Fix default optimizer not to be initialized unintentionally

lanius · Apr 25, 2021 · be8713d · be8713d
1 parent 2cea096
commit be8713d
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/tinyik/core.py b/tinyik/core.py
@@ -12,7 +12,7 @@
 class Actuator(object):
     """Represents an actuator as a set of links and revolute joints."""
 
-    def __init__(self, tokens, optimizer=ScipyOptimizer()):
+    def __init__(self, tokens, optimizer=None):
         """Create an actuator from specified link lengths and joint axes."""
         components = []
         for t in tokens:
@@ -29,7 +29,8 @@ def __init__(self, tokens, optimizer=ScipyOptimizer()):
                 )
 
         self.fk = FKSolver(components)
-        self.ik = IKSolver(self.fk, optimizer)
+        self.ik = IKSolver(
+            self.fk, ScipyOptimizer() if optimizer is None else optimizer)
 
         self.angles = [0.] * len(
             [c for c in components if isinstance(c, Joint)]