errors in numba version

[tmacattank]

Hi,
when i try to run the code, it comes out some errors as follows:
`Traceback (most recent call last):
File "/home/ykezvd/workspace/iLQR/original/iLQR/examples/vehicle_control.py", line 70, in
xs, us, cost_trace = controller.fit(x0, us_init, 100)
File "/home/ykezvd/workspace/iLQR/original/iLQR/examples/../ilqr/controller.py", line 34, in fit
return run_ilqr(self.dynamics.f, self.dynamics.f_prime, self.cost.L,
File "/home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/dispatcher.py", line 482, in _compile_for_args
error_rewrite(e, 'typing')
File "/home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/dispatcher.py", line 423, in error_rewrite
raise e.with_traceback(None)
numba.core.errors.TypingError: Failed in nopython mode pipeline (step: nopython frontend)
Failed in nopython mode pipeline (step: nopython frontend)
Failed in nopython mode pipeline (step: nopython frontend)
No implementation of function Function() found for signature:

array(array(float64, 1d, C))

There are 4 candidate implementations:

• Of which 4 did not match due to:
  Overload in function '_OverloadWrapper._build..ol_generated': File: numba/core/overload_glue.py: Line 131.
  With argument(s): '(array(float64, 1d, C))':
  Rejected as the implementation raised a specific error:
  TypingError: Failed in nopython mode pipeline (step: nopython frontend)
  No implementation of function Function() found for signature:

  stub(array(float64, 1d, C))

There are 2 candidate implementations:
- Of which 2 did not match due to:
Intrinsic in function 'stub': File: numba/core/overload_glue.py: Line 35.
With argument(s): '(array(float64, 1d, C))':
Rejected as the implementation raised a specific error:
TypingError: array(float64, 1d, C) not allowed in a homogeneous sequence
raised from /home/ykezvd/anaconda3/lib/python3.9/site-packages/numba/core/typing/npydecl.py:487

`
It seems that there are some conflicts in numba version, and my version only support a homogeneous sequence, can you give a list of your python and numba version?

[housx]

遇到同样的问题

[ThomasMullen]

I have encountered the same problem too

[YBoWang]

Hi,

It seems that i had also encountered the same problem, and i fix it follows Overload np.array to accept arrays. Specifically, i just change one line of code in ilqr/utils.py (line 103) from
f_new = lambda *args: np.array(f(*args)) into f_new = lambda *args: np.asarray(f(*args)).

If this problem remains, i think you could have a try.

Good luck.

[may210297]

Hi,

It seems that i had also encountered the same problem, and i fix it follows Overload np.array to accept arrays. Specifically, i just change one line of code in ilqr/utils.py (line 103) from f_new = lambda *args: np.array(f(*args)) into f_new = lambda *args: np.asarray(f(*args)).

If this problem remains, i think you could have a try.

Good luck.

Thank you!