fixed quickstart

RoboticExplorationLab · Jul 12, 2020 · 20f726e · 20f726e
1 parent 4a26dc5
commit 20f726e
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/examples/quickstart.jl b/examples/quickstart.jl
@@ -1,13 +1,16 @@
 using TrajectoryOptimization
+using Altro
+using RobotDynamics
 using StaticArrays
 using LinearAlgebra
 const TO = TrajectoryOptimization
+const RD = RobotDynamics
 
-struct DoubleIntegrator{T} <: AbstractModel
+struct DoubleIntegrator{T} <: TO.AbstractModel
     mass::T
 end
 
-function TO.dynamics(model::DoubleIntegrator, x, u)
+function RD.dynamics(model::DoubleIntegrator, x, u)
     SA[x[2], u[1] / model.mass]
 end
 
@@ -28,7 +31,7 @@ R = Diagonal(@SVector ones(m))
 obj = LQRObjective(Q, R, N*Q, xf, N)
 
 # Constraints
-cons = TO.ConstraintSet(n,m,N)
+cons = ConstraintList(n,m,N)
 add_constraint!(cons, GoalConstraint(xf), N:N)
 add_constraint!(cons, BoundConstraint(n,m, u_min=-10, u_max=10), 1:N-1)