Use faster RK4 implementation

dfki-ric · Dec 22, 2021 · da570c0 · da570c0
1 parent 2e90414
commit da570c0
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/movement_primitives/dmp/_cartesian_dmp.py b/movement_primitives/dmp/_cartesian_dmp.py
@@ -265,7 +265,7 @@ def open_loop(self, run_t=None, coupling_term=None,
 
         step_function : str, optional (default: 'rk4')
             DMP integration function. Possible options: 'rk4', 'euler',
-            'euler-cython'.
+            'euler-cython', 'rk4-cython'.
 
         quaternion_step_function : str, optional (default: 'cython' if available)
             DMP integration function. Possible options: 'python', 'cython'.

diff --git a/movement_primitives/dmp/_dmp.py b/movement_primitives/dmp/_dmp.py
@@ -291,6 +291,7 @@ def dmp_step_euler(
     from ..dmp_fast import dmp_step as dmp_step_euler_cython, dmp_step_rk4 as dmp_step_rk4_cython
     DMP_STEP_FUNCTIONS["euler-cython"] = dmp_step_euler_cython
     DMP_STEP_FUNCTIONS["rk4-cython"] = dmp_step_rk4_cython
+    DEFAULT_DMP_STEP_FUNCTION = "rk4-cython"
 except ImportError:
     pass
 
@@ -410,7 +411,7 @@ def open_loop(self, run_t=None, coupling_term=None,
 
         step_function : str, optional (default: 'rk4')
             DMP integration function. Possible options: 'rk4', 'euler',
-            'euler-cython'.
+            'euler-cython', 'rk4-cython'.
 
         Returns
         -------