reverted

pyomeca · Nov 5, 2024 · 80fc120 · 80fc120
1 parent fab9e8d
commit 80fc120
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/bioptim/dynamics/integrator.py b/bioptim/dynamics/integrator.py
@@ -243,6 +243,10 @@ def __init__(self, ode: dict, ode_opt: dict):
         self._n_step = ode_opt["number_of_finite_elements"]
         super(RK, self).__init__(ode, ode_opt)
 
+    @property
+    def _integration_time(self):
+        return self.t_span_sym[1] / self._n_step
+
     @property
     def shape_xf(self):
         return [self.x_sym.shape[0], 1]
@@ -309,7 +313,7 @@ def dxdt(
         d = numerical_timeseries
 
         for i in range(1, self._n_step + 1):
-            t = self.t_span_sym[0] + self.h * (i - 1)
+            t = self.t_span_sym[0] + self._integration_time * (i - 1)
             x[:, i] = self.next_x(t, x[:, i - 1], u, p, a, d)
             if self.model.nb_quaternions > 0:
                 x[:, i] = self.model.normalize_state_quaternions(x[:, i])

diff --git a/tests/shard6/test_time_dependent_problems.py b/tests/shard6/test_time_dependent_problems.py
@@ -308,10 +308,10 @@ def integrate(time_vector, states, controls, dyn_fun, n_shooting=30, n_steps=5):
         u_this_time = controls[:, i_shooting]
         current_time = dt * i_shooting
         for i_step in range(n_steps):
-            k1 = dyn_fun(current_time, tf, x_this_time, u_this_time)
-            k2 = dyn_fun(current_time + h / 2, tf, x_this_time + h / 2 * k1, u_this_time)
-            k3 = dyn_fun(current_time + h / 2, tf, x_this_time + h / 2 * k2, u_this_time)
-            k4 = dyn_fun(current_time + h, tf, x_this_time + h * k3, u_this_time)
+            k1 = dyn_fun(current_time, x_this_time, u_this_time)
+            k2 = dyn_fun(current_time + h / 2, x_this_time + h / 2 * k1, u_this_time)
+            k3 = dyn_fun(current_time + h / 2, x_this_time + h / 2 * k2, u_this_time)
+            k4 = dyn_fun(current_time + h, x_this_time + h * k3, u_this_time)
             x_this_time += h / 6 * (k1 + 2 * k2 + 2 * k3 + k4)
             current_time += h
         x_integrated[:, i_shooting + 1] = x_this_time
@@ -447,13 +447,12 @@ def test_time_dependent_problem(n_phase, integrator, control_type, minimize_time
                     npt.assert_almost_equal(sol.decision_time()[-1], 1.01985, decimal=5)
 
                     time_sym = MX.sym("T", 1, 1)
-                    tf_sym = ocp.nlp[0].tf_mx
                     states_sym = ocp.nlp[0].states.mx
                     controls_sym = ocp.nlp[0].controls.mx
 
                     dyn_fun = Function(
                         "dynamics",
-                        [time_sym, tf_sym, states_sym, controls_sym],
+                        [time_sym, states_sym, controls_sym],
                         [
                             time_dynamic(
                                 time_sym,