Merge pull request #16 from ami-iit/to_function

Added possibility to output opti problems to functions

.github/workflows/ci_cd.yml

@@ -37,7 +37,7 @@ jobs:
       - name: Dependencies
         shell: bash -l {0}
         run: |
-          mamba install python=${{ matrix.python }} casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib resolve-robotics-uri-py
+          mamba install python=${{ matrix.python }} casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib resolve-robotics-uri-py git
           mamba list
 
       - name: Install

pyproject.toml

@@ -22,3 +22,6 @@ addopts = "-ra -q"
 testpaths = [
     "test",
 ]
+log_cli = true
+log_cli_level = "DEBUG"
+log_cli_format = "%(message)s"

src/hippopt/base/multiple_shooting_solver.py

@@ -497,6 +497,11 @@ def get_optimization_objects(
     ) -> TOptimizationObject | list[TOptimizationObject]:
         return self._optimization_solver.get_optimization_objects()
 
+    def get_optimization_structure(
+        self,
+    ) -> TOptimizationObject | list[TOptimizationObject]:
+        return self._optimization_solver.get_optimization_structure()
+
     def register_problem(self, problem: Problem) -> None:
         self._optimization_solver.register_problem(problem)