holonomic graph multiphase multi all combinations

[Ipuch]

@SamHybz, @AnaisFarr

This change is 

[Ipuch]

okay guys @SamHybz @AnaisFarr , It seems like show_bounds works back !!

sol = ocp.solve(Solver.IPOPT(show_online_optim=False, show_options={show_bounds: True}))
sol.graphs(show_bounds=True)

[pariterre]

Reviewed 2 of 2 files at r1, 1 of 1 files at r2, all commit messages.
Reviewable status: all files reviewed, 5 unresolved discussions (waiting on @Ipuch)

---

bioptim/dynamics/configure_problem.py line 1017 at r2 (raw file):

        all_multipliers_names = []
        for nlp_i in ocp.nlp:
            if hasattr(nlp_i.model, "_dependent_joint_index"):  # making sure we have a HolonomicBiorbdModel

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

---

bioptim/dynamics/configure_problem.py line 1081 at r2 (raw file):

        all_multipliers_names = []
        for nlp_i in ocp.nlp:
            if hasattr(nlp_i.model, "_dependent_joint_index"):  # making sure we have a HolonomicBiorbdModel

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

---

bioptim/dynamics/configure_problem.py line 1099 at r2 (raw file):

            plot_type=PlotType.INTEGRATED,
            axes_idx=axes_idx,
            legend=all_multipliers_names,

combine_to="q",

---

bioptim/dynamics/configure_problem.py line 1144 at r2 (raw file):

        all_multipliers_names = []
        for nlp_i in ocp.nlp:
            if hasattr(nlp_i.model, "_dependent_joint_index"):  # making sure we have a HolonomicBiorbdModel

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

---

bioptim/dynamics/configure_problem.py line 1346 at r2 (raw file):

        nlp.plot["contact_forces"] = CustomPlot(
            lambda t0, phases_dt, node_idx, x, u, p, a, d: nlp.contact_forces_func(
                np.concatenate([t0, t0 + phases_dt[nlp.phase_idx]]), x, u, p, a, d

np.array() ?

[Ipuch]

Reviewable status: 2 of 3 files reviewed, 5 unresolved discussions (waiting on @pariterre)

---

bioptim/dynamics/configure_problem.py line 1017 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

Done

---

bioptim/dynamics/configure_problem.py line 1081 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

Done

---

bioptim/dynamics/configure_problem.py line 1099 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

combine_to="q",

Didnt work

---

bioptim/dynamics/configure_problem.py line 1144 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

if hasattr(nlp_i.model, "is_holonomic" and nlp_i.model.is_holonomic):

Done

---

bioptim/dynamics/configure_problem.py line 1346 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

np.array() ?

finally concatenate was the good shot

[pariterre]

Reviewed 1 of 1 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)

[pariterre]

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)