bioptim node_mapping / phase_mapping could be removed to simplify code

Jul 14 '23 09:07 EveCharbie

Can you give a little overview of the code area expected to be touched ?

Feb 05 '25 13:02 Ipuch

DONE !

Feb 10 '25 14:02 Ipuch

I still have a bunch of questions about these functions @EveCharbie :

I think that passing the ocp was only necessary for phase mapping to work right ? https://github.com/pyomeca/bioptim/blob/39ed19797e796eedc2745f10db64795b0e3117a4/bioptim/dynamics/configure_problem.py#L121-L138

Here I question the use of the function itself: https://github.com/pyomeca/bioptim/blob/39ed19797e796eedc2745f10db64795b0e3117a4/bioptim/dynamics/configure_problem.py#L1883-L1919

That's only two right but there might have been some stuff hidden in the plot section right ?

Feb 10 '25 20:02 Ipuch

Yes, I will fix this when I do the refactor on ode_solver since lots of thing declared in ocp can be moved to nlp :) In addition, I think it would be possible to decouple the ode_solver from the StochasticBiorbdModel definition and uniformize this particular case with the normal dynamics declaration.

Apr 07 '25 07:04 EveCharbie