Matrix Multiplication

tmp.py

C = np.array([
  [0,1],
  [0,-1],
  [1,0],
  [-1,0]
])
lam2 = opti.variable(C.shape[0], self.H+1) #dual variables for obstacle opt
Rot = lambda theta : np.array([
  [casadi.cos(theta), -casadi.sin(theta)],
  [casadi.sin(theta), casadi.cos(theta)],
])

print("C type: ", type(C))
>>>C type:  <class 'numpy.ndarray'>
  
print("R type: ", type(Rot(theta[k])))
>>>R type:  <class 'numpy.ndarray'>
  
print("lam type: ", type(lam2[:,k]))
>>>lam type:  <class 'casadi.casadi.MX'>

test = C.T @ lam2[:,k]
print("test type: ", type(test))
>>>test type:  <class 'casadi.casadi.MX'>

test2 = Rot(theta[k]).T @ lam2[:,k]
>>>  
File "/home/tomas/Documents/ee106b/final_proj/mpc.py", line 169, in MPC
    test2 = Rot(theta[k]).T @ lam2[:,k]
  File "/home/tomas/anaconda3/envs/proj3_env/lib/python3.6/site-packages/casadi/casadi.py", line 6105, in __rmatmul__
    def __rmatmul__(x, y): return _casadi.mtimes(y, x)
NotImplementedError: Wrong number or type of arguments for overloaded function 'mtimes'.
  Possible prototypes are:
    mtimes([Sparsity])
    mtimes([DM])
    mtimes([SX])
    mtimes([MX])
    mtimes(Sparsity,Sparsity)
    mtimes(DM,DM)
    mtimes(SX,SX)
    mtimes(MX,MX)
  You have: '(np.array(MX),MX)'