Better notation
@@ -322,7 +322,8 @@ class NonLinearDynamicMultibody(BaseSolver):
q += dt*dqdt + (0.5 - self.beta)*dt*dt*dqddt
dqdt += (1.0 - self.gamma)*dt*dqddt
- dqddt = np.zeros((self.sys_size + num_LM_eq,), dtype=ct.c_double, order='F')
+ # dqddt = np.zeros((self.sys_size + num_LM_eq,), dtype=ct.c_double, order='F')
+ dqddt[:] = 0.0
Lambda = q[-num_LM_eq:].astype(dtype=ct.c_double, copy=True, order='F')
Lambda_dot = dqdt[-num_LM_eq:].astype(dtype=ct.c_double, copy=True, order='F')
# TODO: what to do with lambda
