      dim_actions = sampling.model->nu * (horizon - 1);
 
       // compute parameter to action mapping
       mappings[sampling.policy.representation]->Compute(