Use for Problem

Author: bjack205

src/expansions.jl

@@ -110,11 +110,7 @@ end
 function dynamics_expansion!(sig::FunctionSignature, diff::DiffMethod, 
                              model::DiscreteDynamics, D::Vector{<:DynamicsExpansion}, Z::Traj)
     for k in eachindex(D)
-        # RobotDynamics.discrete_jacobian!(Q, D[k].∇f, model, Z[k], args...)
         RobotDynamics.jacobian!(sig, diff, model, D[k].∇f, D[k].f, Z[k])
-        # save_tmp!(D[k])
-        # D[k].tmpA .= D[k].A_  # avoids allocations later
-        # D[k].tmpB .= D[k].B_
     end
 end
 

src/problem.jl

@@ -91,7 +91,10 @@ end
 
 "$(TYPEDSIGNATURES)
 Get number of states, controls, and knot points"
-Base.size(prob::Problem) = state_dim(prob.model), control_dim(prob.model), prob.N
+RD.dims(prob::Problem) = state_dim(prob.model), control_dim(prob.model), prob.N
+
+import Base.size
+@deprecate size(prob::Problem) dims(prob) 
 
 """
     controls(::Problem)
@@ -268,7 +271,7 @@ argument `idx` specifies the location of the dynamics constraint in the constrai
 If `idx == -1`, it will be added at the end of the `ConstraintList`.
 """
 function add_dynamics_constraints!(prob::Problem, idx=-1)
-	n,m = size(prob)
+	n,m = dims(prob)
     conSet = prob.constraints
 
     # Implicit dynamics